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Drv_pwm_out.c
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/******************** (C) COPYRIGHT 2017 ANO Tech ********************************
* 作者 ：匿名科创
* 官网 ：www.anotc.com
* 淘宝 ：anotc.taobao.com
* 技术Q群 ：190169595
* 描述 ：PWM输出
**********************************************************************************/
#include "Drv_pwm_out.h"
#include "include.h"
#include "Ano_Math.h"
//21分频到 84000000/21 = 4M 0.25us
/*初始化高电平时间1000us（4000份）*/
#define INIT_DUTY 4000 //u16(1000/0.25)
/*频率400hz*/
#define HZ 400
/*精度10000，每份0.25us*/
#define ACCURACY 10000 //u16(2500/0.25) //accuracy
/*设置飞控控制信号转换比例为4*/
#define PWM_RADIO 4//(8000 - 4000)/1000.0
u8 PWM_Out_Init () //400hz
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
uint16_t PrescalerValue = 0;
u32 hz_set = ACCURACY * HZ;
GPIO_StructInit(&GPIO_InitStructure);
TIM_TimeBaseStructInit ( &TIM_TimeBaseStructure );
TIM_OCStructInit ( &TIM_OCInitStructure );
hz_set = LIMIT ( hz_set, 1, 84000000 );
RCC_APB1PeriphClockCmd ( RCC_APB1Periph_TIM5, ENABLE );
RCC_APB2PeriphClockCmd ( RCC_APB2Periph_TIM8, ENABLE );
RCC_APB2PeriphClockCmd ( RCC_APB2Periph_TIM1, ENABLE );
RCC_AHB1PeriphClockCmd ( RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOE, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; //GPIO_Pin_0 | GPIO_Pin_1 |
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init ( GPIOA, &GPIO_InitStructure );
// GPIO_PinAFConfig(GPIOA, GPIO_PinSource0, GPIO_AF_TIM5);
// GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_TIM5);
GPIO_PinAFConfig ( GPIOA, GPIO_PinSource2, GPIO_AF_TIM5 );
GPIO_PinAFConfig ( GPIOA, GPIO_PinSource3, GPIO_AF_TIM5 );
/* Compute the prescaler value */
PrescalerValue = ( uint16_t ) ( ( SystemCoreClock / 2 ) / hz_set ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = ACCURACY;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit ( TIM5, &TIM_TimeBaseStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
// /* PWM1 Mode configuration: Channel1 */
// TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
// TIM_OC1Init(TIM5, &TIM_OCInitStructure);
// TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
// /* PWM1 Mode configuration: Channel2 */
// TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
// TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
// TIM_OC2Init(TIM5, &TIM_OCInitStructure);
// TIM_OC2PreloadConfig(TIM5, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC3Init ( TIM5, &TIM_OCInitStructure );
TIM_OC3PreloadConfig ( TIM5, TIM_OCPreload_Enable );
/* PWM1 Mode configuration: Channel4 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC4Init ( TIM5, &TIM_OCInitStructure );
TIM_OC4PreloadConfig ( TIM5, TIM_OCPreload_Enable );
TIM_ARRPreloadConfig ( TIM5, ENABLE );
TIM_Cmd ( TIM5, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13 | GPIO_Pin_14;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init ( GPIOE, &GPIO_InitStructure );
GPIO_PinAFConfig ( GPIOE, GPIO_PinSource9, GPIO_AF_TIM1 );
GPIO_PinAFConfig ( GPIOE, GPIO_PinSource11, GPIO_AF_TIM1 );
GPIO_PinAFConfig ( GPIOE, GPIO_PinSource13, GPIO_AF_TIM1 );
GPIO_PinAFConfig ( GPIOE, GPIO_PinSource14, GPIO_AF_TIM1 );
/* Compute the prescaler value */
PrescalerValue = ( uint16_t ) ( ( SystemCoreClock ) / hz_set ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = ACCURACY;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit ( TIM1, &TIM_TimeBaseStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
/* PWM1 Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC1Init ( TIM1, &TIM_OCInitStructure );
//TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel2 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC2Init ( TIM1, &TIM_OCInitStructure );
//TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel3 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC3Init ( TIM1, &TIM_OCInitStructure );
//TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC4Init ( TIM1, &TIM_OCInitStructure );
//TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs ( TIM1, ENABLE );
TIM_ARRPreloadConfig ( TIM1, ENABLE );
TIM_Cmd ( TIM1, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init ( GPIOC, &GPIO_InitStructure );
GPIO_PinAFConfig ( GPIOC, GPIO_PinSource8, GPIO_AF_TIM8 );
GPIO_PinAFConfig ( GPIOC, GPIO_PinSource9, GPIO_AF_TIM8 );
/* Compute the prescaler value */
PrescalerValue = ( uint16_t ) ( ( SystemCoreClock ) / hz_set ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = ACCURACY;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit ( TIM8, &TIM_TimeBaseStructure );
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
/* PWM1 Mode configuration: Channel3 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC3Init ( TIM8, &TIM_OCInitStructure );
//TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* PWM1 Mode configuration: Channel4 */
//TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = INIT_DUTY;
TIM_OC4Init ( TIM8, &TIM_OCInitStructure );
//TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs ( TIM8, ENABLE );
TIM_ARRPreloadConfig ( TIM8, ENABLE );
TIM_Cmd ( TIM8, ENABLE );
if ( hz_set > 84000000 )
{
return 0;
}
else
{
return 1;
}
}
void SetPwm ( int16_t pwm[MOTORSNUM] )
{
TIM1->CCR4 = PWM_RADIO * ( pwm[0] ) + INIT_DUTY; //1
TIM1->CCR3 = PWM_RADIO * ( pwm[1] ) + INIT_DUTY; //2
TIM1->CCR2 = PWM_RADIO * ( pwm[2] ) + INIT_DUTY; //3
TIM1->CCR1 = PWM_RADIO * ( pwm[3] ) + INIT_DUTY; //4
// TIM5->CCR4 = PWM_RADIO *( pwm_tem[CH_out_Mapping[4]] ) + INIT_DUTY; //5
// TIM5->CCR3 = PWM_RADIO *( pwm_tem[CH_out_Mapping[5]] ) + INIT_DUTY; //6
// TIM8->CCR4 = PWM_RADIO *( pwm_tem[CH_out_Mapping[6]] ) + INIT_DUTY; //7
// TIM8->CCR3 = PWM_RADIO *( pwm_tem[CH_out_Mapping[7]] ) + INIT_DUTY; //8
}
/******************* (C) COPYRIGHT 2014 ANO TECH *****END OF FILE************/