基于STC8G试验箱 PWM程序修改的 舵机控制程序，现在情况是 舵机没有反应，想请老师们看看程序有没有问题。
/*---------------------------------------------------------------------*/
/* --- STC MCU Limited ------------------------------------------------*/
/* --- STC 1T Series MCU Demo Programme -------------------------------*/
/* 如果要在程序中使用此代码,请在程序中注明使用了STC的资料及程序 */
/*---------------------------------------------------------------------*/
#include "config.h"
#include "timer.h"
#include "GPIO.h"
#include "PWM.h"
/************* 功能说明 **************
本例程基于STC8H8K64U为主控芯片的实验箱8进行编写测试，STC8H系列芯片可通用参考.
高级PWM定时器 PWM1P/PWM1N,PWM2P/PWM2N,PWM3P/PWM3N,PWM4P/PWM4N 每个通道都可独立实现PWM输出，或者两两互补对称输出.
8个通道PWM设置对应P6的8个端口.
通过P6口上连接的8个LED灯，利用PWM实现呼吸灯效果.
PWM周期和占空比可以根据需要自行设置，最高可达65535.
下载时, 选择时钟 24MHZ (用户可在"config.h"修改频率).
******************************************/
/************* 本地常量声明 **************/
/************* 本地变量声明 **************/
PWMx_Duty PWMA_Duty;
/************* 本地函数声明 **************/
int dutyCycle;
/************* 外部函数和变量声明 *****************/
// 简单的延时函数
void delayMs(int ms) {
int i, j;
for (i = 0; i < ms; i++)
for (j = 0; j < 120; j++); // 调整内部循环计数以获得所需的延时
}
/************************ IO口配置 ****************************/
void GPIO_config(void)
{
GPIO_InitTypeDef GPIO_InitStructure; //结构定义
GPIO_InitStructure.Pin = GPIO_Pin_0; //指定要初始化的IO, GPIO_Pin_0 ~ GPIO_Pin_7, 或操作
GPIO_InitStructure.Mode = GPIO_PullUp; //指定IO的输入或输出方式,GPIO_PullUp,GPIO_HighZ,GPIO_OUT_OD,GPIO_OUT_PP
GPIO_Inilize(GPIO_P4,&GPIO_InitStructure); //初始化
GPIO_InitStructure.Pin = GPIO_Pin_All; //指定要初始化的IO, GPIO_Pin_0 ~ GPIO_Pin_7, 或操作
GPIO_InitStructure.Mode = GPIO_PullUp; //指定IO的输入或输出方式,GPIO_PullUp,GPIO_HighZ,GPIO_OUT_OD,GPIO_OUT_PP
GPIO_Inilize(GPIO_P1,&GPIO_InitStructure); //初始化
}
/************************ 定时器配置 ****************************/
void Timer_config(void)
{
TIM_InitTypeDef TIM_InitStructure; //结构定义
TIM_InitStructure.TIM_Mode = TIM_16BitAutoReload; //指定工作模式, TIM_16BitAutoReload,TIM_16Bit,TIM_8BitAutoReload,TIM_16BitAutoReloadNoMask
TIM_InitStructure.TIM_Priority = Priority_0; //指定中断优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
TIM_InitStructure.TIM_Interrupt = ENABLE; //中断是否允许, ENABLE或DISABLE
TIM_InitStructure.TIM_ClkSource = TIM_CLOCK_1T; //指定时钟源, TIM_CLOCK_1T,TIM_CLOCK_12T,TIM_CLOCK_Ext
TIM_InitStructure.TIM_ClkOut = DISABLE; //是否输出高速脉冲, ENABLE或DISABLE
TIM_InitStructure.TIM_Value = 65536UL - (MAIN_Fosc / 1000); //中断频率, 1000次/秒
TIM_InitStructure.TIM_Run = ENABLE; //是否初始化后启动定时器, ENABLE或DISABLE
Timer_Inilize(Timer0,&TIM_InitStructure); //初始化Timer0 Timer0,Timer1,Timer2,Timer3,Timer4
}
/*************** 串口初始化函数 *****************/
void PWM_config(void)
{
PWMx_InitDefine PWMx_InitStructure;
PWMx_InitStructure.PWM1_Mode = CCMRn_PWM_MODE1; //模式, CCMRn_FREEZE,CCMRn_MATCH_VALID,CCMRn_MATCH_INVALID,CCMRn_ROLLOVER,CCMRn_FORCE_INVALID,CCMRn_FORCE_VALID,CCMRn_PWM_MODE1,CCMRn_PWM_MODE2
// PWMx_InitStructure.PWM2_Mode = CCMRn_PWM_MODE1; //模式, CCMRn_FREEZE,CCMRn_MATCH_VALID,CCMRn_MATCH_INVALID,CCMRn_ROLLOVER,CCMRn_FORCE_INVALID,CCMRn_FORCE_VALID,CCMRn_PWM_MODE1,CCMRn_PWM_MODE2
// PWMx_InitStructure.PWM3_Mode = CCMRn_PWM_MODE1; //模式, CCMRn_FREEZE,CCMRn_MATCH_VALID,CCMRn_MATCH_INVALID,CCMRn_ROLLOVER,CCMRn_FORCE_INVALID,CCMRn_FORCE_VALID,CCMRn_PWM_MODE1,CCMRn_PWM_MODE2
