文章目录
开发环境
芯片:STM32H750XBH6
开发板:ART-Pi
RT-Thread Studio: V2.0.0
RT-Thread版本:V4.0.3
STM32 CubeMX: V6.1.1
创建项目
RT-Thread Studio中点击菜单 文件-新建-RT-Thread项目
,选择基于ART-Pi 开发板的模板工程。
步骤1:RT-Thread Studio项目设置
在设置中启用HWTIMER和PWM设备驱动。
双击项目的RT-Thread Setting
,点击右侧箭头
在组件-设备驱动程序
中,打开使用HWTIMER设备驱动程序
和使用PWM设备驱动程序
。
此时我们看到\board\CubeMX_Config\Core\Inc\stm32h7xx_hal_conf.h
文件中,
已经启用了两个宏定义:
#define HAL_TIM_MODULE_ENABLED
和
#define HAL_PWR_MODULE_ENABLED
如未启用,请手动取消这两行的注释。
步骤2:打开board.h宏定义
本例打开PI5的PWM输出,对应PWM8的CH1。
在board\board.h
中添加如下宏定义:
#define BSP_USING_PWM8
#define BSP_USING_PWM8_CH1
#define BSP_USING_TIM8
步骤3:STM32CubeMX(或者STM32CubeIDE)配置
3.0 新建基于STM32H750XBHx的项目。
3.1 在Pinout view中配置PI5为TIM8_CH1
3.2 配置时钟
3.3 RCC中配置使用外部高速晶振HSE
3.4 TIM8配置CH1
TIM8启用CH1
Prescaler
设置为240-1
Counter Period
设置为1000-1
这样将PWM频率设为1KHz
3.5 设置代码输出选项
在Project Manager
的Code Generator
中,选中Generate peripheral initialization as a pair of '.c/.h' files per peripheral
3.6 点击Generate Code
4. 修改board.c和board.h
打开cubeMX导出代码中的Core\Src\tim.c
文件
将htim8的声明和如下三个函数复制粘贴到RT-Thread 项目中的board\board.c
文件中
TIM_HandleTypeDef htim8;
void MX_TIM8_Init(void)
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
具体函数实现如下(会根据不同的GPIO和PWM Channel有所差异)。
TIM_HandleTypeDef htim8;
void MX_TIM8_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
htim8.Instance = TIM8;
htim8.Init.Prescaler = 240-1;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 1000-1;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_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_LOW;
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();
}
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.BreakFilter = 0;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
HAL_TIM_MspPostInit(&htim8);
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->Instance==TIM8)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
__HAL_RCC_GPIOI_CLK_ENABLE();
/**TIM8 GPIO Configuration
PI5 ------> TIM8_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_MspPostInit 1 */
}
}
/**
* @brief TIM_PWM MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_pwm: TIM_PWM handle pointer
* @retval None
*/
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
{
if(htim_pwm->Instance==TIM8)
{
/* USER CODE BEGIN TIM5_MspDeInit 0 */
/* USER CODE END TIM5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* USER CODE BEGIN TIM5_MspDeInit 1 */
/* USER CODE END TIM5_MspDeInit 1 */
}
}
然后修改board\board.h
,添加如下几行:
void MX_TIM8_Init(void);
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm);
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
5. 修改main.c
main.c
代码使用一个线程来调节PWM输出,注意首先要导入
board.h
头文件,并在main函数中调用MX_TIM8_Init();
。
#include <rtthread.h>
#include <rtdevice.h>
#include "drv_common.h"
#include "board.h"
#define LOG_TAG "thread_app"
#define LOG_LVL LOG_LVL_DBG
#include <ulog.h>
#define THREAD_PRIORITY 25
#define THREAD_STACK_SIZE 512
#define THREAD_TIMESLICE 5
#define PWM_DEV_NAME "pwm8" /* PWM设备名称 */
#define PWM_DEV_CHANNEL 1 /* PWM通道 */
struct rt_device_pwm *pwm_dev; /* PWM设备句柄 */
static rt_thread_t pwm_tid;
static void pwm_thread_entry(void *parameter)
{
rt_uint32_t period, pulse, dir;
period = 1000000; /* 1KHz周期为1ms,这里单位是纳秒ns,1ms等于10的6次方纳秒ns*/
pulse = 0; /* PWM脉冲宽度值,单位为纳秒ns */
dir = 1;
/* 查找设备 */
pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);
if (pwm_dev == RT_NULL)
{
rt_kprintf("pwm sample run failed! can't find %s device!\n", PWM_DEV_NAME);
}
rt_kprintf("pwm sample run ! find %s device!\n", PWM_DEV_NAME);
/* 设置PWM周期和脉冲宽度 */
rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
/* 使能设备 */
rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);
while (1)
{
rt_thread_mdelay(50);
if (dir)
{
pulse += 20000; /* 从0值开始每次增加20000ns */
}
else
{
pulse -= 20000; /* 从最大值开始每次减少20000ns */
}
if (pulse >= period)
{
dir = 0;
// rt_kprintf("pwm sample change direction! to --\n");
}
if (0 == pulse)
{
dir = 1;
// rt_kprintf("pwm sample change direction to ++ !\n");
}
/* 设置PWM周期和脉冲宽度并启动 */
rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, period, pulse);
rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);
}
}
int main(void)
{
MX_TIM8_Init();
pwm_tid = rt_thread_create("pwm_thread",
pwm_thread_entry, RT_NULL,
THREAD_STACK_SIZE,
THREAD_PRIORITY, THREAD_TIMESLICE);
/* 如果获得线程控制块,启动这个线程 */
if (pwm_tid != RT_NULL)
{
//启动线程1
rt_thread_startup(pwm_tid);
LOG_D("pwm_thread created successful");
}
else {
LOG_D("pwm_thread created failed");
}
return RT_EOK;
}
#include "stm32h7xx.h"
static int vtor_config(void)
{
/* Vector Table Relocation in Internal QSPI_FLASH */
SCB->VTOR = QSPI_BASE;
return 0;
}
INIT_BOARD_EXPORT(vtor_config);
如果项目开启了finsh,可以通过list_device
查看到pwm8
这个设备,如下图所示。
6. 避坑指南
前面说我们创建的是基于ART-Pi开发板的模板工程,那么是有一个需要修改的地方,这一点在目前任何网上一个教程都没有提到。默认情况下,ART-Pi开发板模板工程默认是将libraries\drivers\drv_pwm.c
排除在构建之外的,需要修改libraries\drivers\SConscript
文件,添加drv_pwm.c
文件,才能正确配置pwm设备。如下图。