1.软件准备

(1)编程平台：Keil5

(2)CubeMX

2.硬件准备

(1)本此使用最小核心板STM32F103C8T6为例

(2)一个舵机：SG90或者MG996等均可

(3)ST-link 下载器

(4)杜邦线若干

3.关于舵机控制原理

舵机的控制一般需要一个20ms左右的时基脉冲，该脉冲的高电平部分一般为0.5ms-2.5ms范围内的角度控制脉冲部分，总间隔为2ms。以180度角度伺服为例，那么对应的控制关系是这样的：

4.CubeMX配置

(1)打开STM32CubeMX

(2)新建项目

(2)选择所需要的芯片

(3)配置RCC、SYS、时钟树

(4)配置定时器产生PWM波形

本次配置四个通道，可同时输出四路PWM信号

舵机控制需要一个20ms左右的时基脉冲，

查手册可知TIM3在APB1总线上

时钟配置时APB1的时钟为72MHz

此时产生PWM波形频率：72M / (72-1) / (20000-1) = 50HZ

波形周期：1 / 50 = 20ms

可配置舵机初始值，此次配置为500

通过计算可得500/(19999+1)=0.5ms/20ms 则对应为0°

（4）设置路径、生成代码工程

5、Keil5代码

(1)main函数

/* USER CODE BEGIN Header *//********************************************************************************* @file : main.c* @brief: Main program body******************************************************************************* @attention** Copyright (c) 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 *//* 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_TIM3_Init();MX_TIM1_Init();/* USER CODE BEGIN 2 */HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);//0-180°此时对应0°HAL_Delay(2000);__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,2500);//此时对应180°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 */

使用

HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);

函数启动TIM的PWM输出，括号内第一个参数为启动的定时器，第二个参数为所用的通道数

使用

__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,500);

函数调整PWM的占空比，从而更改舵机角度，括号内第一个参数为启动的定时器，第二个参数为所用的通道数，第三个参数为占空比

注意：舵机使用5V供电时，C8t6同样需要5V供电，如使用3.3V供电会导致舵机转动缓慢或者不转动的现象出现！

本例程工程文件下载：如有需要可自取用STM32CubeMX配置输出PWM信号控制多路舵机（HAL）-单片机文档类资源-CSDN下载