// PWMx_InitStructure.PWM4_Mode = CCMRn_PWM_MODE1; //模式, CCMRn_FREEZE,CCMRn_MATCH_VALID,CCMRn_MATCH_INVALID,CCMRn_ROLLOVER,CCMRn_FORCE_INVALID,CCMRn_FORCE_VALID,CCMRn_PWM_MODE1,CCMRn_PWM_MODE2
PWMx_InitStructure.PWM1_SetPriority = Priority_0; //指定中断优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
// PWMx_InitStructure.PWM2_SetPriority = Priority_0; //指定中断优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
// PWMx_InitStructure.PWM3_SetPriority = Priority_0; //指定中断优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
// PWMx_InitStructure.PWM4_SetPriority = Priority_0; //指定中断优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
PWMx_InitStructure.PWM_Period = 20000 - 1; // 20ms周期对应50hz频率
PWMx_InitStructure.PWM1_Duty = 1500; //1.5ms为中位位置
// PWMx_InitStructure.PWM2_Duty = PWMA_Duty.PWM2_Duty; //PWM2占空比时间, 0~Period
// PWMx_InitStructure.PWM3_Duty = PWMA_Duty.PWM3_Duty; //PWM3占空比时间, 0~Period
// PWMx_InitStructure.PWM4_Duty = PWMA_Duty.PWM4_Duty; //PWM4占空比时间, 0~Period
// PWMx_InitStructure.PWM_DeadTime = 0; //死区发生器设置, 0~255
PWMx_InitStructure.PWM_EnoSelect = ENO1P ; //输出通道选择, ENO1P,ENO1N,ENO2P,ENO2N,ENO3P,ENO3N,ENO4P,ENO4N / ENO5P,ENO6P,ENO7P,ENO8P
PWMx_InitStructure.PWM_PS_SW = PWM1_SW_P10_P11; //切换端口, PWM1_SW_P10_P11,PWM1_SW_P20_P21,PWM1_SW_P60_P61
// PWM2_SW_P12_P13,PWM2_SW_P22_P23,PWM2_SW_P62_P63
// PWM3_SW_P14_P15,PWM3_SW_P24_P25,PWM3_SW_P64_P65
// PWM4_SW_P16_P17,PWM4_SW_P26_P27,PWM4_SW_P66_P67,PWM4_SW_P34_P33
PWMx_InitStructure.PWM_CC1Enable = ENABLE; //开启PWM1P输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC1NEnable = ENABLE; //开启PWM1N输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC2Enable = ENABLE; //开启PWM2P输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC2NEnable = ENABLE; //开启PWM2N输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC3Enable = ENABLE; //开启PWM3P输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC3NEnable = ENABLE; //开启PWM3N输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC4Enable = ENABLE; //开启PWM4P输入捕获/比较输出, ENABLE,DISABLE
// PWMx_InitStructure.PWM_CC4NEnable = ENABLE; //开启PWM4N输入捕获/比较输出, ENABLE,DISABLE
PWMx_InitStructure.PWM_MainOutEnable= ENABLE; //主输出使能, ENABLE,DISABLE
PWMx_InitStructure.PWM_CEN_Enable = ENABLE; //使能计数器, ENABLE,DISABLE
PWM_Configuration(PWMA, &PWMx_InitStructure); //初始化PWM, PWMA,PWMB
}
void setServoAngle(int angle) {
// 检查角度是否在有效范围内，防止错误输入导致不正确操作
if (angle < 0) angle = 0;
if (angle > 180) angle = 180;
// 将角度（0-180度）转换为对应的PWM占空比值
// 假设0度对应500μs（占空比2.5%），180度对应2500μs（占空比12.5%）
dutyCycle = 500 + ((angle * 2000) / 180);
PWMA_Duty.PWM1_Duty = dutyCycle;
UpdatePwm(PWMA, &PWMA_Duty);
}
/******************** 主函数**************************/
void main(void)
{
GPIO_config();
Timer_config();
PWM_config();
EA = 1;
P10 = 0; //打开LED电源
setServoAngle(0);
while (1)
{
setServoAngle(0); // Move servo to 0 degrees
delayMs(5000); // Delay to observe position
setServoAngle(90); // Move servo to 90 degrees (center)
delayMs(5000); // Delay to observe position
// setServoAngle(180); // Move servo to 180 degrees
// delayMs(5000); // Delay to observe position
}
}
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