【STM32F103】利用PWM驱动舵机

0、前言

参考：
【【STM32F4+CubeMX零基础快速入门】定时器中断 PWM输出】 https://www.bilibili.com/video/BV1f54y1Y7Ls/?share_source=copy_web&vd_source=77e36f24add8dc77c362748ffb980148

理论

PWM生成原理
在这里插入图片描述

Cubemx

电路

TIM1.Channel1,2,3,4, PA0~3,

代码

main.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** Copyright (c) 2024 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 "ServoMotor.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 *//* 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 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);/* 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 *//*********** 实例化舵机 **************/ServoMotor servomotor_left_front = {.servomotordata = {.targetPosition = 0, // 初始目标位置.isMoving = false,.channel = TIM_CHANNEL_1, // PA0},.SetTargetPosition = ServoMotor_SetTargetPosition // 设置目标位置的函数}; // 实例化舵机ServoMotor_Init(&servomotor_left_front); // 初始化舵机ServoMotor servomotor_left_back = {.servomotordata = {.targetPosition = 0, // 初始目标位置.isMoving = false,.channel = TIM_CHANNEL_2, // PA1},.SetTargetPosition = ServoMotor_SetTargetPosition // 设置目标位置的函数}; // 实例化舵机ServoMotor_Init(&servomotor_left_back); // 初始化舵机ServoMotor servomotor_right_front = {.servomotordata = {.targetPosition = 0,.isMoving = false,.channel = TIM_CHANNEL_3, // PA2},.SetTargetPosition = ServoMotor_SetTargetPosition};ServoMotor_Init(&servomotor_right_front);ServoMotor servomotor_right_back = {.servomotordata = {.targetPosition = 0,.isMoving = false,.channel = TIM_CHANNEL_4, // PA3},.SetTargetPosition = ServoMotor_SetTargetPosition};ServoMotor_Init(&servomotor_right_back);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){servomotor_left_front.SetTargetPosition(&servomotor_left_front.servomotordata, 180);servomotor_left_front.SetTargetPosition(&servomotor_left_front.servomotordata, 0);/* 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 = 72 - 1;htim2.Init.CounterMode = TIM_COUNTERMODE_UP;htim2.Init.Period = 20000 - 1;htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;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 = 0;sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK){Error_Handler();}if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK){Error_Handler();}if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK){Error_Handler();}if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != 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};/* GPIO Ports Clock Enable */__HAL_RCC_GPIOD_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);/*Configure GPIO pin : PA4 */GPIO_InitStruct.Pin = GPIO_PIN_4;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}/* USER CODE BEGIN 4 */
//  void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
//  {
//    HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_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 */

servomotor.h

#ifndef __SERVOMOTOR_H
#define __SERVOMOTOR_H
#include "stm32f1xx_hal.h"
#include <stdbool.h> // 引入布尔类型的定义
#include "main.h"typedef struct
{int targetPosition;  // 目标位置bool isMoving;       // 是否正在移动uint32_t channel;    // 定时器通道
} ServoMotorData;// 定义函数指针类型
typedef void (*ServoMotor_SetTargetPosition_Function)(ServoMotorData *servomotordata, int angle);// 修改ServoMotor结构体，使用上面定义的函数指针类型
typedef struct
{ServoMotorData servomotordata;ServoMotor_SetTargetPosition_Function SetTargetPosition; // 使用上面定义的函数指针类型
} ServoMotor;// 函数声明
void ServoMotor_Init(ServoMotor *servomotor);
void ServoMotor_SetTargetPosition(ServoMotorData *servomotordata, int angle);#endif // __SERVOMOTOR_H

servomotor.c

#include "ServoMotor.h"void ServoMotor_Init(ServoMotor *servomotor)
{servomotor->servomotordata.channel = 0;servomotor->servomotordata.isMoving = false;HAL_TIM_PWM_Start(&htim2, servomotor->servomotordata.channel);
}void ServoMotor_SetTargetPosition(ServoMotorData *sermotor, int angle)
{if (angle < 0){angle = 0; // 限制角度范围为0到180度}else if (angle > 180){angle = 180;}int compare_value = 10 + 2*angle/9;__HAL_TIM_SET_COMPARE(&htim2, sermotor->channel, compare_value);HAL_Delay(1000);  // 延时给舵机转动的反应时间
}