2个按键控制舵机旋转角度、速度

Inc/key.h

@@ -0,0 +1,2 @@
+#define KEY_PRESSED GPIO_PIN_RESET
+#define KEY_NOT_PRESSED GPIO_PIN_SET

Inc/main.h

@@ -67,6 +67,12 @@ void Error_Handler(void);
 #define LED_B_GPIO_Port GPIOE
 #define SERVO_Pin GPIO_PIN_15
 #define SERVO_GPIO_Port GPIOB
+#define KEY0_Pin GPIO_PIN_8
+#define KEY0_GPIO_Port GPIOD
+#define KEY1_Pin GPIO_PIN_9
+#define KEY1_GPIO_Port GPIOD
+#define KEY2_Pin GPIO_PIN_10
+#define KEY2_GPIO_Port GPIOD
 #define PB8_EXTI_Pin GPIO_PIN_8
 #define PB8_EXTI_GPIO_Port GPIOB
 #define PB8_EXTI_EXTI_IRQn EXTI9_5_IRQn

Inc/servo.h

@@ -2,7 +2,7 @@
 //Tanslate angle into Capture Compare Register value 
 #define ANGLETOCCR(angle) 2000 * (angle) / 180 + 500
 
-extern uint8_t Servo_Speed,Servo_goal,Servo_position;
+extern int16_t Servo_Speed,Servo_goal,Servo_position;
 
 void Servo_SetAngle(int goal);
 int Servo_toward(void);

MDK-ARM/Project/Project.build_log.htm

@@ -27,12 +27,12 @@ Project File Date:  11/07/2024
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\Keil5\ARM\ARMCC\Bin'
 Build target 'Project'
-compiling main.c...
+compiling servo.c...
-../Src/main.c(126): warning:  #177-D: variable "ADC_Value"  was declared but never referenced
+..\Src\servo.c(25): warning:  #177-D: variable "tt"  was declared but never referenced
-      uint32_t ADC_Value;
+      static uint8_t times = 0, tt = 0;
-../Src/main.c: 1 warning, 0 errors
+..\Src\servo.c: 1 warning, 0 errors
 linking...
-Program Size: Code=18628 RO-data=59236 RW-data=36 ZI-data=2892  
+Program Size: Code=18972 RO-data=59236 RW-data=40 ZI-data=2896  
 FromELF: creating hex file...
 "Project\Project.axf" - 0 Error(s), 1 Warning(s).
 

MDK-ARM/Project/Project.lnp

@@ -12,6 +12,7 @@
 "project\stm32l4xx_it.o"
 "project\stm32l4xx_hal_msp.o"
 "project\servo.o"
+"project\key.o"
 "project\stm32l4xx_hal_adc.o"
 "project\stm32l4xx_hal_adc_ex.o"
 "project\stm32l4xx_hal.o"

MDK-ARM/Project/Project_Project.dep

@@ -1,5 +1,5 @@
 Dependencies for Project 'Project', Target 'Project': (DO NOT MODIFY !)
-F (startup_stm32l475xx.s)(0x672C524E)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

--pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1"

--list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d)
+F (startup_stm32l475xx.s)(0x672C6B22)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

--pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1"

