HT32马达控制定时器MCTM多通道驱动舵机

目的：用MCTM的通道2和通道3控制两个SG90舵机(180°)

步骤：

参考江科大的PPT

1. 开启GPIO时钟，AFIO时钟，MCTM0时钟；

CKCU_PeripClockConfig_TypeDef CKCUClock = {{ 0 }};
CKCUClock.Bit.MCTM0      = 1;
CKCUClock.Bit.PD     	 = 1;
CKCUClock.Bit.AFIO   	 = 1;
CKCU_PeripClockConfig(CKCUClock, ENABLE);

2.端口复用为PWM模式（PD1和PD3引脚）；

AFIO_GPxConfig(PWM_GPIO, PWM_Pin1 | PWM_Pin2, AFIO_MODE_4);//端口复用为AF4模式

3. GPIO引脚配置为复用推挽输出；

GPIO_DirectionConfig(PWM_PORT, PWM_Pin1, GPIO_DIR_OUT);
GPIO_DirectionConfig(PWM_PORT, PWM_Pin2, GPIO_DIR_OUT);

4. 配置时基单元；

        SG90舵机要求的PWM信号周期是20ms。ht32默认系统时钟主频为48Mhz, 48分频后得到1Mhz, 重装载值CRR设为20K，1Mhz/20K = 50hz, 得到周期20ms。

TM_TimeBaseInitTypeDef TM_TimeBaseInitStruct;  // 声明结构体
TM_TimeBaseInitStruct.Prescaler = PSC; // 预分频系数
TM_TimeBaseInitStruct.CounterReload = CRR; // 计数周期,重载值
TM_TimeBaseInitStruct.RepetitionCounter = 0;
TM_TimeBaseInitStruct.CounterMode = TM_CNT_MODE_UP; // 向上计数
TM_TimeBaseInitStruct.PSCReloadTime = TM_PSC_RLD_IMMEDIATE;// 立即重装载  
TM_TimeBaseInit(HT_MCTM0, &TM_TimeBaseInitStruct);  
TM_IntConfig(HT_MCTM0, TM_INT_UEV, DISABLE); //关闭定时器中断

5. 配置输出比较单元；

TM_OutputInitTypeDef TM_OutputInitStructure;  //输出配置结构体
TM_OutputStructInit(&TM_OutputInitStructure);  //初始化结构体默认值
//通道2
TM_OutputInitStructure.Channel = TM_CH_2; 
TM_OutputInitStructure.OutputMode = TM_OM_PWM1; //输出比较模式TM_OutputInitStructure.Polarity = TM_CHP_NONINVERTED;  //输出比较极性	TM_OutputInitStructure.Control = TM_CHCTL_ENABLE; //使能
TM_OutputInitStructure.Compare = 0; //CCR值
TM_OutputInit(HT_MCTM0, &TM_OutputInitStructure);
//通道3
TM_OutputInitStructure.Channel = TM_CH_3;	
TM_OutputInitStructure.OutputMode = TM_OM_PWM1; //输出比较模式
TM_OutputInitStructure.Polarity = TM_CHP_NONINVERTED;  //输出比较极性
TM_OutputInitStructure.Control = TM_CHCTL_ENABLE; //使能
TM_OutputInitStructure.Compare = 0; //CCR值
TM_OutputInit(HT_MCTM0, &TM_OutputInitStructure);

6. 使能定时器counter和MCTM的主输出

TM_Cmd(HT_MCTM0, ENABLE); // 开启GPTM0
MCTM_CHMOECmd(HT_MCTM0, ENABLE);//!!!!!!!!注意一定要加这个使能主输出

Servo.h 

#ifndef __SERVO_H
#define __SERVO_H

#include "ht32.h"
#include "DELAY.h"
#include "OLED.h"
#include "DELAY.h"
/* 180°舵机*/
#define PSC      48-1
#define CRR      20000-1
//舵机GPIO
#define	PWM_GPIO	 	 GPIO_PD
#define	PWM_PORT         HT_GPIOD

//舵机1									   
#define	PWM_Pin1	 	 AFIO_PIN_1  //CH2

//舵机2	
#define	PWM_Pin2	 	 AFIO_PIN_3  //CH3

void Servo_Init(void);
void Servo_Run(uint8_t num, uint16_t angle);
void Close(void);
void Open(void);

#endif

 Servo.c

#include "Servo.h"


/* 舵机初始化 */
void Servo_Init()
{
	//开启时钟
	CKCU_PeripClockConfig_TypeDef CKCUClock = {{ 0 }};
	CKCUClock.Bit.MCTM0      = 1;
	CKCUClock.Bit.PD     	 = 1;
	CKCUClock.Bit.AFIO   	 = 1;
	CKCU_PeripClockConfig(CKCUClock, ENABLE);
	  
	//端口复用重映射
	AFIO_GPxConfig(PWM_GPIO, PWM_Pin1 | PWM_Pin2, AFIO_MODE_4);//端口复用为AF4模式
	
