STM32H7的HRTIM生成任意波形

eric2013

说明：

这个例程的配置也是有点复杂，可以合成任意波形效果。

关键还是这两个参数成员的配置：

sConfig_output_config.SetSource = HRTIM_OUTPUTSET_TIMPER + HRTIM_OUTPUTSET_TIMCMP1 + HRTIM_OUTPUTSET_TIMCMP2;
sConfig_output_config.ResetSource  = HRTIM_OUTPUTRESET_TIMPER + HRTIM_OUTPUTRESET_TIMCMP1 + HRTIM_OUTPUTRESET_TIMCMP2;



波形效果：



代码：

1. /* Private typedef -----------------------------------------------------------*/
   
2. /* Private define ------------------------------------------------------------*/
   
3. #define HRTIM_MAX_PERIOD  0xFFFF
   
4. 
   
5. /* Private macro -------------------------------------------------------------*/
   
6. /* Private variables ---------------------------------------------------------*/
   
7. /* Timer handler declaration */
   
8. HRTIM_HandleTypeDef                 HrtimHandle;
   
9. 
   
10. HRTIM_TimeBaseCfgTypeDef            sConfig_time_base;
    
11. HRTIM_TimerCfgTypeDef               sConfig_timerD;
    
12. HRTIM_OutputCfgTypeDef              sConfig_output_config;
    
13. HRTIM_CompareCfgTypeDef             sConfig_compare;
    
14.         
    
15. /* Private function prototypes -----------------------------------------------*/
    
16. static void SystemClock_Config(void);
    
17. static void Error_Handler(void);
    
18. static void CPU_CACHE_Enable(void);
    
19. 
    
20. /* Private functions ---------------------------------------------------------*/
    
21. 
    
22. /**
    
23.   * @brief  Main program
    
24.   * @param  None
    
25.   * @retval None
    
26.   */
    
27. int main(void)
    
28. {
    
29. 
    
30.   /* Enable the CPU Cache */
    
31.   CPU_CACHE_Enable();
    
32. 
    
33.   /* STM32H7xx HAL library initialization:
    
34.        - Configure the Systick to generate an interrupt each 1 msec
    
35.        - Set NVIC Group Priority to 4
    
36.        - Low Level Initialization
    
37.   */
    
38.   HAL_Init();
    
39. 
    
40.   /* Configure the system clock to 400 MHz */
    
41.   SystemClock_Config();
    
42. 
    
43.   /*##-1- Configure the HRTIM peripheral ######################################################*/
    
44.   /* Initialize the HRTIM structure (minimal configuration) */
    
45.   HrtimHandle.Instance = HRTIM1;
    
46.   HrtimHandle.Init.HRTIMInterruptResquests = HRTIM_IT_NONE;
    
47.   HrtimHandle.Init.SyncOptions = HRTIM_SYNCOPTION_NONE;
    
48. 
    
49.   /* Initialize HRTIM */
    
50.   HAL_HRTIM_Init(&HrtimHandle);
    
51. 
    
52.   /*##-2- Configure the HRTIM TIMA PWM channels 1 & 2 #########################################*/
    
53.   sConfig_time_base.Period = HRTIM_MAX_PERIOD;
    
54.   sConfig_time_base.RepetitionCounter = 0;
    
55.   sConfig_time_base.PrescalerRatio = HRTIM_PRESCALERRATIO_DIV1;
    
56.   sConfig_time_base.Mode = HRTIM_MODE_CONTINUOUS;
    
57.   HAL_HRTIM_TimeBaseConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, &sConfig_time_base);
    
58. 
    
59.   /* TIMERD global configuration: preload enabled on REP event */
    
60.   sConfig_timerD.DMARequests = HRTIM_TIM_DMA_NONE;
    
61.   sConfig_timerD.HalfModeEnable = HRTIM_HALFMODE_DISABLED;
    
62.   sConfig_timerD.StartOnSync = HRTIM_SYNCSTART_DISABLED;
    
63.   sConfig_timerD.ResetOnSync = HRTIM_SYNCRESET_DISABLED;
    
64.   sConfig_timerD.DACSynchro = HRTIM_DACSYNC_NONE;
    
65.   sConfig_timerD.PreloadEnable = HRTIM_PRELOAD_ENABLED;
    
66.   sConfig_timerD.UpdateGating = HRTIM_UPDATEGATING_INDEPENDENT;
    
67.   sConfig_timerD.BurstMode = HRTIM_TIMERBURSTMODE_MAINTAINCLOCK;
    
68.   sConfig_timerD.RepetitionUpdate = HRTIM_UPDATEONREPETITION_ENABLED;
    
69.   sConfig_timerD.ResetUpdate = HRTIM_TIMUPDATEONRESET_DISABLED;
    
70.   sConfig_timerD.InterruptRequests = HRTIM_TIM_IT_NONE;
    
71.   sConfig_timerD.PushPull = HRTIM_TIMPUSHPULLMODE_DISABLED;
    
72.   sConfig_timerD.FaultEnable = HRTIM_TIMFAULTENABLE_NONE;
    
73.   sConfig_timerD.FaultLock = HRTIM_TIMFAULTLOCK_READWRITE;
    
74.   sConfig_timerD.DeadTimeInsertion = HRTIM_TIMDEADTIMEINSERTION_DISABLED;
    
75.   sConfig_timerD.DelayedProtectionMode = HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED;
    
76.   sConfig_timerD.UpdateTrigger= HRTIM_TIMUPDATETRIGGER_NONE;
    
77.   sConfig_timerD.ResetTrigger = HRTIM_TIMRESETTRIGGER_NONE;
    
78.         
    
