普通定时器输出互补PWM带死区
一般来说三相半桥电路需要互补PWM驱动，而且互补PWM需要带死区，死区的大小跟管子的性能参数有关。公司为了省成本，在云台上把电机驱动芯片替换成三相半桥。用6个MOS驱动无刷电机。这下就需要用到互补PWM了。
然后选型的单片机只有一路高级定时器tim1，另外一个电机的PWM驱动分别是tim3，tim4.不同的定时器怎么实现互补PWM而且带死区呢。
1、定时器主从功能
2、定时器中心对齐模式
3、tim3使用PWM1模式，tim4使用PWM2模式
4、输出PWM时占空比预留死区
在我的项目中互补PWM都已经实现，死区也已经实现，但是发现板子驱动电流还是很大，达不到要求，在经历了几天各种怀疑硬件问题的过程当中也寻找了很多解决办法。PWM配置问题等。。。
后来发现，波形的高电平有重叠。再次记住高电平不能有重叠的现象，要不就会出现短路导致电流过大。
具体配置代码如下：
tim1为主定时器
void bsp_InitTMR1_PWM1(uint16_t arr,uint16_t psc)
{
GPIO_InitType GPIO_InitStructure;
TMR_TimerBaseInitType TMR_TMReBaseStructure;
TMR_OCInitType TMR_OCInitStructure;
NVIC_InitType NVIC_InitStructure;
TMR_BRKDTInitType TIM_BDTRInitStruct;
/* 使能GPIO时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
/* 使能TMR1时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_TMR1, ENABLE);
/* 配置GPIO */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pins = GPIO_Pins_8 | GPIO_Pins_9 | GPIO_Pins_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; /* 复用模式 */
GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pins = GPIO_Pins_13 | GPIO_Pins_14 | GPIO_Pins_15; //TIM1_CH1N,TIM1_CH2N
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* 配置TMR1 */
TMR_TimeBaseStructInit(&TMR_TMReBaseStructure);
TMR_TMReBaseStructure.TMR_Period = arr; /* PWM周期 */
TMR_TMReBaseStructure.TMR_DIV = psc; /* 120分频，即1MHz */
TMR_TMReBaseStructure.TMR_ClockDivision = 0; /* 时钟除频 */
TMR_TMReBaseStructure.TMR_CounterMode = TMR_CounterDIR_Up; /* 向上计数 */
TMR_TimeBaseInit(TMR1, &TMR_TMReBaseStructure);
/* Set the default configuration */
TIM_BDTRInitStruct.TMR_OSIMRState = TMR_OSIMRState_Enable;//运行模式下关闭状态选择
TIM_BDTRInitStruct.TMR_OSIMIState = TMR_OSIMIState_Enable;//空闲模式下关闭状态选择
TIM_BDTRInitStruct.TMR_LOCKgrade = TMR_LOCKgrade_OFF;//软件错误锁定配置:锁定关闭无保护
TIM_BDTRInitStruct.TMR_DeadTime = 0x40;//DTG[7:0]死区发生器配置:(死区时间DT) ,注意死区时间要设成100ns左右，否则过大会导致MOS栅极PWM波形异常，太小导致上下臂短路
//TDTS = 125nS(8MHz)
//DTG[7: 5] = 0xx => DT = DTG[7: 0] * Tdtg, Tdtg = TDTS;
//DTG[7: 5] = 10x => DT =(64+DTG[5: 0]) * Tdtg, Tdtg = 2 * TDTS;
//DTG[7: 5] = 110 => DT =(32+DTG[4: 0]) * Tdtg, Tdtg = 8 * TDTS;
//DTG[7: 5] = 111=> DT =(32 + DTG[4: 0]) * Tdtg, Tdtg = 16 * TDTS;
TIM_BDTRInitStruct.TMR_Break = TMR_Break_Disable; //刹车配置：使能刹车
TIM_BDTRInitStruct.TMR_BreakPolarity = TMR_BreakPolarity_High;//刹车输入极性选择:高电平有效
TIM_BDTRInitStruct.TMR_AutomaticOutput = TMR_AutomaticOutput_Enable;//自动输出使能配置:MOE只能软件置1
TMR_BRKDTConfig(TMR1, &TIM_BDTRInitStruct); //配置互补输出死区时间
/* 配置PWM从TMR1_CH1输出 */
TMR_OCStructInit(&TMR_OCInitStructure);
TMR_OCInitStructure.TMR_OCMode = TMR_OCMode_PWM1; /* PWM模式 */
TMR_OCInitStructure.TMR_OutputState = TMR_OutputState_Enable; /* 使能输出 */
TMR_OCInitStructure.TMR_OutputNState = TMR_OutputNState_Enable;
TMR_OCInitStructure.TMR_Pulse = 1000; /* PWM占空比 */
TMR_OCInitStructure.TMR_OCPolarity = TMR_OCPolarity_High; /* 高电平有效 */