--list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d)
 F (..\Src\lcd.c)(0x672794C0)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\lcd.o --omf_browse project\lcd.crf --depend project\lcd.d)
 I (../Inc/sys.h)(0x67279973)
 I (../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h)(0x671507AF)
@@ -116,8 +116,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
-F (../Src/main.c)(0x672C5484)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\main.o --omf_browse project\main.crf --depend project\main.d)
+F (../Src/main.c)(0x672C77C1)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\main.o --omf_browse project\main.crf --depend project\main.d)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -162,10 +162,11 @@ I (../Inc/lcd.h)(0x5BF21D0E)
 I (../Inc/sys.h)(0x67279973)
 I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
 I (D:\Keil5\ARM\ARMCC\include\string.h)(0x588B8344)
-I (../Inc/servo.h)(0x672C51E6)
+I (../Inc/servo.h)(0x672C7728)
-F (../Src/gpio.c)(0x672A38B6)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d)
+I (../Inc/key.h)(0x672C7132)
+F (../Src/gpio.c)(0x672C6B1E)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d)
 I (../Inc/gpio.h)(0x6715E327)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -201,9 +202,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
-F (../Src/adc.c)(0x672B7423)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\adc.o --omf_browse project\adc.crf --depend project\adc.d)
+F (../Src/adc.c)(0x672C6DE4)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\adc.o --omf_browse project\adc.crf --depend project\adc.d)
 I (../Inc/adc.h)(0x67284CF2)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -241,7 +242,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
 F (../Src/spi.c)(0x67279973)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\spi.o --omf_browse project\spi.crf --depend project\spi.d)
 I (../Inc/spi.h)(0x67279574)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -279,7 +280,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
 F (../Src/tim.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\tim.o --omf_browse project\tim.crf --depend project\tim.d)
 I (../Inc/tim.h)(0x672C524A)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -317,7 +318,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
 F (../Src/usart.c)(0x6728AD52)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\usart.o --omf_browse project\usart.crf --depend project\usart.d)
 I (../Inc/usart.h)(0x67276B93)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -353,8 +354,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
-F (../Src/stm32l4xx_it.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d)
+F (../Src/stm32l4xx_it.c)(0x672C7765)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -392,12 +393,12 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
 I (../Inc/stm32l4xx_it.h)(0x672C524A)
 I (../Inc/tim.h)(0x672C524A)
-I (../Inc/servo.h)(0x672C51E6)
+I (../Inc/servo.h)(0x672C7728)
 I (../Inc/usart.h)(0x67276B93)
 I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
 I (../Inc/gpio.h)(0x6715E327)
 F (../Src/stm32l4xx_hal_msp.c)(0x6715E328)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\stm32l4xx_hal_msp.o --omf_browse project\stm32l4xx_hal_msp.crf --depend project\stm32l4xx_hal_msp.d)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -433,9 +434,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
-F (..\Src\servo.c)(0x672C52EE)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\servo.o --omf_browse project\servo.crf --depend project\servo.d)
+F (..\Src\servo.c)(0x672C78EF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\servo.o --omf_browse project\servo.crf --depend project\servo.d)
-I (../Inc/servo.h)(0x672C51E6)
+I (../Inc/servo.h)(0x672C7728)
-I (../Inc/main.h)(0x672B2071)
+I (../Inc/main.h)(0x672C6B20)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@@ -474,7 +475,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
 I (../Inc/tim.h)(0x672C524A)
 I (../Inc/lcd.h)(0x5BF21D0E)
 I (../Inc/sys.h)(0x67279973)
-F (..\Inc\servo.h)(0x672C51E6)()
+F (..\Inc\servo.h)(0x672C7728)()
+F (..\Src\key.c)(0x672C6F85)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\key.o --omf_browse project\key.crf --depend project\key.d)
+F (..\Inc\key.h)(0x672C7132)()
 F (../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_adc.c)(0x671507AF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include

-I D:\Develop\Stm32Project\Project\MDK-ARM\RTE

-I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include

-I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx

-o project\stm32l4xx_hal_adc.o --omf_browse project\stm32l4xx_hal_adc.crf --depend project\stm32l4xx_hal_adc.d)
 I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
 I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)

MDK-ARM/Project/key.d

@@ -0,0 +1 @@
+project\key.o: ..\Src\key.c

MDK-ARM/Project/main.d

@@ -46,3 +46,4 @@ project\main.o: ../Inc/sys.h
 project\main.o: D:\Keil5\ARM\ARMCC\Bin\..\include\stdio.h
 project\main.o: D:\Keil5\ARM\ARMCC\Bin\..\include\string.h
 project\main.o: ../Inc/servo.h
+project\main.o: ../Inc/key.h

