[mw_shl_code=c,true]#include "stm32f10x.h"
#include "pwm.h"
#include "led.h"
#include "sys.h"
#include "key.h"
#include "delay.h"
//TIM1_PWM_Init(u16 arr,u16 psc);
void Delay(u32 count)
{
u32 i=0;
for(;i<count;i++);
}
int main(void)
{
// u16 count=18500;
delay_init(); //延时函数初始化
// LED_Init(); //初始化与LED连接的硬件接口
// KEY_Init();
TIM3_PWM_Init(19999,71);//不分频。PWM频率=72000/(899+1)=80Khz (7200*200)/72000000=0.02=20ms
while(1)
{
TIM_SetCompare1(TIM3,19000);
delay_ms(200);
TIM_SetCompare1(TIM3,18700);
delay_ms(200);
TIM_SetCompare1(TIM3,18800);
delay_ms(200);
TIM_SetCompare1(TIM3,18700);
delay_ms(200);
}}
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA| RCC_APB2Periph_AFIO, ENABLE); //使能GPIO外设时钟使能
//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM_CH1|TIM_CH4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
// TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
// TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
// TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
// TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
// TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM3,ENABLE); //MOE 主输出使能
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //CH1预装载使能
// TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //CH2预装载使能
TIM_ARRPreloadConfig(TIM3, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM3, ENABLE); //使能TIM1
}
[/mw_shl_code]
舵机为模拟舵机MG995，用数字舵机可以正常运行，换这种舵机就乱了。有大神知道什么原因么？谢谢 | 
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发表于 2015-9-26 21:18:53
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