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STM32 HAL 180°舵机控制 PWM/中断方法

news 2026/5/12 3:39:58

舵机硬件接线

具体电源看购买的商品详情页，不同商家与型号可能有差异

舵机工作原理

舵机控制需要一个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，
对应的控制关系为（设置ARR为20000-1）：
0.5MS-------0度-----占空比0.5%--500
1.0MS-----45度-----占空比1.0%--1000
1.5MS------90度----占空比1.5%--1500
2.0MS-- -135度-----占空比2.0%--2000
2.5MS- --180度-----占空比2.5%--2500

舵机从上面看是逆时针转动的,

这两个例程烧录后现象都是舵机逆时针角度增加，可增加90°左右

1.直接PWM控制

cubemx配置

使用TIM2 CHANNEL1（黄色线接PA0），PSC=72-1,ARR=20000-1,记得配置时钟为72MHz

完整代码

//servo.h #ifndef __SERVO_H #define __SERVO_H #include "stm32f1xx_hal.h" //定义一个结构体用于管理舵机的角度 struct SERVO{ uint16_t angel; uint16_t max_angel; uint16_t min_angel; }; void Servo_Init(void); void Servo_Set_Angel(uint16_t angel); void Servo_Up(uint8_t unit_angel); void Servo_Down(uint8_t unit_angel); #endif

//servo.c #include "servo.h" extern TIM_HandleTypeDef htim2; //根据需要设置初始角度，最大角度，最小角度 struct SERVO servo ={90,180,0}; //初始化 void Servo_Init(void) { //HAL_TIM_Base_Start(&htim2); HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1); //上电后舵机角度为设置的初始角度 Servo_Set_Angel(servo.angel); } //封装舵机控制函数 void Servo_Set_Angel(uint16_t angel) { uint16_t pwm = (2000/180)*angel+500; __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_1,pwm); } //舵机角度增加单位角度函数 void Servo_Up(uint8_t unit_angel) { //更新角度 servo.angel += unit_angel; //限幅 if(servo.angel >= servo.max_angel) { servo.angel = servo.max_angel; } //设置角度 Servo_Set_Angel(servo.angel); } //舵机角度减小单位角度函数 void Servo_Down(uint8_t unit_angel) { //更新角度 servo.angel += unit_angel; //限幅 if(servo.angel <= servo.min_angel) { servo.angel = servo.min_angel; } //设置角度 Servo_Set_Angel(servo.angel); }

//main.c /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2026 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 "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "servo.h" #include "encoder.h" #include "uart.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ #define UNIT_ANGEL 5 /* 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_TIM2_Init(); MX_TIM3_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ Servo_Init(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { Servo_Up(UNIT_ANGEL); HAL_Delay(1000); /* 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 */

2.定时中断方法

cubemx配置

信号线随便选一个引脚为输出模式即可，需要一个TIM做定时器模拟20ms周期的pwm信号，

这里选择PB10为控制引脚，TIM1做10us定时，PSC=72-1,ARR=10-1

T = (PSC-1) * (ARR-1) / 时钟频率

记得开启中断

PB10默认配置即可，速度那里也可以选择中速

完整代码

//servo.h #ifndef __SERVO_H #define __SERVO_H #include "stm32f1xx_hal.h" //使用宏定义，使代码更简洁 #define Servo_H HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_SET) #define Servo_L HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,GPIO_PIN_RESET) //定义管理舵机pwm的结构体 struct SERVO{ uint16_t pwm; uint16_t max_pwm; uint16_t min_pwm; }; void Servo_Init(void); void Servo_Set_PWM(uint32_t pwm); void Servo_Up(uint8_t unit_pwm); void Servo_Down(uint8_t unit_pwm); #endif

//servo.c #include "servo.h" extern TIM_HandleTypeDef htim1; //根据需要设置 初始值，最大值，最小值 struct SERVO servo ={150,250,50}; //计数值 使用volatile保护 static volatile uint64_t servo_cnt; //初始化 开启时钟 设置低电平 计数器置0 void Servo_Init(void) { HAL_TIM_Base_Start_IT(&htim1); Servo_Set_PWM(servo.pwm); Servo_L; servo_cnt = 0; } //封装舵机控制函数 //其实这个函数可以不封装的，直接在Servo_Up和Servo_Down中限幅也可以的 void Servo_Set_PWM(uint32_t pwm) { //限幅 if(pwm >= servo.max_pwm ) { servo.pwm = servo.max_pwm ; } else if(pwm < servo.min_pwm ) { servo.pwm = servo.min_pwm ; } //最后这个分支很重要，笔者开始忘记写这个，debug发现servo.pwm一直停留在155，找了好久原因 呜呜呜 else { servo.pwm = servo.pwm ; } } //舵机角度增加单位pwm函数 void Servo_Up(uint8_t unit_pwm) { servo.pwm += unit_pwm; Servo_Set_PWM(servo.pwm); } //舵机角度减小单位pwm函数 void Servo_Down(uint8_t unit_pwm) { servo.pwm -= unit_pwm; Servo_Set_PWM(servo.pwm); } //使用高电平占比时间模拟pwm void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if(htim == &htim1) { //每10us进入中断一次，计数值+1 servo_cnt++; //模拟pwm，未到达计数值时为高电平，到达后为低电平 if(servo_cnt <= servo.pwm) { Servo_H; } else if(servo_cnt > servo.pwm) { Servo_L; } //计数到2000 即20ms周期清零计数值 if(servo_cnt >= 2000) { servo_cnt = 0; } } }