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46 lines
1.3 KiB
46 lines
1.3 KiB
#include "stm32f10x.h"
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#include "delay.h"
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#include "servo.h"
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void ServoTurn(int dir)
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{
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TIM_SetCompare3(TIM4,dir);
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delay_ms(ServoDelayTime);
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}
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void ServoInit(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_TimeBaseInitTypeDef TIM4_TimeBase;
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TIM_OCInitTypeDef TIM4_OC;
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//PB8
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//GPIO初始化
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
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// RCC_APB1PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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//初始化定时器，利用PWM输出 舵机控制需要20ms的时基脉冲
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TIM4_TimeBase.TIM_ClockDivision = 0;
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TIM4_TimeBase.TIM_CounterMode = TIM_CounterMode_Up;
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TIM4_TimeBase.TIM_Period = 200 - 1;
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TIM4_TimeBase.TIM_Prescaler = 7200 - 1; //默认时钟频率为72MHz
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TIM_TimeBaseInit(TIM4, &TIM4_TimeBase);
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TIM4_OC.TIM_OCMode = TIM_OCMode_PWM1;
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TIM4_OC.TIM_OCPolarity=TIM_OCPolarity_High;
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TIM4_OC.TIM_OutputState = TIM_OutputState_Enable;
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TIM4_OC.TIM_Pulse=100;
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TIM_OC3Init(TIM4, &TIM4_OC);
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TIM_Cmd(TIM4, ENABLE);
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ServoTurn(SERVO_FRONT); //将舵机转动到正前方
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}
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