APM32F035高级定时器输出4路互补PWM

只看该作者 · 2023-12-1 17:22

本帖最后由 147258你好951 于 2023-12-1 18:25 编辑

简介

APM32F035高级定时器可以输出4路互补PWM，对两相四线步进电机驱动控制非常重要。

高级定时器框图

可以看到输出1 2 3 通道都有互补通道这样就有了三组互补PWM，第四组互补PWM需要通过定时器输出通道4 输出通道5来实现

以下是APM32F035高级定时器1输出4组互补PWM相关配置

特别需要注意的是输出通道1 2 3 需要开启非对称模式

GPIO定义

#define GPIO_PIN_PWM_UH_Mobile GPIO_PIN_8

#define GPIO_PWM_UH_Mobile GPIOA

#define GPIO_PIN_SOURCE_PWM_UH_Mobile GPIO_PIN_SOURCE_8

#define GPIO_PIN_PWM_VH_Mobile GPIO_PIN_9

#define GPIO_PWM_VH_Mobile GPIOA

#define GPIO_PIN_SOURCE_PWM_VH_Mobile GPIO_PIN_SOURCE_9

#define GPIO_PIN_PWM_WH_Mobile GPIO_PIN_10

#define GPIO_PWM_WH_Mobile GPIOA

#define GPIO_PIN_SOURCE_PWM_WH_Mobile GPIO_PIN_SOURCE_10

#define GPIO_PIN_PWM_UL_Mobile GPIO_PIN_13

#define GPIO_PWM_UL_Mobile GPIOB

#define GPIO_PIN_SOURCE_PWM_UL_Mobile GPIO_PIN_SOURCE_13

#define GPIO_PIN_PWM_VL_Mobile GPIO_PIN_14

#define GPIO_PWM_VL_Mobile GPIOB

#define GPIO_PIN_SOURCE_PWM_VL_Mobile GPIO_PIN_SOURCE_14

#define GPIO_PIN_PWM_WL_Mobile GPIO_PIN_15

#define GPIO_PWM_WL_Mobile GPIOB

#define GPIO_PIN_SOURCE_PWM_WL_Mobile GPIO_PIN_SOURCE_15

#define GPIO_PIN_PWM_XH_Mobile GPIO_PIN_11

#define GPIO_PWM_XH_Mobile GPIOB

#define GPIO_PIN_SOURCE_PWM_XH_Mobile GPIO_PIN_SOURCE_11

#define GPIO_PIN_PWM_XL_Mobile GPIO_PIN_12

#define GPIO_PWM_XL_Mobile GPIOB

#define GPIO_PIN_SOURCE_PWM_XL_Mobile GPIO_PIN_SOURCE_12

void Drv_Pwm_Init(uint16_t u16_Period,uint16_t u16_DeadTime)

{

TMR_TimeBase_T TIM_TimeBaseInitStructure;

TMR_OCConfig_T TIM_OCInitStructure;

TMR_BDTInit_T TIM_BDTRInitStructure;

RCM_EnableAPB2PeriphClock(RCM_APB2_PERIPH_SYSCFG | RCM_APB2_PERIPH_TMR1 );

/* Time Base configuration ,init time1 freq*/

TIM_TimeBaseInitStructure.period = u16_Period;

TIM_TimeBaseInitStructure.div = 0;

TIM_TimeBaseInitStructure.counterMode = TMR_COUNTER_MODE_CENTERALIGNED2;

TIM_TimeBaseInitStructure.clockDivision = TMR_CKD_DIV1;

TIM_TimeBaseInitStructure.repetitionCounter = 1;

TMR_ConfigTimeBase(TMR1, &TIM_TimeBaseInitStructure);

/* Automatic Output enable, Break, dead time and lock configuration*/

TIM_BDTRInitStructure.RMOS_State = TMR_RMOS_STATE_ENABLE;//--------

TIM_BDTRInitStructure.IMOS_State = TMR_IMOS_STATE_ENABLE;//--------

TIM_BDTRInitStructure.lockLevel = TMR_LOCK_LEVEL_OFF;//00：锁定关闭，寄存器无写保护；01：锁定级别1，不能写入TIMx_BDTR寄存器的DTG、BKE、BKP、AOE位和TIMx_CR2寄存器的OISx/OISxN位；

TIM_BDTRInitStructure.deadTime = u16_DeadTime;//死区时间

/**

* Brake configuration: enable brake

* Brake input polarity: active in low level

* Auto output enable configuration: Disable MOE bit hardware control

*/

TIM_BDTRInitStructure.breakState = TMR_BREAK_STATE_DISABLE;//TMR_BREAK_STATE_ENABLE TMR_BREAK_STATE_DISABLE;