79.   HAL_HRTIM_WaveformTimerConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D,&sConfig_timerD);
    
80. 
    
81.   /* TD1 waveform description: toggles on TIMD period, CMP1 and CMP2 event */
    
82.   sConfig_output_config.Polarity = HRTIM_OUTPUTPOLARITY_HIGH;
    
83.   sConfig_output_config.SetSource = HRTIM_OUTPUTSET_TIMPER + HRTIM_OUTPUTSET_TIMCMP1 + HRTIM_OUTPUTSET_TIMCMP2;
    
84.   sConfig_output_config.ResetSource  = HRTIM_OUTPUTRESET_TIMPER + HRTIM_OUTPUTRESET_TIMCMP1 + HRTIM_OUTPUTRESET_TIMCMP2;
    
85.   sConfig_output_config.IdleMode = HRTIM_OUTPUTIDLEMODE_NONE;
    
86.   sConfig_output_config.IdleLevel = HRTIM_OUTPUTIDLELEVEL_INACTIVE;
    
87.   sConfig_output_config.FaultLevel = HRTIM_OUTPUTFAULTLEVEL_NONE;
    
88.   sConfig_output_config.ChopperModeEnable = HRTIM_OUTPUTCHOPPERMODE_DISABLED;
    
89.   sConfig_output_config.BurstModeEntryDelayed = HRTIM_OUTPUTBURSTMODEENTRY_REGULAR;
    
90.         
    
91.   HAL_HRTIM_WaveformOutputConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, HRTIM_OUTPUT_TD1, &sConfig_output_config);
    
92. 
    
93.   /* TD2 waveform description: set on TIMD PER and CMP2 and */
    
94.   /* reset on TIMD CMP1 and CMP3 event                      */
    
95.   sConfig_output_config.SetSource = HRTIM_OUTPUTSET_TIMPER + HRTIM_OUTPUTSET_TIMCMP2;
    
96.   sConfig_output_config.ResetSource  = HRTIM_OUTPUTRESET_TIMCMP1 + HRTIM_OUTPUTRESET_TIMCMP3;
    
97.         
    
98.   HAL_HRTIM_WaveformOutputConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, HRTIM_OUTPUT_TD2, &sConfig_output_config);
    
99. 
    
100.   /* Set compare register 1 in Timer D */
     
101.   sConfig_compare.CompareValue = HRTIM_MAX_PERIOD/4;     /* 25% of the period */
     
102.   HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_1, &sConfig_compare);
     
103. 
     
104.   /* Set compare register 2 in Timer D */
     
105.   sConfig_compare.AutoDelayedMode = HRTIM_AUTODELAYEDMODE_REGULAR;
     
106.   sConfig_compare.AutoDelayedTimeout = 0;
     
107.   sConfig_compare.CompareValue = (3*HRTIM_MAX_PERIOD)/8;     /* 37.5% of the period */
     
108.   HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_2, &sConfig_compare);
     
109. 
     
110.   /* Set compare register 3 in Timer D */
     
111.   sConfig_compare.CompareValue = HRTIM_MAX_PERIOD/2;     /* 50% of the period */
     
112.   HAL_HRTIM_WaveformCompareConfig(&HrtimHandle, HRTIM_TIMERINDEX_TIMER_D, HRTIM_COMPAREUNIT_3, &sConfig_compare);
     
113.                         
     
114.   /*##-7- Start Waveform signals generation ########################################################*/
     
115.   if (HAL_HRTIM_WaveformOutputStart(&HrtimHandle, HRTIM_OUTPUT_TD1 + HRTIM_OUTPUT_TD2) != HAL_OK)
     
116.   {
     
117.     /* Waveform Generation Error */
     
118.     Error_Handler();
     
119.   }
     
120.         if (HAL_HRTIM_WaveformCounterStart(&HrtimHandle, HRTIM_TIMERID_TIMER_D) != HAL_OK)
     
121.   {
     
122.     /* Waveform Generation Error */
     
123.     Error_Handler();
     
124.   }         
     
125.   /* Infinite loop */
     
126.   while (1)
     
127.   {
     
128.   }
     
129. }

复制代码

roguebear

控制12路步进电机  S加减速曲线。。。。不占用CPU。。。。