【Mini-F5375-OB开发板评测】PWM舵机控制

有幸成为测评用户之一，板子实物如图

MCU芯片MM32F5375G7PV，搭载了安谋科技的星辰STAR-MC1 （兼容 Cortex®-M33）处理器。板载资源如图

一、准备工作

本例程使用舵机如图

舵机使用PWM波控制，供电电压为5V，电流2A
开发板虽然有5V的电压引出引脚，但因为电流最大限制400mA，无法驱动舵机，因此额外使用一个5V开关电源。

二、示例程序

本例采用定时器TIM8的CH1通道输出PWM波，频率50Hz

void TIM8_Configure(void)
{
    GPIO_InitTypeDef        GPIO_InitStruct;
    TIM_OCInitTypeDef       TIM_OCInitStruct;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;

    uint32_t TimerPeriod8 = 0, Channel1Pulse8 = 0;

    /* Compute the value to be set in ARR regiter to generate signal frequency at 50 hz */
    TimerPeriod8 = TIM_GetTIMxClock(TIM8) / 50;

    /* Compute CCR1 value to generate a duty cycle at 75% for channel 1 */
    Channel1Pulse8 = (uint32_t)750 * TimerPeriod8 / 1000;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);

    TIM_TimeBaseStructInit(&TIM_TimeBaseStruct);
    TIM_TimeBaseStruct.TIM_Prescaler         = 0;
    TIM_TimeBaseStruct.TIM_CounterMode       = TIM_CounterMode_Up;
    TIM_TimeBaseStruct.TIM_Period            = TimerPeriod8;
    TIM_TimeBaseStruct.TIM_ClockDivision     = TIM_CKD_Div1;
    TIM_TimeBaseStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStruct);

    TIM_OCStructInit(&TIM_OCInitStruct);
    TIM_OCInitStruct.TIM_OCMode       = TIM_OCMode_PWM1;
    TIM_OCInitStruct.TIM_OutputState  = TIM_OutputState_Enable;
    TIM_OCInitStruct.TIM_Pulse        = 0;
    TIM_OCInitStruct.TIM_OCPolarity   = TIM_OCPolarity_High;
    TIM_OCInitStruct.TIM_OCIdleState  = TIM_OCIdleState_Set;

    TIM_OCInitStruct.TIM_Pulse = Channel1Pulse8;
    TIM_OC1Init(TIM8, &TIM_OCInitStruct);

    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOC, ENABLE);

    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_3);   /* TIM8_CH1 */

    GPIO_StructInit(&GPIO_InitStruct);
    GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_6;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_High;
    GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOC, &GPIO_InitStruct);

    TIM_Cmd(TIM8, ENABLE);
    TIM_CtrlPWMOutputs(TIM8, ENABLE);
}

主程序延时改变PWM的占空比，控制舵机运动到不同位置。
三、示例结果