TMR_OCInitStructure.TMR_OCNPolarity = TMR_OCNPolarity_High;
TMR_OCInitStructure.TMR_OCIdleState = TMR_OCIdleState_Reset;
TMR_OCInitStructure.TMR_OCNIdleState = TMR_OCNIdleState_Reset;
TMR_OC1Init(TMR1, &TMR_OCInitStructure);
TMR_OC2Init(TMR1, &TMR_OCInitStructure);
TMR_OC3Init(TMR1, &TMR_OCInitStructure);
/* 使能定时器TIM1在CCM上的周期值 */
TMR_OC1PreloadConfig(TMR1, TMR_OCPreload_Enable);
TMR_OC2PreloadConfig(TMR1, TMR_OCPreload_Enable);
TMR_OC3PreloadConfig(TMR1, TMR_OCPreload_Enable);
/* 使能TIM3在AR上的预装载寄存器 */
TMR_ARPreloadConfig(TMR1, ENABLE);
/* 使能TMR1 */
TMR_Cmd(TMR1, ENABLE);
TMR_CtrlPWMOutputs(TMR1, ENABLE);
TMR_INTConfig(TMR1,TMR_INT_CC1,ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TMR1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TMR_SelectOutputTrigger(TMR1, TMR_TRGOSource_OC1);
TMR_SelectMasterSlaveMode(TMR1, TMR_MasterSlaveMode_Enable); //主从模式
}
volatile uint32_t TMR1_Count = 0;
void TMR1_CC_IRQHandler(void) //24k 42us
{
if (TMR_GetINTStatus(TMR1, TMR_INT_CC1) != RESET) // TIM_IT_CC1
{
TMR_ClearITPendingBit(TMR1, TMR_INT_CC1); // 清除中断标志位
TMR1_Count ++;
// all_foc_update();
}
}
tim3为从定时器
void bsp_InitTMR3_PWM(void)
{
GPIO_InitType GPIO_InitStructure;
TMR_TimerBaseInitType TMR_TMReBaseStructure;
TMR_OCInitType TMR_OCInitStructure;
NVIC_InitType NVIC_InitStructure;
/* 使能GPIO时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
/* 使能TMR1时钟 */
RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_TMR3, ENABLE);
/* 配置GPIO */
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pins = GPIO_Pins_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; /* 复用模式 */
GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pins = GPIO_Pins_0 | GPIO_Pins_1; //TIM1_CH1N,TIM1_CH2N
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* 配置TMR1 */
TMR_TimeBaseStructInit(&TMR_TMReBaseStructure);
TMR_TMReBaseStructure.TMR_Period = CYCLE - 1; /* PWM周期 */
TMR_TMReBaseStructure.TMR_DIV = 1; /* 120分频，即1MHz */
TMR_TMReBaseStructure.TMR_ClockDivision = 0; /* 时钟除频 */
TMR_TMReBaseStructure.TMR_CounterMode = TMR_CounterDIR_CenterAligned1; /* 向上计数 */
TMR_TMReBaseStructure.TMR_RepetitionCounter = 0x0000;
TMR_TimeBaseInit(TMR3, &TMR_TMReBaseStructure);
/* 配置PWM从TMR1_CH1输出 */
TMR_OCStructInit(&TMR_OCInitStructure);
TMR_OCInitStructure.TMR_OCMode = TMR_OCMode_PWM1; /* PWM模式 */
TMR_OCInitStructure.TMR_OutputState = TMR_OutputState_Enable; /* 使能输出 */
TMR_OCInitStructure.TMR_OutputNState = TMR_OutputNState_Disable;
TMR_OCInitStructure.TMR_Pulse = 1000; /* PWM占空比 */
TMR_OCInitStructure.TMR_OCPolarity = TMR_OCPolarity_High; /* 高电平有效 */
// TMR_OCInitStructure.TMR_OCNPolarity = TMR_OCNPolarity_High;
TMR_OCInitStructure.TMR_OCIdleState = TMR_OCIdleState_Reset;
TMR_OC1Init(TMR3, &TMR_OCInitStructure);
TMR_OC3Init(TMR3, &TMR_OCInitStructure);
TMR_OC4Init(TMR3, &TMR_OCInitStructure);