Project.ioc

@@ -31,23 +31,26 @@ Mcu.Name=STM32L475V(C-E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PH0-OSC_IN (PH0)
 Mcu.Pin1=PH1-OSC_OUT (PH1)
-Mcu.Pin10=PC10
+Mcu.Pin10=PD10
-Mcu.Pin11=PC11
+Mcu.Pin11=PA9
-Mcu.Pin12=PC12
+Mcu.Pin12=PA10
-Mcu.Pin13=PB8
+Mcu.Pin13=PC10
-Mcu.Pin14=PB9
+Mcu.Pin14=PC11
-Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin15=PC12
-Mcu.Pin16=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin16=PB8
-Mcu.Pin17=VP_TIM15_VS_ClockSourceINT
+Mcu.Pin17=PB9
+Mcu.Pin18=VP_SYS_VS_Systick
+Mcu.Pin19=VP_TIM7_VS_ClockSourceINT
 Mcu.Pin2=PC2
+Mcu.Pin20=VP_TIM15_VS_ClockSourceINT
 Mcu.Pin3=PB2
 Mcu.Pin4=PE7
 Mcu.Pin5=PE8
 Mcu.Pin6=PE9
 Mcu.Pin7=PB15
-Mcu.Pin8=PA9
+Mcu.Pin8=PD8
-Mcu.Pin9=PA10
+Mcu.Pin9=PD9
-Mcu.PinsNb=18
+Mcu.PinsNb=21
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32L475VETx
@@ -97,6 +100,18 @@ PC11.Signal=SPI3_MISO
 PC12.Mode=Full_Duplex_Master
 PC12.Signal=SPI3_MOSI
 PC2.Signal=ADCx_IN3
+PD10.GPIOParameters=GPIO_Label
+PD10.GPIO_Label=KEY2
+PD10.Locked=true
+PD10.Signal=GPIO_Input
+PD8.GPIOParameters=GPIO_Label
+PD8.GPIO_Label=KEY0
+PD8.Locked=true
+PD8.Signal=GPIO_Input
+PD9.GPIOParameters=GPIO_Label
+PD9.GPIO_Label=KEY1
+PD9.Locked=true
+PD9.Signal=GPIO_Input
 PE7.GPIOParameters=GPIO_PuPd,GPIO_Label
 PE7.GPIO_Label=LED_R
 PE7.GPIO_PuPd=GPIO_PULLUP
@@ -146,7 +161,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true
 RCC.ADCFreq_Value=12000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1Freq_Value=72000000

Src/adc.c

@@ -86,7 +86,6 @@ void MX_ADC1_Init(void)
     /* USER CODE BEGIN ADC1_Init 2 */
 
     /* USER CODE END ADC1_Init 2 */
-
 }
 
 void HAL_ADC_MspInit(ADC_HandleTypeDef *adcHandle)
@@ -173,14 +172,12 @@ uint16_t Get_Adc(uint32_t ch)
 
     if (HAL_ADC_PollForConversion(&hadc1, 10) == HAL_OK)
     {
-        //????
-
         return (uint16_t)HAL_ADC_GetValue(&hadc1);
     }
     else
     {
         return 0;
-		}//??????ADC1????????
+    } 
 }
 uint16_t Get_Adc_Average(uint32_t ch, uint8_t times)
 {

Src/gpio.c

@@ -49,6 +49,7 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOE_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
@@ -71,6 +72,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PDPin PDPin PDPin */
+  GPIO_InitStruct.Pin = KEY0_Pin|KEY1_Pin|KEY2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
   /*Configure GPIO pins : PBPin PBPin */
   GPIO_InitStruct.Pin = PB8_EXTI_Pin|PB9_EXTI_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;

