【自学嵌入式：stm32单片机】PWM驱动舵机

目录

PWM驱动舵机

image

  • 舵机是一种根据输入PWM信号占空比来控制输出角度的装置
  • 输入PWM信号要求：周期为20ms，高电平宽度为0.5ms~2.5ms

此处是把PWM当作通信协议

硬件电路

image

接线图

image
此处接PA1，用的是定时器TIM2的通道2（对应PA1）

代码实现

标准库实现

已开源到：https://gitee.com/qin-ruiqian/jiangkeda-stm32

PWM.h

#ifndef __PWM_H
#define __PWM_H

void PWM_Init(void); //PWM初始化
void PWM_SetCompare2(uint16_t Compare); //调整CCR的值，占空比

#endif

PWM.c

#include "stm32f10x.h"                  // Device header

//PWM初始化函数
void PWM_Init(void)
{
	//初始化PA0
	//打开APB2总线的GPIOA外设并开启时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出，
	//普通推挽/开漏输出，引脚控制权是来自于输出数据寄存器的
	//如果想用定时器来控制引脚，就需要使用复用开漏/推挽输出的模式
	//在这里输出数据寄存器将被断开，输出控制权将转移给片上外设
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //A1口
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	//开启时钟，TIM2是APB1总线的外设
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	//选择时基单元的时钟，选择内部时钟
	TIM_InternalClockConfig(TIM2); //TIM2的时钟单元由内部时钟来驱动
	// 初始化时基单元用的结构体
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; //选择滤波器1分频
	TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
	//定时频率=72MHz/(PSC+1)/(ARR+1)
	//定时1s，也就是定时频率为1Hz
	TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1; //ARR，16位寄存器，在0-65535范围
	TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1; //PSC，16位寄存器，在0-65535范围
	TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; //重复计数器，高级计数器才有的，置0就行，TIM2-TIM4是通用计数器
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure);
	//初始化OC输出比较单元
	//使用PA1口，对应第二个输出比较通道
	TIM_OCInitTypeDef TIM_OCInitStructure;
	TIM_OCStructInit(&TIM_OCInitStructure); //给结构体赋初值
	//TIM_OCInitStructure.TIM_OCIdleState = ; //高级定时器才用到
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //设置比较模式
	//TIM_OCInitStructure.TIM_OCNIdleState = ; //高级定时器才用到
	//TIM_OCInitStructure.TIM_OCNPolarity = ; //高级定时器才用到
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //设置输出比较的极性，REF有效时输出高电平
	//TIM_OCInitStructure.TIM_OutputNState = ; //高级定时器才用到
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //设置输出使能
	//PWM频率： Freq = CK_PSC / (PSC + 1) / (ARR + 1)（也是计数器的更新频率）
	//PWM占空比： Duty = CCR / (ARR + 1)
	//PWM分辨率： Reso = 1 / (ARR + 1)
	//舵机周期是20ms，取倒数，1/20x10^(-3)=1000/20=50Hz
	//所以Freq=50Hz
	//占空比，舵机要求高电平事件是0.5ms~2.5ms
	//PSC+1=72, ARR+1=20 000
	//20K对应20s，那CCR设置为500，就是0.5ms
	//CCR设置为2500，就是2.5ms
	TIM_OCInitStructure.TIM_Pulse = 0; //设置CCR
	TIM_OC2Init(TIM2, &TIM_OCInitStructure); //使用TIM2的OC2，也就是CH2通道，输出PWM，只能在PA1的引脚上输出，而不能选择任意引脚输出
	//如果一个定时器驱动不同舵机，使用同一个定时器不同通道的PWM
	//就完全可以，不同通道共用一个计数器，所以它们的频率是一样的
	//占空比可以通过各自的CCR决定
	//使用同一个定时器不同通道的PWM就完全可以了
	//启动定时器
	TIM_Cmd(TIM2, ENABLE);
}

//调整CCR的值（占空比）
void PWM_SetCompare2(uint16_t Compare)
{
	TIM_SetCompare2(TIM2, Compare);
}

Servo.h

#ifndef __SERVO_H
#define __SERVO_H

void Servo_Init(void);
void Servo_SetAngle(float Angle);

