R4 STM32高级定时器笔记之PWM互补输出

STM32高级定时器笔记之PWM互补输出

程序功能

通过两个GPIO，输出相反的PWM信号，带死区时间和刹车控制。
PWM为50%。要配置几个寄存器：
CNT计数器
CCR输出比较寄存器器（输入捕获寄存器）
ARR自动重装载寄存器（最大65535）
当CQT开始计数（从高电平开始），小于CCR为高电平，等于CCR时跳变低电平。再计数，计数到等于ARR，计数器清零，电平反转，变为高电平。
计数器的时钟（频率）为72Mhz/psc+1
计数器的周期psc+1/72Mhz
- psc分屏因子

PWM互补输出—bsp_AdvanceTim.c

高级定时器时钟挂载在RCC_APB2上,如果改为通用定时器.h里的RCC_APB2要改为RCC_APB1

#define            ADVANCE_TIM                    TIM1
#define            ADVANCE_TIM_APBxClock_FUN     RCC_APB2PeriphClockCmd
#define            ADVANCE_TIM_CLK               RCC_APB2Periph_TIM1

三个形参：

#define            ADVANCE_TIM_PERIOD            (8-1)//自动重装载寄存器，决定周期,ARR
#define            ADVANCE_TIM_PSC               (9-1)//计数器分频因子PSC
#define            ADVANCE_TIM_PULSE             4//CCR

配置GPIO

仅用于STM32F103ZET6,STM32F103RCT6:

用到三个引脚：CH1-PA8 CHIN-PB13 BKIN-PB12

static void ADVANCE_TIM_GPIO_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

  // 输出比较通道 GPIO 初始化
    RCC_APB2PeriphClockCmd(ADVANCE_TIM_CH1_GPIO_CLK, ENABLE);
  GPIO_InitStructure.GPIO_Pin =  ADVANCE_TIM_CH1_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(ADVANCE_TIM_CH1_PORT, &GPIO_InitStructure);

  // 输出比较通道互补通道 GPIO 初始化
    RCC_APB2PeriphClockCmd(ADVANCE_TIM_CH1N_GPIO_CLK, ENABLE);
  GPIO_InitStructure.GPIO_Pin =  ADVANCE_TIM_CH1N_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(ADVANCE_TIM_CH1N_PORT, &GPIO_InitStructure);

  // 输出比较通道刹车通道 GPIO 初始化
    RCC_APB2PeriphClockCmd(ADVANCE_TIM_BKIN_GPIO_CLK, ENABLE);
  GPIO_InitStructure.GPIO_Pin =  ADVANCE_TIM_BKIN_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(ADVANCE_TIM_BKIN_PORT, &GPIO_InitStructure);
    // BKIN引脚默认先输出低电平
    GPIO_ResetBits(ADVANCE_TIM_BKIN_PORT,ADVANCE_TIM_BKIN_PIN);
}

配置高级定时器工作模式（初始化结构体）

static void ADVANCE_TIM_Mode_Config(void)
{
    //开定时器时钟，即内部时钟CK_INT=72M
    ADVANCE_TIM_APBxClock_FUN(ADVANCE_TIM_CLK,ENABLE);

/*--------------------时基结构体初始化（确定周期和计数器时钟）-----*/
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period=ADVANCE_TIM_PERIOD;//自动重装寄存器的值 
    TIM_TimeBaseStructure.TIM_Prescaler= ADVANCE_TIM_PSC;// 驱动CNT计数器的时钟= Fck_int/(psc+1)    
    TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1;//时钟分频因子，配置死区时用        
    TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;//计数器计数模式，设置为向上计数      
    TIM_TimeBaseStructure.TIM_RepetitionCounter=0;//重复计数器的值 
    TIM_TimeBaseInit(ADVANCE_TIM, &TIM_TimeBaseStructure);//初始化定时器

    /*--------------------输出比较结构体初始化（配置PWM）--------*/       
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    // 配置为PWM模式1
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    // 输出使能
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    //互补输出使能
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; 
    // 设置占空比大小
    TIM_OCInitStructure.TIM_Pulse = ADVANCE_TIM_PULSE;
    // 输出通道电平极性配置
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    // 互补输出通道电平极性配置
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    // 输出通道空闲电平极性配置
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    // 互补输出通道空闲电平极性配置
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(ADVANCE_TIM, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(ADVANCE_TIM, TIM_OCPreload_Enable);

    /*-------------------刹车和死区结构体初始化-------------------*/
    //可参看BDTR寄存器描述
    TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
  TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
  TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
  TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
    // 输出比较信号死区时间配置，可参考 BDTR:UTG[7:0]描述
    // 配置的死区时间为152ns
  TIM_BDTRInitStructure.TIM_DeadTime = 11;//刹车时间
  TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;//刹车是否使能
    //当BKIN引脚检测到高电平，输出比较信号被禁止，如同刹车
  TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
  TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
  TIM_BDTRConfig(ADVANCE_TIM, &TIM_BDTRInitStructure);

    // 使能计数器
    TIM_Cmd(ADVANCE_TIM, ENABLE);   
    // 主输出使能，当使用通用定时器时，这句不需要
    TIM_CtrlPWMOutputs(ADVANCE_TIM, ENABLE);
}

调用上面两个函数

void ADVANCE_TIM_Init(void)
{
    ADVANCE_TIM_GPIO_Config();
    ADVANCE_TIM_Mode_Config();
}