1.软件准备
(1)编程平台：Keil5
(2)CubeMX
2.硬件准备
(1)本此使用最小核心板STM32F103C8T6为例
(2)一个舵机：SG90或者MG996等均可
(3)ST-link 下载器
(4)杜邦线若干
3.关于舵机控制原理
舵机的控制一般需要一个20ms左右的时基脉冲，该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分，总间隔为2ms。以180度角度伺服为例，那么对应的控制关系是这样的：
4.CubeMX配置
(1)打开STM32CubeMX
(2)新建项目
(2)选择所需要的芯片
(3)配置RCC、SYS、时钟树
(4)配置定时器产生PWM波形
本次配置四个通道，可同时输出四路PWM信号
舵机控制需要一个20ms左右的时基脉冲，
查手册可知TIM3在APB1总线上
时钟配置时APB1的时钟为72MHz
此时产生PWM波形频率：72M / (72-1) / (20000-1) = 50HZ
波形周期：1 / 50 = 20ms
可配置舵机初始值，此次配置为500
通过计算可得500/(19999+1)=0.5ms/20ms 则对应为0°
（4）设置路径、生成代码工程
5、Keil5代码
(1)main函数
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2022 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"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_TIM3_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);//0-180°此时对应0°
HAL_Delay(2000);
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,2500);//此时对应180°
HAL_Delay(2000);
/* 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();
}
}
/* USER CODE BEGIN 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 */
使用
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);函数启动TIM的PWM输出，括号内第一个参数为启动的定时器，第二个参数为所用的通道数
使用
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);函数调整PWM的占空比，从而更改舵机角度，括号内第一个参数为启动的定时器，第二个参数为所用的通道数，第三个参数为占空比
注意：舵机使用5V供电时，C8t6同样需要5V供电，如使用3.3V供电会导致舵机转动缓慢或者不转动的现象出现！文章来源：https://www.toymoban.com/news/detail-405856.html
本例程工程文件下载：如有需要可自取用STM32CubeMX配置输出PWM信号控制多路舵机（HAL）-单片机文档类资源-CSDN下载文章来源地址https://www.toymoban.com/news/detail-405856.html
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