TIM_BDTRInitStructure.breakPolarity = TMR_BREAK_POLARITY_LOW;

TIM_BDTRInitStructure.automaticOutput = TMR_AUTOMATIC_OUTPUT_DISABLE;

TMR_ConfigBDT(TMR1, &TIM_BDTRInitStructure);

/*pwm driver set，channel 1,2,3,4set pwm mode*/

TIM_OCInitStructure.OC_Mode = TMR_OC_MODE_PWM2;

TIM_OCInitStructure.OC_OutputState = TMR_OUTPUT_STATE_ENABLE; //TMR_OUTPUT_STATE_DISABLE;

TIM_OCInitStructure.OC_OutputNState = TMR_OUTPUT_NSTATE_ENABLE; //TMR_OUTPUT_NSTATE_DISABLE;//------------

TIM_OCInitStructure.Pulse = u16_Period/2;

TIM_OCInitStructure.OC_Polarity = TMR_OC_POLARITY_HIGH;

TIM_OCInitStructure.OC_NPolarity = TMR_OC_NPOLARITY_HIGH; //互补输出极性-------

TIM_OCInitStructure.OC_Idlestate = TMR_OCIDLESTATE_RESET; // TMR_OCIDLESTATE_SET; //

TIM_OCInitStructure.OC_NIdlestate = TMR_OCNIDLESTATE_RESET; // TMR_OCNIDLESTATE_SET;//

//set OC1/OC1N

TMR_OC1Config(TMR1, &TIM_OCInitStructure);

//set oc2/oc2N

TIM_OCInitStructure.Pulse = u16_Period/2;

TMR_OC2Config(TMR1, &TIM_OCInitStructure);

//set OC3/OC3N

TIM_OCInitStructure.Pulse = u16_Period/2;

TMR_OC3Config(TMR1, &TIM_OCInitStructure);

TIM_OCInitStructure.OC_Mode = TMR_OC_MODE_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2

TIM_OCInitStructure.OC_OutputState = TMR_OUTPUT_STATE_ENABLE; //CH4比较输出使能

TIM_OCInitStructure.OC_Polarity = TMR_OC_POLARITY_HIGH; //CH4输出极性:TIM输出比较极性高

TIM_OCInitStructure.OC_Idlestate = TMR_OCIDLESTATE_RESET; //CH4输出空闲状态:0

TIM_OCInitStructure.Pulse =u16_Period/2+u16_DeadTime;

TMR_OC4Config(TMR1, &TIM_OCInitStructure);//OC4

TIM_OCInitStructure.OC_Mode = TMR_OC_MODE_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2

TIM_OCInitStructure.OC_OutputState = TMR_OUTPUT_STATE_ENABLE; //CH5比较输出使能

TIM_OCInitStructure.OC_Polarity = TMR_OC_POLARITY_LOW; //CH5输出极性:TIM输出比较极性低

TIM_OCInitStructure.OC_Idlestate = TMR_OCIDLESTATE_RESET; //CH5输出空闲状态:0

TIM_OCInitStructure.Pulse = u16_Period/2 ;

TMR_OC5Config(TMR1, &TIM_OCInitStructure);//OC5

//enable interrupt

TMR_EnableInterrupt(TMR1, TMR_INT_BRK);// TMR_INT_BRK

TMR_EnableAUTOReload(TMR1);//TIMx_ARR寄存器被装入缓冲器

TMR_OC1PreloadConfig(TMR1,TMR_OC_PRELOAD_ENABLE);

TMR_OC2PreloadConfig(TMR1,TMR_OC_PRELOAD_ENABLE);//比较值预装载使能

TMR_OC3PreloadConfig(TMR1,TMR_OC_PRELOAD_ENABLE);

TMR_OC4PreloadConfig(TMR1,TMR_OC_PRELOAD_ENABLE);

TMR_OC5PreloadConfig(TMR1,TMR_OC_PRELOAD_ENABLE);

TMR_EnableAUTOReload(TMR1);

TMR1->CTRL2_B.MMSEL = 2;

TMR1->CTRL3_B.OC1AEN = 1; //非对称模式

TMR1->CTRL3_B.OC2AEN = 1;

TMR1->CTRL3_B.OC3AEN = 1;

TMR1->CC1C = u16_Period/2 +u16_DeadTime;

TMR1->CC2C = u16_Period/2 +u16_DeadTime;

TMR1->CC3C =u16_Period/2 +u16_DeadTime;

TMR1->REPCNT = 1;

TMR_Enable(TMR1);

/* Main Output Enable */

TMR_EnablePWMOutputs(TMR1);

/* GPIO config */

GPIO_Config_T GPIO_InitStructure;

GPIO_InitStructure.pin = GPIO_PIN_PWM_UH_Mobile;