STM32F1, STMCubeMX, PWM, 9g micro servo

STM32F1, STMCubeMX, PWM, 9g micro servo

0. 참고 사이트

• http://lifeseed.tistory.com/81
  

1. 모듈

2. HW 구성

5V로 구동함

3. RCC > HSE > Crystal/Ceramic Resonator

4. Timer Enable

• Clock Source : Internal Clock
• Channel1 : PWM Generation CH1

5. Clock Configuration > 72MHz

6. Configuration > TIM

7. Parameter Settings

• Prescaler : 72-1
• Counter Period : 20000

/*
    20ms ( 50Hz )

    1) 72MHz System Clock, Prescaler 1MHz Timer Clock
        Prescaler = 72MHz / 72MHz - 1 = 1MHz
    2) 1MHz Timer Clock, 50Hz
        Period = 1MHz / 50Hz = 20,000
*/

8. SW 구성

while (1) {     htim3.Instance->CCR1 = 1500; // pos 0' , 20,000 * 7.5 / 100             HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);             HAL_Delay(1000);     HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);     htim3.Instance->CCR1 = 2300; // pos 90' , 20,000 * 11.5 / 100             HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);     HAL_Delay(1000);     HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);     htim3.Instance->CCR1 = 700; // pos -90' , 20,000 * 3.5 / 100             HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);     HAL_Delay(1000);     HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1); }

9. 소스

https://github.com/sglee0223/stm32f103ve/tree/master/9g_micro_servo

10. 결과

https://youtu.be/aESn-fpS7sU

50% duty 상태