	//GPIO配置                        
	GPIO_DirectionConfig(PWM_PORT, PWM_Pin1, GPIO_DIR_OUT);
	GPIO_DirectionConfig(PWM_PORT, PWM_Pin2, GPIO_DIR_OUT);
	
	//配置时基单元
	/*ht32默认系统时钟主频为48Mhz, 48分频->1Mhz, 重装载值20K，1Mhz/20K = 50hz, 周期20ms*/
	TM_TimeBaseInitTypeDef TM_TimeBaseInitStruct;  // 声明结构体
	TM_TimeBaseInitStruct.Prescaler = PSC; // 预分频系数
	TM_TimeBaseInitStruct.CounterReload = CRR; // 计数周期,重载值
	TM_TimeBaseInitStruct.RepetitionCounter = 0;
	TM_TimeBaseInitStruct.CounterMode = TM_CNT_MODE_UP; // 向上计数
	TM_TimeBaseInitStruct.PSCReloadTime = TM_PSC_RLD_IMMEDIATE;// 立即重装载  
	TM_TimeBaseInit(HT_MCTM0, &TM_TimeBaseInitStruct);  
	TM_IntConfig(HT_MCTM0, TM_INT_UEV, DISABLE); //关闭定时器中断
	
	//配置输出比较单元
	TM_OutputInitTypeDef TM_OutputInitStructure;  //输出配置结构体
	TM_OutputStructInit(&TM_OutputInitStructure);  //初始化结构体默认值
	//通道2
	TM_OutputInitStructure.Channel = TM_CH_2; 
	TM_OutputInitStructure.OutputMode = TM_OM_PWM1; //输出比较模式
	TM_OutputInitStructure.Polarity = TM_CHP_NONINVERTED;  //输出比较极性
	TM_OutputInitStructure.Control = TM_CHCTL_ENABLE; //使能
	TM_OutputInitStructure.Compare = 0; //CCR值
	TM_OutputModeConfig(HT_MCTM0, TM_CH_2,TM_OM_PWM1);
	TM_OutputInit(HT_MCTM0, &TM_OutputInitStructure);
	//通道3
	TM_OutputInitStructure.Channel = TM_CH_3;
	TM_OutputInitStructure.OutputMode = TM_OM_PWM1; //输出比较模式
	TM_OutputInitStructure.Polarity = TM_CHP_NONINVERTED;  //输出比较极性
	TM_OutputInitStructure.Control = TM_CHCTL_ENABLE; //使能
	TM_OutputInitStructure.Compare = 0; //CCR值
	TM_OutputModeConfig(HT_MCTM0, TM_CH_3,TM_OM_PWM1);
	TM_OutputInit(HT_MCTM0, &TM_OutputInitStructure);
	
	TM_ClearFlag(HT_MCTM0, TM_FLAG_UEV);
	TM_Cmd(HT_MCTM0, ENABLE); // 开启GPTM0
	MCTM_CHMOECmd(HT_MCTM0, ENABLE);
}

/**
 * 功能：舵机驱动测试代码(可从0~180，每45度旋转一次)
 * 参数：num : 对应的舵机 1：通道2  2：通道3
		angle  ；舵机旋转度数(相对角度)
 * 返回值：None
 */
void Servo_Run(uint8_t num, uint16_t angle)
{
	if(num == 1)
	{
		switch(angle)
		{
			case 180 :TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,2500); break;//对应180度
			case 135 :TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,2000); break;//对应135度
			case 90  :TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,1500); break;//对应90度
			case 45  :TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,1000); break;//对应45度
			case 0   :TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,500); break;//对应0度
		}
	}
	else if(num == 2)
	{
		switch(angle)
		{
			case 180 :TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,2500); break;//对应180度
			case 135 :TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,2000); break;//对应135度
			case 90  :TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,1500); break;//对应90度
			case 45  :TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,1000); break;//对应45度
			case 0   :TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,500); break;//对应0度
		}
	}
}
/**
 * 功能：关窗遮阳 0到180
 * 参数： None
 * 返回值：None
 */
void Close()
{
	unsigned int i=0;
	for(i=0; i<=2000; i=i+50)
	{
		TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,i + 500); 
		TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,i + 500); 
		DELAY_ms(100);
		OLED_ShowNum(2*16+3*8+2*8+4,2*16,i,4,OLED_8X16);
		OLED_Update();
	}
}

/**
 * 功能：开窗  180到0
 * 参数： None
 * 返回值：None
 */
void Open()
{
	unsigned int i=0;
	for(i=0; i<=2000; i=i+50)
	{
		TM_SetCaptureCompare(HT_MCTM0,TM_CH_2,2500 - i); 
		TM_SetCaptureCompare(HT_MCTM0,TM_CH_3,2500 - i); 
		DELAY_ms(100);
		OLED_ShowNum(2*16+3*8+2*8+4,2*16,i,4,OLED_8X16);
		OLED_Update();
	}
}