STM32F103VCT6我用定时器3通道4控制舵机，老是转过了角度，出现了好奇怪的动作，有gif图片,有代码的。还请原子哥等大神们帮帮忙

ericzha · 发表于 2016-10-17 09:57:16

下面是我的程序：
int main(void)
{
RCC_Configuration();
delay_init();
uart_init(115200);
TIM3_PWM4_Init3(0);
while(1);
}

void TIM3_PWM4_Init3(u16 state)//定时器3，通道4，三号舵机 PB1
{
      GPIO_InitTypeDef GPIO_InitStructure;
      TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
      TIM_OCInitTypeDef  TIM_OCInitStructure;

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, ENABLE);

      GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_Init(GPIOB, &GPIO_InitStructure);
      TIM_TimeBaseStructure.TIM_Period = 199;
      TIM_TimeBaseStructure.TIM_Prescaler = 7199;
      TIM_TimeBaseStructure.TIM_ClockDivision = 0;
      TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
      TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);


      TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
      TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
      TIM_OCInitStructure.TIM_Pulse = 0;
      TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
      TIM_OC4Init(TIM3, &TIM_OCInitStructure);
      TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
      TIM_Cmd(TIM3, ENABLE);
      if(state == 1)
      TIM_SetCompare4(TIM3,12);//升
      else
      TIM_SetCompare4(TIM3,20);  //落

//       TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Disable);
//       RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB  | RCC_APB2Periph_AFIO, DISABLE);
}

void RCC_Configuration(void)
{
      ErrorStatus HSEStartUpStatus;
      RCC_DeInit();

      RCC_HSEConfig(RCC_HSE_ON);

      HSEStartUpStatus = RCC_WaitForHSEStartUp();
      if(HSEStartUpStatus == SUCCESS)
      {

            FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
            FLASH_SetLatency(FLASH_Latency_2);
            RCC_HCLKConfig(RCC_SYSCLK_Div1);
            RCC_PCLK1Config(RCC_HCLK_Div2);
            RCC_PCLK2Config(RCC_HCLK_Div1);
            RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
            RCC_PLLCmd(ENABLE);
            while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)       ;
            RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
            while(RCC_GetSYSCLKSource() != 0x08);
      }
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOD|RCC_APB2Periph_GPIOE|RCC_APB2Periph_AFIO, ENABLE)
}
舵机是单独5V供电的。怎么办啊，好急