code: sg90

code/10.practice/common_modules/sg90/main/main.c

@@ -1,6 +1,74 @@
 #include <stdio.h>
+#include "driver/ledc.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_err.h"
+
+#define LEDC_TIMER LEDC_TIMER_0
+#define LEDC_MODE LEDC_LOW_SPEED_MODE
+#define LEDC_OUTPUT_IO (2) // 控制舵机的GPIO口
+#define LEDC_CHANNEL LEDC_CHANNEL_0
+#define LEDC_DUTY_RES LEDC_TIMER_13_BIT // 13位分辨率 -> 8192
+#define LEDC_FREQUENCY (50)             // 舵机需要 50Hz 周期 (20ms)
+
+// 占空比计算：
+// 13位分辨率，满周期 = 8192（即 100%）
+// 对应脉宽范围 0.5ms ~ 2.5ms -> 占周期的 2.5% ~ 12.5%
+#define SERVO_MIN_DUTY_US 500  // 0.5ms
+#define SERVO_MAX_DUTY_US 2500 // 2.5ms
+#define SERVO_PERIOD_US 20000  // 20ms = 50Hz
+
+static void ledc_init(void)
+{
+    ledc_timer_config_t ledc_timer = {
+        .speed_mode = LEDC_MODE,
+        .duty_resolution = LEDC_DUTY_RES,
+        .timer_num = LEDC_TIMER,
+        .freq_hz = LEDC_FREQUENCY,
+        .clk_cfg = LEDC_AUTO_CLK};
+    ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
+
+    ledc_channel_config_t ledc_channel = {
+        .speed_mode = LEDC_MODE,
+        .channel = LEDC_CHANNEL,
+        .timer_sel = LEDC_TIMER,
+        .intr_type = LEDC_INTR_DISABLE,
+        .gpio_num = LEDC_OUTPUT_IO,
+        .duty = 0,
+        .hpoint = 0};
+    ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
+}
+
+// 设置舵机角度（0~180）
+void set_servo_angle(uint8_t angle)
+{
+    if (angle > 180)
+        angle = 180;
+
+    uint32_t pulse_width_us = SERVO_MIN_DUTY_US +
+                              ((SERVO_MAX_DUTY_US - SERVO_MIN_DUTY_US) * angle) / 180;
+
+    uint32_t duty = (pulse_width_us * (1 << LEDC_DUTY_RES)) / SERVO_PERIOD_US;
+
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, duty);
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+}
 
 void app_main(void)
 {
-  
+    ledc_init();
+
+    // 依次转动 0° → 90° → 180°
+    set_servo_angle(0);
+    vTaskDelay(pdMS_TO_TICKS(1000));
+
+    set_servo_angle(90);
+    vTaskDelay(pdMS_TO_TICKS(1000));
+
+    set_servo_angle(180);
+    vTaskDelay(pdMS_TO_TICKS(1000));
+    while (1)
+    {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
 }