[问答]

换向事件后PWM停止的问题请问如何去解决呢

问答对人有帮助，内容完整，我也想知道答案 0 您好 - 我是 STM32 MCU 的新手（主要是使用 8 位 AVR 或基于 Raspberry Pi 的操作系统）。我一直在尝试实施 6 步电机控制（从头开始制作一切作为学习经验）。我在主从配置中选择了 tiM4 和 TIM8，使用 TIM8 中通道 1、2 和 3 的互补输出。一切都已设置，以便 PWM 预加载寄存器更新甚至发生在换向中，即 TIM4 的 TRGO。 void motor6Step_Init(TIM_HandleTypeDef* htim4, TIM_HandleTypeDef* htim8){ htim4->Instance->CCR1 = (TIM4_ARR>>2); htim8->Instance->CCR1 = 0; htim8->Instance->CCR2 = 0; htim8->Instance->CCR3 = 0; htim8->Instance->CR1 &= ~( TIM_CR1_CEN ); htim8->Instance->CNT = 0; __HAL_TIM_ENABLE_IT(htim8, TIM_IT_UPDATE); HAL_TIMEx_ConfigCommutEvent_IT(htim8, TIM_TS_ITR2, TIM_COMMUTATION_TRGI); } void motor6Step_Start(TIM_HandleTypeDef* htim4, TIM_HandleTypeDef* htim8){ HAL_TIM_Base_Start(htim8); HAL_TIM_OC_Start_IT(htim4, TIM_CHANNEL_1); } void motor6Stop_Stop(TIM_HandleTypeDef* htim4, TIM_HandleTypeDef* htim8){ HAL_TIM_OC_Stop_IT(htim4, TIM_CHANNEL_1); HAL_TIM_Base_Stop(htim8); htim4->Instance->CNT = 0; htim8->Instance->CNT = 0; } 用于步骤的代码： #define TIM8_DISABLE_ALL_CHANNELS TIM8->CCER = 0UL; TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = 0 #define TIM8_ENABLE_CHANNELS_STEP1 TIM8->CCR1 = TIM8_DUTY; TIM8->CCR2 = 0; TIM8->CCR3 = 0; TIM8->CCER = 0UL \| ( TIM_CCER_CC1E \| (TIM_CCER_CC2E) \| (TIM_CCER_CC2NE) ) #define TIM8_ENABLE_CHANNELS_STEP2 TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = TIM8_DUTY; TIM8->CCER = 0UL \| ( TIM_CCER_CC3E \| (TIM_CCER_CC2E) \| (TIM_CCER_CC2NE) ) #define TIM8_ENABLE_CHANNELS_STEP3 TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = TIM8_DUTY; TIM8->CCER = 0UL \| ( TIM_CCER_CC3E \| (TIM_CCER_CC1E) \| (TIM_CCER_CC1NE) ) #define TIM8_ENABLE_CHANNELS_STEP4 TIM8->CCR1 = 0; TIM8->CCR2 = TIM8_DUTY; TIM8->CCR3 = 0; TIM8->CCER = 0UL \| ( TIM_CCER_CC2E \| (TIM_CCER_CC1E) \| (TIM_CCER_CC1NE) ) #define TIM8_ENABLE_CHANNELS_STEP5 TIM8->CCR1 = 0; TIM8->CCR2 = TIM8_DUTY; TIM8->CCR3 = 0; TIM8->CCER = 0UL \| ( TIM_CCER_CC2E \| (TIM_CCER_CC3E) \| (TIM_CCER_CC3NE) ) #define TIM8_ENABLE_CHANNELS_STEP6 TIM8->CCR1 = TIM8_DUTY; TIM8->CCR2 = 0; TIM8->CCR3 = 0; TIM8->CCER = 0UL \| ( TIM_CCER_CC1E \| (TIM_CCER_CC3E) \| (TIM_CCER_CC3NE) ) void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef htim){ if(htim->Instance == TIM8){ if(counter6Step == previousCounter6Step){ switch(counter6Step){ case 0: TIM8_DISABLE_ALL_CHANNELS; break; case 1: TIM8_ENABLE_CHANNELS_STEP1; counter6Step++; break; case 2: TIM8_ENABLE_CHANNELS_STEP2; counter6Step++; break; case 3: TIM8_ENABLE_CHANNELS_STEP3; counter6Step++; break; case 4: TIM8_ENABLE_CHANNELS_STEP4; counter6Step++; break; case 5: TIM8_ENABLE_CHANNELS_STEP5; counter6Step++; break; case 6: TIM8_ENABLE_CHANNELS_STEP6; tim4_pscUpdate = 1; counter6Step=1; break; default: TIM8_DISABLE_ALL_CHANNELS; counter6Step = 0; break; } } } } void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef htim){ if(htim->Instance == TIM8){ previousCounter6Step = counter6Step; HAL_GPIO_TogglePin(LED_RED_GPIO_Port, LED_RED_Pin); } } 我遇到的问题是，在使用相同“高侧”PWM 的步骤之间，改变低侧后输出变低 - 例如：从第 2 步到第 3 步，在第 2 步期间在 CH3 上正确生成 PWM，但在第 3 步期间输出保持在低状态。有趣的是，如果我在回调中做一个断点并将调试用作“步进模式”，则 pwm 会正确生成。也许过去有人经历过类似的事情？ 0
