Sub_Spray_STM32/User/BSP/tim_pwm/pwm_control.cpp

#include "pwm_control.h"

#include <cstdio>
#include <main.h>

#include "stm32f4xx_hal.h"
// 全局变量，用于存储频率和占空比
volatile uint32_t pwm_frequency = 1000;  // 默认频率为1000Hz
volatile uint8_t pwm_duty_cycle = 50;     // 默认占空比为50%

// 定时器句柄
TIM_HandleTypeDef htim;

// 定义定时器和通道
#define TIMx            TIM4
#define TIMx_CLK_ENABLE __HAL_RCC_TIM4_CLK_ENABLE()
#define GPIOx           GPIOD
#define GPIOx_CLK_ENABLE __HAL_RCC_GPIOD_CLK_ENABLE()

// 根据通道选择对应的定时器通道
uint32_t Get_TIM_Channel(PWM_Channel_TypeDef channel) {
    switch (channel) {
        case PWM_PUMP_PUL:
            return TIM_CHANNEL_1;
        case PWM_LASER:
            return TIM_CHANNEL_2;
        case PWM_GY:
            return TIM_CHANNEL_3;
        default:
            return 0;
    }
}

// 根据通道选择对应的GPIO引脚
uint32_t Get_GPIO_Pin(PWM_Channel_TypeDef channel) {
    switch (channel) {
        case PWM_PUMP_PUL:
            return GPIO_PIN_12;
        case PWM_LASER:
            return GPIO_PIN_13;
        case PWM_GY:
            return GPIO_PIN_14;
        default:
            return 0;
    }
}

// 初始化定时器和GPIO
void TIM_PWM_Init(void) {
#if 0
    TIM_OC_InitTypeDef sConfigOC = {0};

    // 使能GPIO和定时器时钟
    GPIOx_CLK_ENABLE;
    TIMx_CLK_ENABLE;

    // 配置GPIO引脚为复用功能
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
    HAL_GPIO_Init(GPIOx, &GPIO_InitStruct);

    // 配置定时器
    htim.Instance = TIMx;
    htim.Init.Prescaler = 0;
    htim.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim.Init.Period = 0;
    htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    HAL_TIM_PWM_Init(&htim);

    // 配置PWM通道
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_2);
    HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_3);

    // 启动PWM输出
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_3);
#else
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_OC_InitTypeDef sConfigOC = {0};

    // 使能GPIO和定时器时钟
    GPIOx_CLK_ENABLE;
    TIMx_CLK_ENABLE;

    // 配置GPIO引脚为复用功能
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
    HAL_GPIO_Init(GPIOx, &GPIO_InitStruct);

    // 配置定时器
    htim.Instance = TIM4;
    htim.Init.Prescaler = 32;
    htim.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim.Init.Period = 1000;
    htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&htim) != HAL_OK) {
        Error_Handler();
    }

    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    if (HAL_TIM_ConfigClockSource(&htim, &sClockSourceConfig) != HAL_OK) {
        Error_Handler();
    }

    if (HAL_TIM_PWM_Init(&htim) != HAL_OK) {
        Error_Handler();
    }

    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    if (HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig) != HAL_OK) {
        Error_Handler();
    }

    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 0;
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    if (HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
        Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) {
        Error_Handler();
    }
    if (HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) {
        Error_Handler();
    }

    // 启动PWM输出
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_3);
#endif
}

// 更新指定通道的PWM频率和占空比
void Update_PWM(PWM_Channel_TypeDef channel, uint32_t frequency, uint8_t duty_cycle) {
#if 0
    if (frequency == 0) {
        if (duty_cycle == 0) {
            // 关闭定时器，GPIO输出0
            uint32_t tim_channel = Get_TIM_Channel(channel);
            uint32_t gpio_pin = Get_GPIO_Pin(channel);
            HAL_TIM_PWM_Stop(&htim, tim_channel);
            HAL_GPIO_WritePin(GPIOx, gpio_pin, GPIO_PIN_RESET);
        } else if (duty_cycle == 100) {
            // GPIO输出1
            uint32_t tim_channel = Get_TIM_Channel(channel);
            uint32_t gpio_pin = Get_GPIO_Pin(channel);
            HAL_TIM_PWM_Stop(&htim, tim_channel);
            HAL_GPIO_WritePin(GPIOx, gpio_pin, GPIO_PIN_SET);
        }
    } else {
        // 计算定时器的周期和脉冲宽度
        uint32_t timer_clock = HAL_RCC_GetPCLK1Freq() * 2;  // TIM4挂载在APB1总线上，APB1预分频器为2时，定时器时钟为APB1时钟的2倍
        uint32_t prescaler = (timer_clock / (frequency * 1000)) - 1;
        uint32_t period = 1000;
        uint32_t pulse = (period * duty_cycle) / 100;

        // 配置定时器参数
        htim.Instance->CR2 &= 0x00;
        htim.Instance->PSC = prescaler;
        htim.Instance->ARR = period;

        uint32_t tim_channel = Get_TIM_Channel(channel);
        switch (tim_channel) {
            case TIM_CHANNEL_1:

                htim.Instance->CCR1 = pulse;
                HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_1);
                break;
            case TIM_CHANNEL_2:
                htim.Instance->CCR2 = pulse;
                HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_2);
                break;
            case TIM_CHANNEL_3:
                htim.Instance->CCR3 = pulse;
                HAL_TIM_PWM_Start(&htim, TIM_CHANNEL_3);
                break;
        }
        htim.Instance->CR2 &= 0x00;
    }
#else
    // 计算定时器的周期和预分频器
    uint32_t timer_clock = HAL_RCC_GetPCLK1Freq() * 2;  // TIM4挂载在APB1总线上，APB1预分频器为2时，定时器时钟为APB1时钟的2倍
    uint32_t prescaler = (timer_clock / (frequency * 1000)) - 1;
    uint32_t period = 999; // 固定周期为999，通过调整预分频器实现频率变化
    uint32_t tim_channel = Get_TIM_Channel(channel);
    uint32_t pulse = (period * duty_cycle) / 100;
    // HAL_TIM_PWM_Stop(&htim, tim_channel);

    // TIM_OC_InitTypeDef sConfigOC;
    // htim.Init.Period = period;
    // sConfigOC.Pulse = pulse;
    // sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    // sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
    // HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, channel);

    // HAL_TIM_PWM_Start(&htim, tim_channel);

    // htim.Instance->CR2 &= 0x00;
    // htim.Instance->PSC = prescaler;
    // htim.Instance->ARR = period;
    // htim.Instance->CCR1 = pulse;
    // htim.Instance->CCR2 = pulse;
    // htim.Instance->CCR3 = pulse;
    __HAL_TIM_SET_PRESCALER(&htim, prescaler);
    __HAL_TIM_SET_AUTORELOAD(&htim, period);
    __HAL_TIM_SET_COMPARE(&htim, tim_channel, pulse);
    // 触发更新事件
    HAL_TIM_GenerateEvent(&htim, TIM_EVENTSOURCE_UPDATE);

#endif
}