#endif

Servo.c

#include "stm32f10x.h"                  // Device header
#include "PWM.h"

//初始化舵机
void Servo_Init(void)
{
	PWM_Init();
}

//0度--500
//180度--2500
//设置舵机角度
void Servo_SetAngle(float Angle)
{
	PWM_SetCompare2(Angle / 180 * 2000 + 500);
}

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "MYOLED.h"
#include "Servo.h"
#include "Key.h"

uint8_t KeyNum; //按键键码
float Angle; //舵机旋转角度

int main(void)
{
	Servo_Init();
	MYOLED_Init();
	Key_Init();
	MYOLED_ShowString(0,0, "Angle:");
	while(1)
	{
		KeyNum = Key_GetNum();
		if(KeyNum == 1)
		{
			Angle += 30;
			if(Angle > 180)
			{
				Angle = 0;
			}
		}
		Servo_SetAngle(Angle);
		MYOLED_ShowNum(6, 0, Angle, 3);
	}
}

HAL库实现

我设计的思路是能不动STM32CubeIDE生成的代码结构就不动，在此基础上添加响应的模块，已开源到：https://gitee.com/qin-ruiqian/jiangkeda-stm32-hal

PWM.h

/*
 * PWM.h
 *
 *  Created on: Aug 13, 2025
 *      Author: Administrator
 */

#ifndef HARDWARE_PWM_H_
#define HARDWARE_PWM_H_

void PWM_Init(TIM_HandleTypeDef tim); //初始化PWM
void PWM_SetCompare(uint16_t Compare); //调整CCR占空比

#endif /* HARDWARE_PWM_H_ */

PWM.c

/*
 * PWM.c
 *
 *  Created on: Aug 13, 2025
 *      Author: Administrator
 */

#include "stm32f1xx_hal.h"
//把初始化定时器TIM2的过程放到PWM里面
TIM_HandleTypeDef htim; //当前用的是哪个定时器

//初始化PWM
void PWM_Init(TIM_HandleTypeDef tim)
{
	//开启对应定时器
	htim = tim;
	HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
}

//调整CCR的值（占空比）
void PWM_SetCompare(uint16_t Compare)
{
	htim.Instance->CCR2 = Compare; //舵机用的通道2
}

Servo.h

/*
 * Servo.h
 *
 *  Created on: Aug 13, 2025
 *      Author: Administrator
 */

#ifndef HARDWARE_SERVO_H_
#define HARDWARE_SERVO_H_

void Servo_Init(TIM_HandleTypeDef tim);
void Servo_SetAngle(float Angle);

#endif /* HARDWARE_SERVO_H_ */

Servo.c

/*
 * Servo.c
 *
 *  Created on: Aug 13, 2025
 *      Author: Administrator
 */
#include "stm32f1xx_hal.h"
#include "PWM.h"

//初始化舵机
void Servo_Init(TIM_HandleTypeDef tim)
{
	PWM_Init(tim);
}

//0度--500
//180度--2500
//设置舵机角度
void Servo_SetAngle(float Angle)
{
	PWM_SetCompare(Angle / 180 * 2000 + 500);
}

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Servo.h"
#include "Key.h"
#include "MYOLED.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;

/* USER CODE BEGIN PV */
uint8_t KeyNum; //键码值
float Angle; //舵机旋转角度
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  MYOLED_Init();
  Servo_Init(htim2);
  MYOLED_ShowString(0,0, "Angle:");
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  	KeyNum = Key_GetNum();
		if(KeyNum == 1)
		{
			Angle += 30;
			if(Angle > 180)
			{
				Angle = 0;
			}
		}
		Servo_SetAngle(Angle);
		MYOLED_ShowNum(6, 0, Angle, 3);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief TIM2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 71;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 19999;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 500;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */

  /* USER CODE END TIM2_Init 2 */
  HAL_TIM_MspPostInit(&htim2);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* USER CODE BEGIN MX_GPIO_Init_1 */

  /* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_SET);

  /*Configure GPIO pins : PB1 PB11 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PB8 PB9 */
  GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /* USER CODE BEGIN MX_GPIO_Init_2 */

  /* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
posted @ 2025-08-13 19:19  秦瑞迁  阅读(236)  评论(0)    收藏  举报