[APM32F4]基于APM32F407开发的通用伺服方案的PWM配置说明

只看该作者 · 2024-12-25 20:03

使用APM32F407开发伺服或其他电机控制代码中，PWM配置是最为复杂的一部分，本帖就以实际通用伺服的PWM配置来举例说明。

PWM配置是通过TIM1高级定时器来实现的。整个配置过程包括：
1.外设以及串口时钟使能
2.中断配置
3.定时器配置
4.OC功能配置
5.触发配置
6.BDTR配置
7.GPIO配置（这里注意本配置实在初始化中配置，所以PWM端口一开始不要配置为复用状态，仅配置为GPIO输出状态，防止PWM产生异常电流输出）

  LL_TIM_InitTypeDef TIM_InitStruct = {0};
  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
  LL_TIM_BDTR_InitTypeDef TIM_BDTRInitStruct = {0};
  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
  /* Peripheral clock enable */  //外设以及串口时钟使能
  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB);
LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOE);
  /* TIM1 interrupt Init */ //中断配置
  NVIC_SetPriority(TIM1_UP_TIM10_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
  NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
  epwmprd = ((int32_t)SYSCLKOUT*1000/isrfreq>>1);    //2023 zyz PWM CLOCK 80M  SYSCLK 160M
  TIM_InitStruct.Prescaler = 0;
  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_CENTER_UP_DOWN;
  TIM_InitStruct.Autoreload = epwmprd;
  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV2;
  TIM_InitStruct.RepetitionCounter = 1;    //
  LL_TIM_Init(TIM1, &TIM_InitStruct);
  LL_TIM_DisableARRPreload(TIM1);
  LL_TIM_SetClockSource(TIM1, LL_TIM_CLOCKSOURCE_INTERNAL);

  TIM_InitStruct.Autoreload = epwmprd;
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH1);
  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_ENABLE;
  TIM_OC_InitStruct.CompareValue = 0;
  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
  TIM_OC_InitStruct.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH1);

  TIM_InitStruct.Autoreload = epwmprd;
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH2);
   TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_ENABLE;
  TIM_OC_InitStruct.CompareValue = 0;
   TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
  TIM_OC_InitStruct.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH2);

  TIM_InitStruct.Autoreload = epwmprd;
  LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH3);
  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_ENABLE;
  TIM_OC_InitStruct.CompareValue = 0;
   TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
  TIM_OC_InitStruct.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
  LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
  LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH3);

  LL_TIM_DisableExternalClock(TIM1);
  LL_TIM_ConfigETR(TIM1,LL_TIM_ETR_POLARITY_NONINVERTED, LL_TIM_ETR_PRESCALER_DIV1, LL_TIM_ETR_FILTER_FDIV1);
  LL_TIM_SetTriggerOutput(TIM1, LL_TIM_TRGO_ENABLE);
  LL_TIM_EnableMasterSlaveMode(TIM1);

  TIM_BDTRInitStruct.OSSRState = LL_TIM_OSSR_DISABLE;
  TIM_BDTRInitStruct.OSSIState = LL_TIM_OSSI_DISABLE;
  TIM_BDTRInitStruct.LockLevel = LL_TIM_LOCKLEVEL_OFF;
  TIM_BDTRInitStruct.DeadTime = 0x00;
  TIM_BDTRInitStruct.BreakState = LL_TIM_BREAK_ENABLE;
  TIM_BDTRInitStruct.BreakPolarity = LL_TIM_BREAK_POLARITY_LOW;

  TIM_BDTRInitStruct.AutomaticOutput = LL_TIM_AUTOMATICOUTPUT_ENABLE;
  LL_TIM_BDTR_Init(TIM1, &TIM_BDTRInitStruct);

  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB);
  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOE);

      /**TIM1 GPIO Configuration
PA7    ------> TIM1_CH1N
PB0    ------> TIM1_CH2N
PB1    ------> TIM1_CH3N
PE9    ------> TIM1_CH1
PE11    ------> TIM1_CH2
PE13    ------> TIM1_CH3
*/
  GPIO_InitStruct.Pin = LL_GPIO_PIN_9|LL_GPIO_PIN_11|LL_GPIO_PIN_13;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; //此处注意不要在初始化中就配置为复用状态
  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
  LL_GPIO_Init(GPIOE, &GPIO_InitStruct);
LL_GPIO_ResetOutputPin(GPIOE,LL_GPIO_PIN_9);
LL_GPIO_ResetOutputPin(GPIOE,LL_GPIO_PIN_11);
LL_GPIO_ResetOutputPin(GPIOE,LL_GPIO_PIN_13);
LL_GPIO_ResetOutputPin(GPIOE,LL_GPIO_PIN_11);
LL_GPIO_ResetOutputPin(GPIOE,LL_GPIO_PIN_13);