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#include "User_PWMOut.h" #include "hal.h" #include "stm32f4xx_conf.h" #include "stm32f4xx_rcc.h" #include "conf_general.h" // #define USERPWM_USE_HWPWM // 使用硬件定时器会与VESC程序冲突，这里放弃使用硬件PWM #ifdef USERPWM_USE_HWPWM #define PERIOD_US 1000 // PWM信号周期 static void STM32_TIM3_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //使能定时器3时钟 // 设置引脚为复用输出功能 palSetPadMode(GPIOB, 4, PAL_MODE_ALTERNATE(GPIO_AF_TIM3) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); palSetPadMode(GPIOB, 5, PAL_MODE_ALTERNATE(GPIO_AF_TIM3) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); // 初始化TIM3 TIM_TimeBaseStructure.TIM_Period = PERIOD_US - 1; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler = SYSTEM_CORE_CLOCK/1000000 - 1; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // TIM向上计数模式 TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 //初始化TIM3 PWM模式 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC1Init(TIM3, &TIM_OCInitStructure); //根据指定的参数初始化外设TIM3 OC1 TIM_OC2Init(TIM3, &TIM_OCInitStructure); //根据指定的参数初始化外设TIM3 OC2 TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器 TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器 TIM3->CNT = 0; TIM_Cmd(TIM3, ENABLE); //使能TIM3 } static void STM32_TIM4_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); //使能定时器3时钟 //设置引脚为复用输出功能 palSetPadMode(GPIOB, 6, PAL_MODE_ALTERNATE(GPIO_AF_TIM4) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING); //初始化TIM4 TIM_TimeBaseStructure.TIM_Period = PERIOD_US - 1; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler = SYSTEM_CORE_CLOCK / 1000000 - 1; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; // TIM向上计数模式 TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 //初始化TIM3 Channel2 PWM模式 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OC1Init(TIM4, &TIM_OCInitStructure); //根据指定的参数初始化外设TIM3 OC1 TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); //使能TIM3在CCR2上的预装载寄存器 TIM4->CNT = 0; TIM_Cmd(TIM4, ENABLE); //使能TIM3 } // 指定PWM序号与占空比 void UserPWM_SetDuty(int PWMNum, float Duty) { int CCR; if (Duty < 0) { Duty = 0; } else if (Duty > 1) { Duty = 1; } CCR = (int)(Duty * PERIOD_US); switch (PWMNum) { case 1: TIM_SetCompare1(TIM3, CCR); break; case 2: TIM_SetCompare2(TIM3, CCR); break; case 3: TIM_SetCompare1(TIM4, CCR); break; default: break; } } // 使用硬件定时器时此函数不需要运行 void UserPWM_OutputCtrl(void) { ; } // 初始化用户PWM void UserPWM_Init(void) { STM32_TIM3_Init(); STM32_TIM4_Init(); UserPWM_SetDuty(1, 0.5f); UserPWM_SetDuty(2, 0.5f); UserPWM_SetDuty(3, 0.5f); } #else #define PWM1_GPIOPORT GPIOB #define PWM1_GPIOPIN 4 #define PWM2_GPIOPORT GPIOB #define PWM2_GPIOPIN 5 #define PWM3_GPIOPORT GPIOB #define PWM3_GPIOPIN 6 #define RGB_R_PWMNUM 2 #define RGB_G_PWMNUM 3 #define RGB_B_PWMNUM 1 // GPIO操作函数 #define PWM1_EN palSetPad(GPIOB, 4) #define PWM1_DIS palClearPad(GPIOB, 4) #define PWM2_EN palSetPad(GPIOB, 5) #define PWM2_DIS palClearPad(GPIOB, 5) #define PWM3_EN palSetPad(GPIOB, 6) #define PWM3_DIS palClearPad(GPIOB, 6) #define USERPWM_RESOLUTION 40 // PWM占空比分辨率 static int UserPWMCNT; static int UserPWMCCR[3]; static int UserPWMCCR_PreLoad[3]; // 在FOC处理时顺便调用即可 void UserPWM_OutputCtrl(void) { if (UserPWMCNT < USERPWM_RESOLUTION - 1) { UserPWMCNT++; if (UserPWMCNT == UserPWMCCR[0]) { PWM1_DIS; } if (UserPWMCNT == UserPWMCCR[1]) { PWM2_DIS; } if (UserPWMCNT == UserPWMCCR[2]) { PWM3_DIS; } } else { UserPWMCNT = 0; UserPWMCCR[0] = UserPWMCCR_PreLoad[0]; UserPWMCCR[1] = UserPWMCCR_PreLoad[1]; UserPWMCCR[2] = UserPWMCCR_PreLoad[2]; if (UserPWMCCR[0] > 0) PWM1_EN; else PWM1_DIS; if (UserPWMCCR[1] > 0) PWM2_EN; else PWM2_DIS; if (UserPWMCCR[2] > 0) PWM3_EN; else PWM3_DIS; } } // 指定PWM序号与占空比 void UserPWM_SetDuty(int PWMNum, float Duty) { int CCR; if (Duty < 0) { Duty = 0; } else if (Duty > 1) { Duty = 1; } CCR = (int)(Duty * USERPWM_RESOLUTION); switch (PWMNum) { case 1: UserPWMCCR_PreLoad[0] = CCR; break; case 2: UserPWMCCR_PreLoad[1] = CCR; break; case 3: UserPWMCCR_PreLoad[2] = CCR; break; default: break; } } // 按RGB进行占空比设定 void UserPWM_SetRGB(float R,float G,float B) { UserPWM_SetDuty(RGB_R_PWMNUM, R); UserPWM_SetDuty(RGB_G_PWMNUM, G); UserPWM_SetDuty(RGB_B_PWMNUM, B); } // 初始化用户PWM void UserPWM_Init(void) { UserPWMCNT = 0; UserPWMCCR[0] = 0; UserPWMCCR[1] = 0; UserPWMCCR[2] = 0; UserPWMCCR_PreLoad[0] = 0; UserPWMCCR_PreLoad[1] = 0; UserPWMCCR_PreLoad[2] = 0; palSetPadMode(PWM1_GPIOPORT, PWM1_GPIOPIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); PWM1_DIS; palSetPadMode(PWM2_GPIOPORT, PWM2_GPIOPIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); PWM2_DIS; palSetPadMode(PWM3_GPIOPORT, PWM3_GPIOPIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST); PWM3_DIS; } #endif