Src/main.c

@@ -31,6 +31,7 @@
 #include <stdio.h>
 #include <string.h>
 #include "servo.h"
+#include "key.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -61,53 +62,12 @@ int cnt = 0;
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 /* USER CODE BEGIN PFP */
-int fputc(int ch, FILE *f)
+void Servo_test(void);
-{
+int fputc(int ch, FILE *f);
-
+int fgetc(FILE *f);
-    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+void Breathing_light(void);
-    return ch;
+void ADC_BEEP(void);
-}
+void Key_get(void);
-int fgetc(FILE *f)
-{
-    int ch;
-    // while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) == RESET);
-    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
-    return (ch);
-}
-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
-{
-	printf("rx\r\n");
-    if (huart == &huart1)
-    {
-        rxdata[Size] = '\0';
-        if (strcmp(rxdata, "LED1") == 0)
-        {
-            LED1_ON=!LED1_ON;
-            HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
-        }
-        else if (strcmp(rxdata, "LED2") == 0)
-        {
-            LED2_ON=!LED2_ON;
-            HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
-        }
-        else if (strcmp(rxdata, "LED3") == 0)
-        {
-			LED_B_ON=!LED_B_ON;
-            LED3_ON=!LED3_ON;
-        }
-		else
-		{
-			cnt=0;
-			for(int i=0;i<Size;i++)
-			{
-				cnt*=10;
-				cnt+=rxdata[i]-'0';
-			}	
-			Servo_goal=cnt;		
-		}
-        HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
-    }
-}
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -169,65 +129,17 @@ int main(void)
     //__HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_2,5);
     HAL_TIM_Base_Start_IT(&htim7);
     while (1)
-    {                                                  //??ADC??
-                                                       // HAL_ADC_PollForConversion(&hadc1, 50); //??????,50???????,???ms
-                                                       // if (HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc1), HAL_ADC_STATE_REG_EOC))
-                                                       // {
-        #ifdef ONE_ADC_BEEP
-        ADC_Value = Get_Adc_Average(ADC_CHANNEL_3, 5); //??AD?
-        LCD_ShowxNum(50, 100, ADC_Value, 4, 16, 0);
-        if (ADC_Value * 3.3 / 4095 > 1.7)
     {
-            cnt++;
+        ADC_BEEP();
-        }
+        LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
-        else
+        LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
-        {
+        LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
-            cnt = 0;
-        }
-        if (cnt == 50)
-        {
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-            HAL_Delay(100);
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-            HAL_Delay(100);
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-            HAL_Delay(100);
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-            HAL_Delay(100);
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-            HAL_Delay(100);
-            HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
-        }
-        LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
-         HAL_GPIO_TogglePin(LED_B_GPIO_Port,LED_B_Pin);
-        //  }
-        HAL_Delay(100);
-        #endif
         /* USER CODE END WHILE */
 
         /* USER CODE BEGIN 3 */
-		
+        Key_get();
-        //cnt=(cnt+30)%(180+30);
+        // Servo_test();
-		LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
+        Breathing_light();
-		LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
-        // Servo_SetAngle(cnt);
-		HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
-		HAL_Delay(1000);
-		if(!LED_B_ON)
-		{
-			continue;
-		}
-        for(int i=0;i<=100;i++)
-        {
-            __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,100-i);
-            HAL_Delay(10);
-        }
-        for(int i=0;i<=100;i++)
-        {
-            __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,i);
-            HAL_Delay(10);
-        }
-        //HAL_Delay(500);
     }
     /* USER CODE END 3 */
 }
@@ -267,8 +179,7 @@ void SystemClock_Config(void)
 
     /** Initializes the CPU, AHB and APB buses clocks
      */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
@@ -281,7 +192,134 @@ void SystemClock_Config(void)
 }
 
 /* USER CODE BEGIN 4 */
+void Servo_test(void)
+{
+    // cnt=(cnt+30)%(180+30);
+    LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
+    LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
+    Servo_SetAngle(cnt);
+    HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
+}
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+{
+    printf("rx\r\n");
+    if (huart == &huart1)
+    {
+        rxdata[Size] = '\0';
+        if (strcmp(rxdata, "LED1") == 0)
+        {
+            LED1_ON = !LED1_ON;
+            HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
+        }
+        else if (strcmp(rxdata, "LED2") == 0)
+        {
+            LED2_ON = !LED2_ON;
+            HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
+        }
+        else if (strcmp(rxdata, "LED3") == 0)
+        {
+            LED_B_ON = !LED_B_ON;
+            LED3_ON = !LED3_ON;
+        }
+        else
+        {
+            cnt = 0;
+            for (int i = 0; i < Size; i++)
+            {
+                cnt *= 10;
+                cnt += rxdata[i] - '0';
+            }
+            Servo_goal = cnt;
+        }
+        HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
+    }
+}
+int fgetc(FILE *f)
+{
+    int ch;
+    // while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) == RESET);
+    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+    return (ch);
+}
+int fputc(int ch, FILE *f)
+{
 