TMR_SelectMasterSlaveMode(TMR3, TMR_MasterSlaveMode_Enable);
TMR_SelectInputTrigger(TMR3, TMR_TRGSEL_ITR0);
TMR_SelectSlaveMode(TMR3, TMR_SlaveMode_Trigger);
/* 使能定时器TIM1在CCM上的周期值 */
TMR_OC1PreloadConfig(TMR3, TMR_OCPreload_Enable);
TMR_OC3PreloadConfig(TMR3, TMR_OCPreload_Enable);
TMR_OC4PreloadConfig(TMR3, TMR_OCPreload_Enable);
/* 使能TIM3在AR上的预装载寄存器 */
TMR_ARPreloadConfig(TMR3, ENABLE);
/* 使能TMR1 */
TMR_Cmd(TMR1, ENABLE);
TMR_CtrlPWMOutputs(TMR1, ENABLE);
}
tim4为从定时器
void bsp_InitTMR4_PWM(void)
{
GPIO_InitType GPIO_InitStructure;
TMR_TimerBaseInitType TMR_TMReBaseStructure;
NVIC_InitType NVIC_InitStructure;
TMR_OCInitType TMR_OCInitStructure;
/* 使能GPIO时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
/* 使能TMR1时钟 */
RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_TMR4, ENABLE);
/* 配置GPIO */
GPIO_InitStructure.GPIO_Pins = GPIO_Pins_6 | GPIO_Pins_7 | GPIO_Pins_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* 配置TMR4 */
TMR_TimeBaseStructInit(&TMR_TMReBaseStructure);
TMR_TMReBaseStructure.TMR_Period = CYCLE - 1; /* PWM周期 */
TMR_TMReBaseStructure.TMR_DIV = 1; /* 120分频，即1MHz */
TMR_TMReBaseStructure.TMR_ClockDivision = 0; /* 时钟除频 */
TMR_TMReBaseStructure.TMR_CounterMode = TMR_CounterDIR_CenterAligned1; /* 向上计数 */
TMR_TMReBaseStructure.TMR_RepetitionCounter = 0x0000;
TMR_TimeBaseInit(TMR4, &TMR_TMReBaseStructure);
TMR_SelectMasterSlaveMode(TMR4, TMR_MasterSlaveMode_Enable);
TMR_SelectInputTrigger(TMR4, TMR_TRGSEL_ITR0);
TMR_SelectSlaveMode(TMR4, TMR_SlaveMode_Trigger);
/* 配置PWM从TMR1_CH1输出 */
TMR_OCStructInit(&TMR_OCInitStructure);
TMR_OCInitStructure.TMR_OCMode = TMR_OCMode_PWM1; /* PWM模式 */
TMR_OCInitStructure.TMR_OutputState = TMR_OutputState_Enable; /* 使能输出 */
TMR_OCInitStructure.TMR_OutputNState = TMR_OutputNState_Disable;
TMR_OCInitStructure.TMR_Pulse = 1050; /* PWM占空比 */
TMR_OCInitStructure.TMR_OCPolarity = TMR_OCPolarity_Low; /* 高电平有效 */
// TMR_OCInitStructure.TMR_OCNPolarity = TMR_OCNPolarity_High;
TMR_OCInitStructure.TMR_OCIdleState = TMR_OCIdleState_Reset;
TMR_OC1Init(TMR4, &TMR_OCInitStructure);
TMR_OC2Init(TMR4, &TMR_OCInitStructure);
TMR_OC3Init(TMR4, &TMR_OCInitStructure);
/* 使能定时器TIM1在CCM上的周期值 */
TMR_OC1PreloadConfig(TMR4, TMR_OCPreload_Enable);
TMR_OC2PreloadConfig(TMR4, TMR_OCPreload_Enable);
TMR_OC3PreloadConfig(TMR4, TMR_OCPreload_Enable);
/* 使能TIM3在AR上的预装载寄存器 */
TMR_ARPreloadConfig(TMR4, ENABLE);
/* 使能TMR1 */
TMR_Cmd(TMR1, ENABLE);
TMR_CtrlPWMOutputs(TMR1, ENABLE);
}
设置占空比是预留tim3 tim4占空比不一样，即可实现死区
TMR_SetCompare1(TMR3, (uint32_t)w_time_ph_a);
TMR_SetCompare1(TMR4, (uint32_t)(w_time_ph_a + 20));
TMR_SetCompare3(TMR3, (uint32_t)w_time_ph_b);
TMR_SetCompare2(TMR4, (uint32_t)(w_time_ph_b + 20));
TMR_SetCompare4(TMR3, (uint32_t)w_time_ph_c);
TMR_SetCompare3(TMR4, (uint32_t)(w_time_ph_c + 20));
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