本文主要是介绍用HAL库改写江科大的stm32入门-6-4 PWM驱动舵机，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！
接线图：
如何控制一个舵机
舵机的控制由一个脉冲宽度调制信号(PWM波）来实现，该信号在这个实验里使用stm32来发出。
舵机通讯协议：
对应设置参数：
ARR的值为19999
CCR的值为500~2500(生成占空比是2.5%~12.5%的波形)
PSC为71
打开TIM2的通道2
设置定时器相关参数
分频系数PSC:72-1
自动重装寄存器ARR:20000-1
输出比较寄存器CCR:500~2500(后面可调整)
代码：
main中调用启动PWM函数
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
在main.c中循环设置CCR：
定义一个根据角度技术CCR值的函数：
uint16_t GetCCRFromAngle(float InputAngle){
float Ret=InputAngle/180 * 2000 +500;
return Ret;
}循环中调用：
main.c完整代码：
/* USER CODE BEGIN Header */
/********************************************************************************* @file : main.c* @brief : Main program body******************************************************************************* @attention** Copyright (c) 2024 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 */uint16_t GetCCRFromAngle(float InputAngle){
float Ret=InputAngle/180 * 2000 +500;
return Ret;
}/* 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_TIM2_Init();/* USER CODE BEGIN 2 */// start timer2 PWMHAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){for (size_t i = 0; i < 180; i++){uint16_t a1=GetCCRFromAngle(i);__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, a1);HAL_Delay(10);}HAL_Delay(2000);for (size_t i = 180; i > 0; i--){uint16_t a2=GetCCRFromAngle(i);__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, a2);HAL_Delay(10);} 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 */
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