PWM实验理论部分
135.5.7PWM实验理论部分
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Inc/main.h
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Inc/gpio.h
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.h
* @brief This file contains all the function prototypes for
* the gpio.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __GPIO_H__
#define __GPIO_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ GPIO_H__ */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Inc/tim.h
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.h
* @brief This file contains all the function prototypes for
* the tim.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __TIM_H__ */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Inc/stm32f1xx_it.h
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F1xx_IT_H
#define __STM32F1xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
#ifdef __cplusplus
}
#endif
#endif /* __STM32F1xx_IT_H */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Src/main.c
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t PWM_Value = 0,LED_PWM_Value,SG_PWM_Value=5;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM3_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
PWM_Value++;
PWM_Value=PWM_Value%200;
if(PWM_Value>99)
LED_PWM_Value=200-PWM_Value;
else
LED_PWM_Value=PWM_Value;
HAL_Delay(25);
__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, LED_PWM_Value);
__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, LED_PWM_Value);
if(0==PWM_Value%30)
{
SG_PWM_Value+=5;
if(SG_PWM_Value>25)
SG_PWM_Value=5;
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, SG_PWM_Value);
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Src/gpio.c
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file gpio.c
* @brief This file provides code for the configuration
* of all used GPIO pins.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure GPIO */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Src/tim.c
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* TIM3 init function */
void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 7199;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 99;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &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(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 7199;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 200;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &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(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB4 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM3_PARTIAL();
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(timHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Src/stm32f1xx_it.c
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* ========================================================================
* Project: CubeIDE/07PWM
* File: Core/Src/stm32f1xx_hal_msp.c
* ======================================================================== */
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_NOJTAG();
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
一、PWM实验理论部分
1.1 实验演示
实验用同一类 PWM 信号控制 LED 亮度和直流电机转速。示波器上看到的是高低电平快速切换；负载由于视觉暂留、机械惯性或电路滤波，表现为与平均能量有关的连续效果。
PWM 要同时看两个独立参数：
- 频率决定一个周期有多快；
- 占空比决定一个周期内有效电平持续多久。
改变占空比不等于改变频率。电机是否安静、舵机能否识别、LED 是否闪烁，都可能受频率影响。
1.2 什么是PWM
1.2.1 脉宽调制技术
PWM 即脉宽调制。周期为 T，频率为 f=1/T，高电平时间为 tH，高电平占空比为：
D = tH / T × 100%
例如 100 Hz 的 PWM 周期是 10 ms；若高电平持续 3 ms，则高电平占空比为 30%。对高电平有效的负载，理想平均电压近似为 D×VCC，但电机电流、转矩和转速还会受到线圈电感、反电动势、负载与驱动器压降影响，不能把占空比直接等同于实际转速百分比。
1.2.2 单片机PWM信号的生成
1.2.2.1 新建工程
工程选用 STM32F103ZET6，并把系统时钟配置为 72 MHz。TIM3 用于两路 PWM，TIM4 的一路 PWM 后续用于舵机。生成工程前应确认时钟树，因为定时器输入时钟会直接影响 PWM 频率。
资源较少的 51 单片机也能用定时中断配合 GPIO 翻转生成 PWM，但中断延迟和其他任务会影响波形。STM32 的定时器含硬件输出比较单元，CPU 配置 PSC、ARR、CCR 和输出模式后，外设可持续生成 PWM，主循环不必在每个边沿手动翻转引脚。
1.2.2.2 设备配置
本实验把 TIM3_CH1、TIM3_CH2 配到 PB4、PB5。STM32F1 并不是任意引脚都能连接任意定时器通道；TIM3 使用部分重映射后才得到：
TIM3_CH1 ──部分重映射──> PB4
TIM3_CH2 ──部分重映射──> PB5
PB4 还与 JTAG 的 NJTRST 功能复用。需要使用 PB4 时，应关闭 JTAG、保留 SWD，以免引脚冲突，同时仍能通过 SWD 调试。
1.2.2.3 STM32原理图
开发板 LED 的典型连接是 3.3 V 经 LED 和 1 kΩ 限流电阻接到 PB5，因此它是低电平点亮：
3.3 V ──>|── 1 kΩ ── PB5
LED
PB5输出低电平：电流从3.3 V流向PB5，LED亮
PB5输出高电平：两端压差很小，LED灭
这会造成一个容易忽略的“反相”现象：TIM3 PWM1、有效高电平时，CCR 越大，高电平比例越大，但 LED 的导通低电平比例反而越小，所以 LED 会变暗。
直流电机绝不能直接接 GPIO。GPIO 既不能提供足够电流，也承受不了电机线圈断流产生的感应电压。常见驱动连接如下：
STM32 PWM ──> ENA/ENB 外部电机电源
STM32 GPIO ─> IN1/IN2 │
STM32 GND ───────────────┐ ┌───┴────┐
└───┤ H桥模块├── 电机
└────────┘
ENA/ENB 接 PWM 调速，IN1/IN2 决定电流方向。STM32、驱动模块与电机电源必须共地。H 桥模块负责大电流开关和感性电流续流；实际使用还要检查驱动芯片电流能力、散热和导通压降。
1.2.2.4 定时器的配置
TIM3 配置为 PSC=7199、ARR=99。在 72 MHz 定时器时钟下：
计数频率 fCNT = 72 MHz / (7199+1) = 10 kHz
计数分辨率 = 1 / 10 kHz = 100 μs
PWM频率 = 10 kHz / (99+1) = 100 Hz
PWM周期 = 10 ms
ARR 为 99 表示计数器共有 0～99 这 100 个计数状态，因此占空比可按 1% 步进调整。
1.2.3 定时器的理论
向上计数、PWM 模式 1、输出高电平有效时，可以近似理解为：
CNT < CCR → 有效
CNT ≥ CCR → 无效
高电平占空比 ≈ CCR / (ARR+1)
OCPolarity 还能反转通道引脚的有效电平，因此分析实际负载时，要按“比较模式 → 输出极性 → 外部电路是否反相”三层逐步判断。
1.2.3.1 比较值举例
当 ARR=99、CCR=30 时，计数值 0～29 共 30 个计数为有效状态，所以高电平占空比是 30%，不是 29%。
CNT: 0 ........ 29 | 30 ................ 99
PWM: ─── 有效 ────┘└────── 无效 ─────────
<---30格---> <---------70格---------->
若该信号直接送入高电平有效的电机驱动使能端，驱动占空比约为 30%；若送到板载低电平点亮 LED，LED 导通占空比约为 70%。同一个波形面对不同外部电路，会呈现相反的控制方向。