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並前往http://opensoc.econexus.net/wn0sc/stm32-change-pwm-duty-cycle-on-the-fly.html

Stm32 change pwm duty cycle on the fly

The main feature is that now the new FOC use the HAL/LL libraries. ... The ESP32 has two I2C channels and any pin can be set as SDA or SCL.

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