STM32F407 高级定时器PWM6步换向

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已于 2022-12-01 22:37:22 修改

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分类专栏： STM32 电机文章标签： stm32 单片机 arm

于 2022-11-04 00:20:22 首次发布

本文链接：https://blog.csdn.net/smallerlang/article/details/127680989

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/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_delay.h"
#include "bsp_key.h"
#include "bsp_motor.h"
//#include "bsp_usart.h"
//#include "bsp_pid.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim8;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM8_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM8_Init();
  /* USER CODE BEGIN 2 */
	
	delay_init(168);
	
	uint8_t i = 0;
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		delay_ms(25);
		
		i = (i + 1) % 6;
		motor_phase_ctrl(i);
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief TIM8 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM8_Init(void)
{

  /* USER CODE BEGIN TIM8_Init 0 */

  /* USER CODE END TIM8_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM8_Init 1 */

  /* USER CODE END TIM8_Init 1 */
  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 0;
  htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim8.Init.Period = 4200;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
  {
    Error_Handler();
  }
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM8_Init 2 */

  /* USER CODE END TIM8_Init 2 */
  HAL_TIM_MspPostInit(&htim8);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOI_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOF, GPIO_PIN_11, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11|GPIO_PIN_3|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pins : PE2 PE3 PE4 PE0
                           PE1 */
  GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_0
                          |GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pin : PF11 */
  GPIO_InitStruct.Pin = GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);

  /*Configure GPIO pin : PB13 */
  GPIO_InitStruct.Pin = GPIO_PIN_13;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PD11 PD3 PD7 */
  GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_3|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

#include "bsp_motor.h"

/* 相位控制 */
void motor_phase_ctrl(uint8_t num)
{
	if (num >= 6)
	{
		return;
	}
	
	switch (num)
	{
		case 0:	/* A+  B- */
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_3);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_2);
		break;
		
		case 1:	/* C+ B- */
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_2);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_3, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3);
			
		break;
		
		case 2:	/* C+ A- */
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_1);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_3, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3);
		break;
		
		case 3:	/* B+ A- */
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_3);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_1);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);
		break;
		
		case 4:	/* B+ C- */
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_1);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_2, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_3, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_3);
		break;
		
		case 5:	/* A+ C- */
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_1);	
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIMEx_PWMN_Stop(&htim8, TIM_CHANNEL_2);
			HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_3);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_1, 2100);
			HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
		
			__HAL_TIM_SET_COMPARE(&htim8, TIM_CHANNEL_3, 0xffff);
			HAL_TIMEx_PWMN_Start(&htim8, TIM_CHANNEL_3);
		break;
	}
}

总结：
1、
在这里插入图片描述
2、GPIO应设置为下拉，如果设置为no pull-up and no pull-down有可能换向后上一段PWM还会出现一小段高电平，可能是干扰吧
3、

4、

5、

6、

7、