STM32F407用PA2口控制舵机，舵机偏转的角度很小，按理说应该偏转90度的

onefiveX · 发表于 2019-8-6 10:10:35

PWM.C

#include "PWM.H"

void TIM9_PWM_Init(u32 arr,u32 psc)
{
GPIO_InitTypeDef  GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_OCInitTypeDef TIM_OC1InitStcuctre;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9,ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);

  //GPIOA2,A7初始化设置
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//普通复用模式
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO

GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_TIM9);

TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值
TIM_TimeBaseInitStructure.TIM_Prescaler=psc;  //定时器分频
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM9,&TIM_TimeBaseInitStructure);//初始化TIM9

TIM_OC1InitStcuctre.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OC1InitStcuctre.TIM_OutputState=TIM_OutputState_Enable;
TIM_OC1InitStcuctre.TIM_OCPolarity=TIM_OCPolarity_Low;
TIM_OC1Init(TIM9,&TIM_OC1InitStcuctre);

TIM_OC1PreloadConfig(TIM9,TIM_OCPreload_Enable);

TIM_ARRPreloadConfig(TIM9,ENABLE);

TIM_Cmd(TIM9,ENABLE);

}

main.c文件

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "pwm.h"

int main(void)
{

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168);  //初始化延时函数
TIM9_PWM_Init(2000-1,84-1);//50Hz
LED_Init();
while(1)
{
LED0=0;
// delay_ms(1000);
// TIM_SetCompare1(TIM9,100);
delay_ms(500);
TIM_SetCompare1(TIM9,100);
delay_ms(500);
TIM_SetCompare1(TIM9,200);
delay_ms(500);
}//修改比较值，修改占空比
}