GD32 定时器Timer0 PWM驱动无感无刷电机
潘灵均
特点1：Timer0输出6路PWM信号 三组CH0 CH1 CH2每组输出2路互补信号
特点2： 加入死区设置（保证互补波形不会同时输出高电平）
特点3： 加入刹车保护：设置刹车保护脚BKIN-PB12 默认上拉，当被拉到GND后立即停止说要PWM输出，当释放BKIN脚后（高电平） PWM立刻重新输出PWM
步骤1：IO口配置
void gpio_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOB);
/*Configure PA8 PA9 PA10(TIMER0 CH0 CH1 CH2) as alternate function*/
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_8);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_10);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_8);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_9);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_10);
/*Configure PB13 PB14 PB15(TIMER0 CH0N CH1N CH2N) as alternate function*/
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_13);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_14);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_14);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_15);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_13);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_14);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_15);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_12);//设置刹车信号 默认上拉 如果出现低电平则刹车 停止PWM输出
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_12);
}1 PB12 设置AF2模式，默认上拉
2 PA8 PA9 PA10 为上管的驱动，PB13 PB14 PB15 作为下管驱动 PA8-PB13互补，PA9-PB14互补，PA10-PB15互补
步骤2：定时器配置，只有高级定时器才有死区和刹车设置
void timer_config(void)
{
timer_oc_parameter_struct timer_ocintpara;
timer_parameter_struct timer_initpara;
timer_break_parameter_struct timer_Breakinitpara;
rcu_periph_clock_enable(RCU_TIMER0);
timer_deinit(TIMER0);
/* TIMER0 configuration */
timer_initpara.prescaler = 0;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 9999;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter = 0;
timer_init(TIMER0, &timer_initpara);
/* CH1,CH2 and CH3 configuration in PWM mode 0 */
timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
timer_ocintpara.outputnstate = TIMER_CCXN_ENABLE;
timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;//TIMER_OC_POLARITY_LOW TIMER_OC_POLARITY_HIGH
timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;// TIMER_OCN_POLARITY_LOW TIMER_OCN_POLARITY_HIGH
timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
timer_channel_output_config(TIMER0, TIMER_CH_0, &timer_ocintpara);
timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocintpara);
timer_channel_output_config(TIMER0, TIMER_CH_2, &timer_ocintpara);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0,4999);
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
//timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, 4999);
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
//timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2, 4999);
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
//timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);
timer_Breakinitpara.runoffstate=TIMER_ROS_STATE_ENABLE;
timer_Breakinitpara.ideloffstate=TIMER_IOS_STATE_ENABLE;
timer_Breakinitpara.deadtime=255;
timer_Breakinitpara.breakpolarity=TIMER_BREAK_POLARITY_LOW;
timer_Breakinitpara.outputautostate=TIMER_OUTAUTO_ENABLE;
timer_Breakinitpara.protectmode=TIMER_CCHP_PROT_OFF;
timer_Breakinitpara.breakstate=TIMER_BREAK_ENABLE;
timer_break_config(TIMER0,&timer_Breakinitpara);
timer_primary_output_config(TIMER0, ENABLE);
/* auto-reload preload enable */
// timer_auto_reload_shadow_enable(TIMER0);
//timer_channel_control_shadow_config(TIMER0,ENABLE);
timer_enable(TIMER0);
}注意点1：
timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;为高占空比和函数timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0,4999);设定的值才能对应，否则相反
timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH；
如果 一个LOW 一个HIGH则 两个波形变为一致不会互补。
注意点2：
timer_Breakinitpara.breakstate=TIMER_BREAK_ENABLE; 死区和刹车功能使能
注意点3：
timer_Breakinitpara.runoffstate=TIMER_ROS_STATE_ENABLE;使能可以使PWM被DISABLE后
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE); IO口电瓶保持低电平，如果不开刹车功能或者runoffstate DISABLE 此时IO口电瓶处于悬浮状态。
注意点4：
timer_Breakinitpara.breakpolarity=TIMER_BREAK_POLARITY_LOW; LOW表示刹车信号为低电平时会触发刹车PWM停止输出。
注意点5：
timer_Breakinitpara.deadtime=255; 死区时间 范围0-255
步骤3：换向函数
void BLDC_Convet(uint8_t phase)
{
switch(phase) //
{
case 0x00: //AB ---- Q1 Q5
{
/* Channel1 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
/* Channel2 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
/* Channel3 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 0x01: //AB ---- Q1 Q5
{
/* Channel1 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
/* Channel2 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_HIGH);
/* Channel3 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_LOW);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 0x10://0x01: //AC ---- Q1 Q6
{
/* Channel1 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
/* Channel2 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_LOW);
/* Channel3 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 0x02: //BC ---- Q2 Q6
{
/* Channel2 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
/* Channel1 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_LOW);
/* Channel3 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 0x03: //BA ---- Q2 Q4
{
/* Channel2 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
/* Channel3 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_LOW);
/* Channel1 configuration */
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 0x04: //CA ---- Q3 Q4
{
}
break;
case 0x05: //CB ---- Q3 Q5
{
}
break;
default:break;
}
}注意点1：
case 1 只开了AB通道 即 CH0的上管PWM输出 CH1的下管输出高电平 其余4通道全为低电平
注意点2：
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);此处开上管
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_DISABLE);//CC1NE 此处关上管
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0); 此处配置PWM0模式 没换一次相都必须要重新配置一次模式
注意点3：
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_HIGH);
强行输出高电平 但CH1的上管通道被DISABLE 所以上管不影响还是低电平
注意点4：
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);通道重新配置后更新寄存器
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