STM32PWM控制舵机的main程序

本文格式为Word版，下载可任意编辑——STM32PWM控制舵机的main程序

#include#include#include#include#include#include

#include#include

#include\#include\#include\

voidRCC_Configuration(void);voidGPIO_Configuration(void);voidUSART_Configuration(void);voidNVIC_Configuration(void);voidEXIT_configuration();voidIO_Init(void);

voidTimer3_configuration();voidTimer1_configuration();

#defineSTRM500#defineSTRL330#defineSTRR670//#defineSTRE1200

main(){

RCC_Configuration();;//系统时钟设置delay_init(72);//延时初始化IO_Init();

GPIO_Configuration();NVIC_Configuration();USART_Configuration();Timer3_configuration();

Timer1_configuration();

delay_ms(1000);

TIM3->CCR2=504;//电机初始化中间值

GPIO_WriteBit(GPIOB,GPIO_Pin_0,1);//灯亮GPIO_WriteBit(GPIOB,GPIO_Pin_1,1);

delay_ms(1000);//等待4s，等待初始化完毕delay_ms(1000);delay_ms(1000);delay_ms(1000);

TIM3->CCR2=560;//TIM3->CCR1=380;//向右转delay_ms(1000);delay_ms(1000);//TIM3->CCR1=650;while(1){

TIM3->CCR2=550;/*//TIM3->CCR1=380;//向右转delay_ms(100);TIM3->CCR1=504;delay_ms(100);//TIM3->CCR1=650;delay_ms(100);TIM3->CCR1=504;TIM3->CCR1=504;*/}}

voidRCC_Configuration(void){

SystemInit();

//EnableGPIOclock

TIM3->CCR1=504;TIM3->CCR1=504;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_AFIO

|RCC_APB2Periph_TIM1|RCC_APB2Periph_USART1,ENABLE);

//EnableUSART2Clock

RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2

|RCC_APB1Periph_TIM3,ENABLE);}

voidIO_Init(void){

RCC->APB2ENR|=1APB2ENR|=1APB2ENR|=1APB2ENR|=1CRL=0X88888888;//PORTC输入//摄像头八位输入GPIOC->CRH=0X33333333;GPIOC->ODR=0XFFFF;

GPIOA->CRH=0X33333333;//PORTA上拉输出//摄像头输出GPIOA->CRL=0X33333333;GPIOA->ODR=0XFFFF;GPIOB->CRL=0X33333333;//PB0-7上拉输出GPIOB->CRH=0X33333333;//PB8-15上拉输出GPIOA->ODR=0XFFFF;

JTAG_Set(JTAG_SWD_DISABLE);//JTAG功能阻止，复用JTAG端口}

//保持原有配置

voidGPIO_Configuration(void)

{

GPIO_InitTypeDefGPIO_InitStructure;

//******TIM1CH1(PA8)CH4(PA11)******************************GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8|GPIO_Pin_11;

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;//复用推完输出GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,

//******TIM3CH1ch2(PA6pa7)******************************GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6|GPIO_Pin_7;

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;//复用推完输出GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,

//********外部中断GPIO初始化***************GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0|GPIO_Pin_4;

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;//浮空输入GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,

/*设置USART1的Tx脚（PA.9）为其次功能推挽输出模式*/GPIO_InitStructure.GPIO_Pin=GPIO_Pin_9;

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;GPIO_Init(GPIOA,

/*设置USART1的Rx脚（PA.10）为浮空输入脚*/GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10;

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;GPIO_Init(GPIOA,}

/*******************************************************************************

*函数名:USART_Configuration保持原有配置*函数描述:设置USART1*输入参数:None*输出结果:None*返回值:None

*******************************************************************************/

voidUSART_Configuration(void){

/*定义USART初始化结构体USART_InitStructure*/USART_InitTypeDefUSART_InitStructure;/*

*波特率为9600bps*8位数据长度

*1个中止位，无校验*禁用硬件流控制*阻止USART时钟*时钟极性低

*在第2个边沿捕获数据

*最终一位数据的时钟脉冲不从SCLK输出*/

USART_InitStructure.USART_BaudRate=9600;

USART_InitStructure.USART_WordLength=USART_WordLength_8b;USART_InitStructure.USART_StopBits=USART_StopBits_1;USART_InitStructure.USART_Parity=USART_Parity_No;

USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;USART_InitStructure.USART_Mode=USART_Mode_Rx|USART_Mode_Tx;USART_Init(USART1,

/*使能USART1*/

USART_Cmd(USART1,ENABLE);}

voidNVIC_Configuration(void){

NVIC_InitTypeDefNVIC_InitStructure;//中断默认参数

//ConfiguretheNVICPreemptionPriorityBitsNVIC_PriorityGroupConfig(NVIC_Pr