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答案对人有帮助，有参考价值 0 让它工作了——大部分问题都来自关闭 CCx 和 CCxN 通道：如果您将两者都设置为 0（在我的例子中 OSSR 和 OSSI 都是“1”），那么两个通道都不再由定时器驱动——这在我刚刚重新打开它时引起了问题。我选择了仅禁用 CCxN 并将 CCR 寄存器设置为“0”的选项。我也从 COM 回调切换到触发回调。更新了 6 步控制的代码： #define TIM8_DISABLE_ALL_CHANNELS TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = 0; TIM8->CCER &= ~( TIM_CCER_CC1NE \| TIM_CCER_CC2NE \| TIM_CCER_CC3NE ) #define TIM8_ENABLE_CHANNELS_STEP1 TIM8->CCR2 = 0; TIM8->CCR3 = 0; TIM8->CCR1 = TIM8_DUTY; TIM8->CCER &= ~(TIM_CCER_CC3NE); TIM8->CCER \|= TIM_CCER_CC2NE #define TIM8_ENABLE_CHANNELS_STEP2 TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = TIM8_DUTY #define TIM8_ENABLE_CHANNELS_STEP3 TIM8->CCR1 = 0; TIM8->CCR2 = 0; TIM8->CCR3 = TIM8_DUTY; TIM8->CCER &= ~(TIM_CCER_CC2NE); TIM8->CCER \|= TIM_CCER_CC1NE #define TIM8_ENABLE_CHANNELS_STEP4 TIM8->CCR1 = 0; TIM8->CCR3 = 0; TIM8->CCR2 = TIM8_DUTY #define TIM8_ENABLE_CHANNELS_STEP5 TIM8->CCR1 = 0; TIM8->CCR3 = 0; TIM8->CCR2 = TIM8_DUTY; TIM8->CCER &= ~(TIM_CCER_CC1NE); TIM8->CCER \|= TIM_CCER_CC3NE #define TIM8_ENABLE_CHANNELS_STEP6 TIM8->CCR2 = 0; TIM8->CCR3 = 0; TIM8->CCR1 = TIM8_DUTY /** * @brief Callback for TIM being triggered * @param htim: timer handle pointer * @retval None / void HAL_TIM_TriggerCallback(TIM_HandleTypeDef htim){ if(htim->Instance == TIM8){ switch(counter6Step){ case 0: TIM8_DISABLE_ALL_CHANNELS; break; case 1: TIM8_ENABLE_CHANNELS_STEP1; counter6Step++; break; case 2: TIM8_ENABLE_CHANNELS_STEP2; counter6Step++; break; case 3: TIM8_ENABLE_CHANNELS_STEP3; counter6Step++; break; case 4: TIM8_ENABLE_CHANNELS_STEP4; counter6Step++; break; case 5: TIM8_ENABLE_CHANNELS_STEP5; counter6Step++; break; case 6: TIM8_ENABLE_CHANNELS_STEP6; tim4_pscUpdate = 1; counter6Step=1; break; default: TIM8_DISABLE_ALL_CHANNELS; counter6Step = 0; break; } } } /** * @brief Callback for TIM Output Compare * @param htim: timer handle pointer * @retval None / void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef htim){ if(htim->Instance == TIM4){ if(tim4_pscUpdate){ uint32_t tim4PscBuff = TIM4->PSC; if(tim4_pscDir == TIM4_PSC_DECREASE){ if(tim4PscBuff>0){ TIM4->PSC = tim4PscBuff - 1; } else { tim4_pscDir = TIM4_PSC_INCREASE; } } else { if(tim4PscBuff TIM4->PSC = tim4PscBuff + 1; } else { tim4_pscDir = TIM4_PSC_DECREASE; } } tim4_pscUpdate = 0; } HAL_GPIO_TogglePin(LED_RED_GPIO_Port, LED_RED_Pin); if(!counter6Step) counter6Step++; } } /** * @brief 6-step algorithm initialization * @param htim4: timer handle pointer * @param htim8: timer handle pointer * @retval None / void motor6Step_Init(TIM_HandleTypeDef htim4, TIM_HandleTypeDef* htim8){ htim4->Instance->CCR1 = (TIM4_ARR>>2); htim8->Instance->CCR1 = 0; htim8->Instance->CCR2 = 0; htim8->Instance->CCR3 = 0; htim8->Instance->CR1 &= ~( TIM_CR1_CEN ); htim8->Instance->CNT = 0; htim8->Instance->CCER = 0UL \| TIM_CCER_CC1E \| TIM_CCER_CC2E \| TIM_CCER_CC3E; __HAL_TIM_ENABLE_IT(htim8, TIM_IT_TRIGGER); } /** * @brief 6-step algorithm start * @param htim4: timer handle pointer * @param htim8: timer handle pointer * @retval None / void motor6Step_Start(TIM_HandleTypeDef htim4, TIM_HandleTypeDef* htim8){ HAL_TIM_Base_Start(htim8); HAL_TIM_OC_Start_IT(htim4, TIM_CHANNEL_1); } 我的最终结果：通道 0：CC1 通道 1：CC2 通道 2：CC3 频道 3：CC1N 频道 4：CC2N 频道 5：CC3N 通道 6：触发事件时的 LED 切换

2022-12-7 11:42:19 评论举报刘燕