hpm6750/controller_yy_app/v8/v8m/bsp_V8M_pwm.c

#if 0
#include "bsp_V8M_pwm.h"
#include "stm32f4xx.h"

/*------------------ Macros definitions --------------------------------------*/

#define V8M_MOTOR_PERIOD 2500 /* PWM输出的周期，单位 us */

#define V8M_PWM_DEF_VALUE 1000 /* 默认初始化的 PWM 占空比 */

/**----------------- Variables definitions -----------------------------------*/

/*------------------ Functions definitions -----------------------------------*/

static void _v8m_motor_pwm_gpio_config(void);
static void _v8m_motor_pwm_timer_config(void);

/**
 * @brief pwm 初始化
 */
void Bsp_V8M_PwmInit(void)
{
    _v8m_motor_pwm_gpio_config();
    _v8m_motor_pwm_timer_config();

    //输出默认值
    for (uint8_t i = V8M_PWM_CH1; i <= V8M_PWM_CH10; ++i)
        Bsp_V8M_PwmSetCHValue(i, 1000);
}

/**
 * @brief pwm 输出 gpio 配置
 *        TIM4->CH1 ~ TIM4->CH4 为 PWM1 ~ PWM4
 *        TIM3->CH1 ~ TIM3->CH2 为 PWM5 ~ PWM6
 *        TIM2->CH1 ~ TIM2->CH2 为 PWM7 ~ PWM8
 *        TIM3->CH3 ~ TIM3->CH4 为 PWM9 ~ PWM10
 *
 *        PA5     ------> TIM2_CH1
 *        PB3     ------> TIM2_CH2
 *
 *        PC6     ------> TIM3_CH1
 *        PC7     ------> TIM3_CH2
 *        PB0     ------> TIM3_CH3
 *        PB1     ------> TIM3_CH4
 *
 *        PB6     ------> TIM4_CH1
 *        PB7     ------> TIM4_CH2
 *        PB8     ------> TIM4_CH3
 *        PB9     ------> TIM4_CH4
 */
static void _v8m_motor_pwm_gpio_config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_StructInit(&GPIO_InitStructure);

    /* GPIOA and GPIOB and GPIOC clock enable */
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB |
                               RCC_AHB1Periph_GPIOC,
                           ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_3 |
                                  GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 |
                                  GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // 复用推挽输出
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_Init(GPIOC, &GPIO_InitStructure);

    // enable pwm out put
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
    GPIO_Init(GPIOC, &GPIO_InitStructure);
    GPIO_SetBits(GPIOC, GPIO_Pin_13);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);
    GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);

    GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_TIM2);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource3, GPIO_AF_TIM2);

    
}

/**
 * @brief pwm 定时器初始化
 *
 */
static void _v8m_motor_pwm_timer_config(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
    //开定时器时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM4 |
                               RCC_APB1Periph_TIM3,
                           ENABLE);

    TIM_TimeBaseStructure.TIM_Period = V8M_MOTOR_PERIOD;
    TIM_TimeBaseStructure.TIM_Prescaler = 84 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = V8M_PWM_DEF_VALUE;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;

    TIM_OC1Init(TIM4, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM4, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
    TIM_OC3Init(TIM4, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
    TIM_OC4Init(TIM4, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);

    TIM_OC1Init(TIM3, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM3, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC3Init(TIM3, &TIM_OCInitStructure);
    TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
    TIM_OC4Init(TIM3, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);

    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_OC2Init(TIM2, &TIM_OCInitStructure);
    TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);

    // 使能TIMx重载寄存器ARR
    TIM_ARRPreloadConfig(TIM2, ENABLE);
    TIM_ARRPreloadConfig(TIM4, ENABLE);
    TIM_ARRPreloadConfig(TIM3, ENABLE);

    //使能定时器x
    TIM_Cmd(TIM4, ENABLE);
    TIM_Cmd(TIM3, ENABLE);
    TIM_Cmd(TIM2, ENABLE);

    // enable pwm out put
    GPIO_ResetBits(GPIOC, GPIO_Pin_13);
}

/**
 * @brief 改变 pwm 通道值
 *        TIM4->CH1 ~ TIM4->CH4 为 PWM1 ~ PWM4
 *        TIM3->CH1 ~ TIM3->CH2 为 PWM5 ~ PWM6
 *        TIM2->CH1 ~ TIM2->CH2 为 PWM7 ~ PWM8
 *        TIM3->CH3 ~ TIM3->CH4 为 PWM9 ~ PWM10
 */
void Bsp_V8M_PwmSetCHValue(uint8_t m_ch, uint16_t m_value)
{
    switch (m_ch)
    {
    case 1:
        TIM4->CCR1 = m_value;
        break;
    case 2:
        TIM4->CCR2 = m_value;
        break;
    case 3:
        TIM4->CCR3 = m_value;
        break;
    case 4:
        TIM4->CCR4 = m_value;
        break;
    case 5:
        TIM3->CCR1 = m_value;
        break;
    case 6:
        TIM3->CCR2 = m_value;
        break;
    case 7:
        TIM2->CCR1 = m_value;
        break;
    case 8:
        TIM2->CCR2 = m_value;
        break;
    case 9:
        TIM3->CCR3 = m_value;
        break;
    case 10:
        TIM3->CCR4 = m_value;
        break;

    default:
        break;
    }
}


/**
 * @brief 获取 pwm 通道值
 *        TIM4->CH1 ~ TIM4->CH4 为 PWM1 ~ PWM4
 *        TIM3->CH1 ~ TIM3->CH2 为 PWM5 ~ PWM6
 *        TIM2->CH1 ~ TIM2->CH2 为 PWM7 ~ PWM8
 *        TIM3->CH3 ~ TIM3->CH4 为 PWM9 ~ PWM10
 */
uint16_t Bsp_V8M_PwmGetCHValue(uint8_t m_ch)
{
    uint16_t m_value = 0;
    switch (m_ch)
    {
    case 1:
        m_value = TIM4->CCR1;
        break;
    case 2:
        m_value = TIM4->CCR2;
        break;
    case 3:
        m_value = TIM4->CCR3;
        break;
    case 4:
        m_value = TIM4->CCR4;
        break;
    case 5:
        m_value = TIM3->CCR1;
        break;
    case 6:
        m_value = TIM3->CCR2;
        break;
    case 7:
        m_value = TIM2->CCR1;
        break;
    case 8:
        m_value = TIM2->CCR2;
        break;
    case 9:
        m_value = TIM3->CCR3;
        break;
    case 10:
        m_value = TIM3->CCR4;
        break;

    default:
        break;
    }

    return m_value;
}
#endif