STM32

STM32控制舵机出现问题。

2019-08-14 00:42发布

站内问答 / STM32/STM8
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各位网友好。最近修改原子哥的PWM代码来控制舵机，但是驱动不了。不知道为什么。
1、舵机驱动的PWM脉冲如下图
2、舵机的信号线加了1K的上拉电阻，也不行。不加上拉电阻直接接PA7口，也不行。


  代码如下，请各位前辈指点。
void TIM3_PWM_Init(u16 arr,u16 psc)
{ 
 GPIO_InitTypeDef GPIO_InitStructure;
 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 TIM_OCInitTypeDef  TIM_OCInitStructure;
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟
 
//    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
 
   //设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形 GPIOB.5
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //TIM_CH2
 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);//初始化GPIO
 
   //初始化TIM3
 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
 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
 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
 
 //初始化TIM3 Channel2 PWM模式 
 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //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_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
 TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2  TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
 
 TIM_Cmd(TIM3, ENABLE);  //使能TIM3
  }
 int main(void)
 {   
 delay_init();       //延时函数初始化  
 NVIC_Configuration();   //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
 uart_init(9600);  //串口初始化为9600
  LED_Init();        //LED端口初始化
  TIM3_PWM_Init(199,7199);  //PWM频率=50hz
   
    while(1)
  {         
        TIM_SetCompare2(TIM3,5); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,10); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,15); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,20); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,25); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,20); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,15); 
        delay_ms(1000);
        TIM_SetCompare2(TIM3,10); 
        delay_ms(1000);
  } 
 }
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38条回答
张晓斌
2019-08-17 02:38
#include<pbdata.h>

void RCC_Configuration(void);   //?????±????????
void GPIO_Configuration(void); //??????????
void TIM3_Configuration(void); //?????¨?±?÷

int main(void)
{
int a=5,fx=1;
   RCC_Configuration(); //?????±????????
   GPIO_Configuration();//??????????
 TIM3_Configuration();//?¨?±?÷??pwm???? 
 delay_ms(10);
   while(1)
   { 
 if(fx==1) a++;
 if(fx==0) a--;
 if(a==25) {fx=0;delay_ms(100);}
 if(a==5)  {fx=1;delay_ms(100);}
 delay_ms(30);
 TIM_SetCompare2(TIM3,a);
 }
}

void RCC_Configuration(void)  //?????±??????
{
SystemInit(); //?¨?????????±????AHB,APB1(36HMz),APB2??????(72MHz)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);// ????APB2???è?±??
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);//????APB1???è?±??
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//?????????????±??
}

void GPIO_Configuration(void)   //GPIO????????
{
GPIO_InitTypeDef GPIO_InitStructure;   //?¨???á????
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5; //????????????GPIO????
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;   //?è????????????????
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP; //I/O???¤×÷×????????????ì????
GPIO_Init(GPIOB,&GPIO_InitStructure);   //?ù?????¨??????????GPIOx?????÷
}


void TIM3_Configuration(void)  //???????¨?±?÷3
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;  //?¨???á????±???
TIM_OCInitTypeDef TIM_OCInitStructure;  //?¨???á????±???
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE); //TIM3??????????·?????

//?¨?±?÷??????
TIM_TimeBaseStruct.TIM_Period=200;  //×°??????·??§??0x0000~0xFFFF
TIM_TimeBaseStruct.TIM_Prescaler=7199;      //?è???¤·???????????TIMx?±??????
 //72MHz / 7200 = 10000Hz ,????×???10000
TIM_TimeBaseStruct.TIM_ClockDivision=0;    //?è???±??·???±????¨+1??
TIM_TimeBaseStruct.TIM_CounterMode=TIM_CounterMode_Up;//?????÷???????ò??????
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStruct);  //?ù????????????TIMx?±???ù??????

//PWM??????
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;  //TIM?????í???÷??????1
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;//????
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;//TIM????±???????
TIM_OC2Init(TIM3,&TIM_OCInitStructure); //??????TIM3
TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);  //?¤×°??
TIM_Cmd(TIM3,ENABLE); //????TIM3???è
}

我刚写出来的，舵机180度来回转，信号线插在PB5，因为我用了映射，通道2

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