+    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+    return ch;
+}
+// LED_B的呼吸灯
+void Breathing_light(void)
+{
+    if (!LED_B_ON)
+    {
+        return;
+    }
+    for (int i = 0; i <= 100; i++)
+    {
+        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 100 - i);
+        HAL_Delay(10);
+    }
+    for (int i = 0; i <= 100; i++)
+    {
+        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, i);
+        HAL_Delay(10);
+    }
+}
+void ADC_BEEP(void)
+{
+#ifdef ONE_ADC_BEEP
+    ADC_Value = Get_Adc_Average(ADC_CHANNEL_3, 5); //??AD?
+    LCD_ShowxNum(50, 100, ADC_Value, 4, 16, 0);
+    if (ADC_Value * 3.3 / 4095 > 1.7)
+    {
+        cnt++;
+    }
+    else
+    {
+        cnt = 0;
+    }
+    if (cnt == 50)
+    {
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+        HAL_Delay(100);
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+        HAL_Delay(100);
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+        HAL_Delay(100);
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+        HAL_Delay(100);
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+        HAL_Delay(100);
+        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
+    }
+    LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
+    HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
+    //  }
+    HAL_Delay(100);
+#endif
+}
+void Key_get(void)
+{
+    if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
+    {
+        HAL_Delay(15);
+        LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
+        while (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
+            ;
+        Servo_goal = (Servo_goal + 90) % (180 + 90);
+        LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
+        HAL_Delay(15);
+    }
+    if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
+    {
+        HAL_Delay(15);
+        while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
+            ;
+        Servo_Speed = Servo_Speed % 3 + 1;
+        LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
+        HAL_Delay(15);
+    }
+}
 /* USER CODE END 4 */
 
 /**

Src/servo.c

@@ -2,7 +2,7 @@
 #include "tim.h"
 #include "lcd.h"
 
-uint8_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
+int16_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
 
 void Servo_SetAngle(int goal)
 {
@@ -13,7 +13,11 @@ void Servo_SetAngle(int goal)
 // 往哪个方向转
 int Servo_toward(void)
 {
-    return Servo_goal > Servo_position;
+    if (Servo_goal > Servo_position)
+    {
+        return 1;
+    }
+    return -1;
 }
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
@@ -21,15 +25,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     static uint8_t times = 0, tt = 0;
     if (htim == &htim7)
     {
-        // if (++times == 250)
+        if (++times == 1000)
-        // {
+        {
-		// 	LCD_ShowxNum(50, 50, ++tt, 4, 16, 0);
+            times = 0;
-        //     times = 0;
+        }
-        // }
-        // else
-        // {
-        //     return;
-        // }
         if (Servo_position == Servo_goal)
         {
             return;
@@ -38,11 +37,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
         {
             Servo_position = Servo_goal;
         }
-        if (Servo_Speed == 2)
+        if (Servo_Speed == 2 && times % 5 == 0)
         {
-            Servo_position += Servo_toward() * 9;
+            Servo_position += Servo_toward();
         }
-        if (Servo_Speed == 3)
+        if (Servo_Speed == 3 && times % 50 == 0)
         {
             Servo_position += Servo_toward();
         }

Src/stm32l4xx_it.c

@@ -63,7 +63,7 @@
 extern TIM_HandleTypeDef htim7;
 extern UART_HandleTypeDef huart1;
 /* USER CODE BEGIN EV */
-extern uint8_t Servo_Speed;
+
 extern uint8_t LED_B_ON,LED1_ON,LED2_ON,LED3_ON;
 
 /* USER CODE END EV */