stm32通用定时器输出PWM控制舵机

stm32的通用定时器有TIM2、TIM3、TIM4、TIM5，每个定时器都有独立的四个通道可以作为：输入捕获、输出比较、PWM输出、单脉冲模式输出等。stm32除了基本定时器，其他定时器都能输出PWM。PWM 常见于控制舵机和电机。今天学习了stm32单片机的通用定时器如何输出PWM控制舵机，现总结如下：

步骤总结：

配置GPIO结构体（此处GPIO为具有复用功能的引脚）->配置通用定时器结构体->配置定时器输出PWM结构体->使能预加载寄存器->使能定时器->配置PWM比较值->控制舵机

ServoMotor.c:

#include "stm32f10x.h"
#include "ServoMotor.h"

void ServoMotor_Config(void)
{
	GPIO_InitTypeDef GPIO_MOTORInitStructure;
	TIM_TimebaseInitTypeDef Tim_MOTORInitStructure;
	TIM_OCInitTypeDef Time_PWMInitStructure;
	//开时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
	//部分重映射
	GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE);
	//配置GPIO结构体
	GPIO_MOTORInitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_MOTORInitStructure.GPIO_Pin = GPIO_Pin_5;
	GPIO_MOTORInitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB,&GPIO_MOTORInitStructure);
	//配置通用定时器结构体
	Tim_MOTORInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	Tim_MOTORInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
	Tim_MOTORInitStructure.TIM_Period = 200-1;
	Tim_MOTORInitStructure.TIM_Prescaler = 7200-1;
	TIM_TimebaseInit(TIM3,&Tim_MOTORInitStructure);
	//配置定时器输出PWM结构体
	Time_PWMInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	Time_PWMInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	Time_PWMInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
	TIM_OC2Init(TIM3,&Time_PWMInitStructure);
	//使能预加载寄存器
	TIM_OC2PreloadConfig(TIM3,TIM_OCPreload_Enable);
	//使能定时器
	TIM_Cmd(TIM3,ENABLE);
}

main.c:

#include "stm32f10x.h"
#include "ServoMotor.h"

void delay(uint16_t time)
{
	uint16_t i = 0;
	while(time -- )
	{
		i = 12000;
		while(i -- );
	}
}

int main(void)
{
	ServoMotor_Config();
	uint16_t pwm = 155;
	while(1)
	{
		for(pwm = 195; pwm >=175; pwm-=5)
		{
			TIM_SetCompare2(TIM3,pwm);
			delay(500);
		}
	}
}

如有错误，请批评指正