PX4飞控AUX_PWM

1、引脚映射关系：

AUX_OUT	PIN	TIMER_CH
FMU_CH1	E14	TIM1_CH4
FMU_CH2	E13	TIM1_CH3
FMU_CH3	E11	TIM1_CH2
FMU_CH4	E9	TIM1_CH1
FMU_CH5	D13	TIM4_CH2
FMU_CH6	D14	TIM4_CH3

2、相关代码：

#define PWM_DEFAULT_FREQUENCY	400				// pwm default frequqncy: 50Hz
#define PWM_ARR(freq)           (TIMER_FREQUENCY / freq)     	// CCR reload value, Timer frequency = 3M/60K = 50 Hz
#define PWM_FREQ                PWM_DEFAULT_FREQUENCY	400	// pwm default frequqncy: 50Hz
#define PWM_ARR(freq)           (TIMER_FREQUENCY / freq)     	// CCR reload value, Timer frequency = 3M/60K = 50 Hz
#define PWM_FREQ                PWM_DEFAULT_FREQUENCY

/* pwm initial */
void dPWM_OUT_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    /* TIM1 clock enable */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    /* GPIOE clock enable */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);

    /* TIM1 CH1 (PE9,FMU_CH4), TIM1 CH2 (PE11,FMU_CH3), TIM1 CH3 (PE13,FMU_CH2) and TIM1 CH4 (PE14,FMU_CH1) */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13 | GPIO_Pin_14;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
    GPIO_Init(GPIOE, &GPIO_InitStructure); 

    /* Connect TIM1 pins to AF */  
    GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_TIM1);
    GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1); 
    GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);
    GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_TIM1); 

    /* TIM4 clock enable */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

    /* GPIOE clock enable */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

    /* TIM4 CH2 (PD13,FMU_CH5), TIM4 CH3 (PD14,FMU_CH6) */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
    GPIO_Init(GPIOD, &GPIO_InitStructure); 

    /* Connect TIM4 pins to AF */  
    GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_TIM4); 

    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    uint16_t PrescalerValue;
    RCC_ClocksTypeDef  rcc_clocks;

    /* TIM1CLK = 2 * PCLK2 */ 
    /* PCLK2 = HCLK / 2 */
    RCC_GetClocksFreq(&rcc_clocks);

    /* Compute the prescaler value, TIM1 frequency = 3M Hz */
    PrescalerValue = (uint16_t)((rcc_clocks.PCLK2_Frequency * 2 / TIMER_FREQUENCY) - 1);

    /* Time base configuration */
    TIM_TimeBaseStructure.TIM_Period = PWM_ARR(PWM_FREQ);
    TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);

    TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);

    TIM_OC3Init(TIM1, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);

    TIM_OC4Init(TIM1, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);

    TIM_ARRPreloadConfig(TIM1, ENABLE);

    TIM_Cmd(TIM1, ENABLE);
    /* TIM1 Main Output Enable */
    TIM_CtrlPWMOutputs(TIM1, ENABLE);

    /* TIM4CLK = 2 * PCLK1 */ 
    /* PCLK1 = HCLK / 4 */
    PrescalerValue = (uint16_t) ((rcc_clocks.PCLK1_Frequency * 2 / TIMER_FREQUENCY) - 1);
    TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;

    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);

    TIM_OC2Init(TIM4, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);

    TIM_OC3Init(TIM4, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);

    TIM_ARRPreloadConfig(TIM4, ENABLE);

    TIM_Cmd(TIM4, ENABLE);

    return 1;
}

/* set pwm pulse */
int PWM_IoCtl(int Channel, int Dat)
{
	switch (Channel)
	{
		case Channel1:
			TIM_SetCompare4(TIM1, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;
		
		case Channel2:
                        TIM_SetCompare3(TIM1, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;
		
		case Channel3:
                        TIM_SetCompare2(TIM1, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;
		
		case Channel4:
                        TIM_SetCompare1(TIM1, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;
        
                case Channel5:
			TIM_SetCompare2(TIM4, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;
                
                case Channel6:
			TIM_SetCompare3(TIM4, PWM_ARR(PWM_FREQ) * Dat / 10000.0f);
			return 1;

		default:
			break;
	}
	return -1;
}