stm32使用定时器给任意引脚输出舵机驱动信号_怎么用定时器的复用引脚驱动舵机

头文件

#ifndef __tim6_H
#define __tim6_H
#include "sys.h"
 
#define TIM6_PWM_T 50
 
 
 
//LED端口定义
#define T_PORT1 PBout(12)	// DS0
#define T_PORT2 PBout(13)	// DS1	 
 
 
void TIM6_Pwm_Init(void);
 
 
void Servo_Set_Angle(u8 channel , float angle);
 
#endif

定时器代码：

#include "tim6.h"
 
/*
	普通定时器中断功能生成舵机驱动波形
*/
 
 
 
void Servo_Gpio_Init(){
	GPIO_InitTypeDef  GPIO_InitStructure;
 
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能GPIOF时钟
 
	//GPIOF9,F10初始化设置
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
	GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
}
 
 
 
void TIM6_Pwm_Init()
{
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
 
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);  ///使能TIM7时钟
 
	TIM_TimeBaseInitStructure.TIM_Period = TIM6_PWM_T-1; 	//自动重装载值
	TIM_TimeBaseInitStructure.TIM_Prescaler=84-1;  //定时器分频
	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
 
	TIM_TimeBaseInit(TIM6,&TIM_TimeBaseInitStructure);//初始化TIM7
 
	TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE); //允许定时器7更新中断
	TIM_Cmd(TIM6,ENABLE); //使能定时器3
 
	NVIC_InitStructure.NVIC_IRQChannel=TIM6_DAC_IRQn; //定时器3中断
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x00; //抢占优先级1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x04; //子优先级3
	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	Servo_Gpio_Init();
}
 
 
u8 time6_duty1 = 15;
u8 time6_duty2 = 10000/TIM6_PWM_T;
 
/*
	理论上可以给任意引脚输出pwm舵机控制信号，此地pwm频率固定为50HZ
*/
 
void TIM6_DAC_IRQHandler(void)
{
	static u16 i=0;
    if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
    {
        // 在这里添加你的代码逻辑
		i++;
		if(i<=time6_duty1) T_PORT1=1;
		else T_PORT1=0;
		if(i<=time6_duty2) T_PORT2=1;
		else T_PORT2=0;
		if(i==20000/TIM6_PWM_T) i=0;
        TIM_ClearITPendingBit(TIM6, TIM_IT_Update);  // 清除中断标志位
    }
}
 
/*
	函数功能：引脚输出舵机控制信号
	参数： channel->通道     angle->角度
	返回值：无
*/
void Servo_Set_Angle(u8 channel , float angle){
	angle = 1500/TIM6_PWM_T+1000/TIM6_PWM_T/90.0*angle;
	if(channel==0){
		time6_duty1 = angle;
	}
	if(channel==1){
		time6_duty2 = angle;
	}
	
}