MM32SPIN422C PWM配置，驱动无刷电机

//PWM输出初始化

//arr：自动重装值

//psc：时钟预分频数

void TIM1_PWM_Init(u16 arr,u16 psc)

{  

        GPIO_InitTypeDef GPIO_InitStructure;

        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

        TIM_OCInitTypeDef  TIM_OCInitStructure;

    TIM_BDTRInitTypeDef TIM_BDTRInitStruct;

        

        RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);

        RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA|RCC_AHBPeriph_GPIOB, ENABLE);  //开启GPIOA、GPIOB时钟





        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; //TIM1_CH1,TIM1_CH2

        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出

        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

        GPIO_Init(GPIOA, &GPIO_InitStructure);



        GPIO_PinAFConfig(GPIOA, GPIO_PinSource8,GPIO_AF_2);

        GPIO_PinAFConfig(GPIOA, GPIO_PinSource9,GPIO_AF_2);

        GPIO_PinAFConfig(GPIOA, GPIO_PinSource10,GPIO_AF_2);



        

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; //TIM1_CH1N,TIM1_CH2N

        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出

        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

        GPIO_Init(GPIOB, &GPIO_InitStructure);



        GPIO_PinAFConfig(GPIOB, GPIO_PinSource13,GPIO_AF_2);

        GPIO_PinAFConfig(GPIOB, GPIO_PinSource14,GPIO_AF_2);

        GPIO_PinAFConfig(GPIOB, GPIO_PinSource15,GPIO_AF_2);

        



        TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值         80K

        TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频

        TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim

        TIM_TimeBaseStructure.TIM_RepetitionCounter =0;

        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式

        TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位



    /* Set the default configuration */

        TIM_BDTRInitStruct.TIM_OSSRState = TIM_OSSRState_Enable;//运行模式下关闭状态选择

        TIM_BDTRInitStruct.TIM_OSSIState = TIM_OSSIState_Enable;//空闲模式下关闭状态选择

        TIM_BDTRInitStruct.TIM_LOCKLevel = TIM_LOCKLevel_OFF;//软件错误锁定配置:锁定关闭无保护

        TIM_BDTRInitStruct.TIM_DeadTime = 0x5;//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.TIM_Break = TIM_Break_Disable;  //刹车配置：使能刹车

        TIM_BDTRInitStruct.TIM_BreakPolarity = TIM_BreakPolarity_High;//刹车输入极性选择:高电平有效

        TIM_BDTRInitStruct.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;//自动输出使能配置:MOE只能软件置1

        TIM_BDTRConfig( TIM1, &TIM_BDTRInitStruct); //配置互补输出死区时间           



        TIM_OCStructInit(&TIM_OCInitStructure);

        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1

        TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能

        TIM_OCInitStructure.TIM_OutputNState=TIM_OutputNState_Enable;

        TIM_OCInitStructure.TIM_Pulse = 500; //设置待装入捕获比较寄存器的脉冲值

        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高

        TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCNPolarity_High; 

        TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Reset;

        TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Reset;

        

        TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx

        

        

        TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式1

        TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高

        TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCNPolarity_High; 

        TIM_OC2Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx

        

        TIM_OC3Init(TIM1, &TIM_OCInitStructure);

        



        TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH1预装载使能

        TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH2预装载使能

        TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH2预装载使能



        TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器TIM_CCMR1_IC1F_1

        

        TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);

        TIM_CtrlPWMOutputs(TIM1,ENABLE);



        TIM_Cmd(TIM1, ENABLE);  //使能TIM1   

}



/*******************************************************************************

* @name   : initNVIC_TIM1

* @brief  : PWM中断配置

* @param  : void

* @retval : void

*******************************************************************************/

void initNVIC_TIM1(void)

{

    NVIC_InitTypeDef NVIC_InitStructure;

    // Config TIM1_CC_IRQn NVIC config

    NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;

    NVIC_InitStructure.NVIC_IRQChannelPriority = 0;

    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

    NVIC_Init(&NVIC_InitStructure);

}

/*******************************************************************************

* @name   : OnTIM1

* @brief  : Enable TIM1 使能定时器

* @param  : void

* @retval : void

*******************************************************************************/

void OnTIM1(void)

{

    TIM_Cmd(TIM1, ENABLE);

}

/*******************************************************************************

* @name   : TIM1_CC_IRQHandler

* @brief  : TIM1 Compare/Capture IRQHandler 定时器中断处理函数

* @param  : void

* @retval : void

*******************************************************************************/

volatile uint32_t TIMER0_Count = 0;

void TIM1_CC_IRQHandler()  //43us

{

    if (TIM_GetITStatus(TIM1, TIM_IT_CC1) != RESET)

    {

        // Clear the CC1 flag

        TIM_ClearITPendingBit(TIM1, TIM_IT_CC1);

                        TIMER0_Count ++;

    }

}

//PWM初始化配置

void PWM_INIT_ALL(void)

{

        initPWM_EN();

        //config TIM to PWM output

        TIM1_PWM_Init(1999,0);

        initNVIC_TIM1();

        OnTIM1();

}

//占空比配置

TIM1->CCR1 = w_time_ph_a;

TIM1->CCR2 = w_time_ph_b;

TIM1->CCR3 = w_time_ph_c;