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修复了pwm互补输出的一些bug，并在finsh中添加使用说明 (#6191)

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* Fix the bug of complementary output
This commit is contained in:
liYang~ 2022-07-26 10:07:07 +08:00 committed by GitHub
parent c6c8201bd4
commit 32ed7dcfd2
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 183 additions and 119 deletions
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11
bsp/stm32/libraries/HAL_Drivers/config/f4/pwm_config.h
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@ -17,6 +17,17 @@
extern "C" {
#endif
#ifdef BSP_USING_PWM1
#ifndef PWM1_CONFIG
#define PWM1_CONFIG \
{ \
.tim_handle.Instance = TIM1, \
.name = "pwm1", \
.channel = 0 \
}
#endif /* PWM1_CONFIG */
#endif /* BSP_USING_PWM1 */
#ifdef BSP_USING_PWM2
#ifndef PWM2_CONFIG
#define PWM2_CONFIG \

4
bsp/stm32/stm32f401-st-nucleo/board/CubeMX_Config/.mxproject
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File diff suppressed because one or more lines are too long

68
bsp/stm32/stm32f401-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc
View File

@ -12,35 +12,38 @@ Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=NVIC
Mcu.IP2=RCC
Mcu.IP3=SPI1
Mcu.IP4=SYS
Mcu.IP3=SYS
Mcu.IP4=TIM1
Mcu.IP5=TIM2
Mcu.IP6=TIM3
Mcu.IP7=TIM11
Mcu.IP8=USART2
Mcu.IPNb=9
Mcu.IP7=TIM4
Mcu.IP8=TIM11
Mcu.IP9=USART2
Mcu.IPNb=10
Mcu.Name=STM32F401R(D-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC14-OSC32_IN
Mcu.Pin1=PC15-OSC32_OUT
Mcu.Pin10=PA4
Mcu.Pin11=PA5
Mcu.Pin12=PA6
Mcu.Pin13=PA7
Mcu.Pin14=PB0
Mcu.Pin15=PB10
Mcu.Pin16=PC7
Mcu.Pin17=PA13
Mcu.Pin18=PA14
Mcu.Pin19=PB3
Mcu.Pin11=PA7
Mcu.Pin12=PB0
Mcu.Pin13=PB10
Mcu.Pin14=PC7
Mcu.Pin15=PA8
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PB3
Mcu.Pin19=PB4
Mcu.Pin2=PH0 - OSC_IN
Mcu.Pin20=PB4
Mcu.Pin20=PB6
Mcu.Pin21=VP_ADC1_TempSens_Input
Mcu.Pin22=VP_ADC1_Vref_Input
Mcu.Pin23=VP_SYS_VS_Systick
Mcu.Pin24=VP_TIM2_VS_ClockSourceINT
Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
Mcu.Pin26=VP_TIM11_VS_ClockSourceINT
Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
Mcu.Pin25=VP_TIM2_VS_ClockSourceINT
Mcu.Pin26=VP_TIM3_VS_ClockSourceINT
Mcu.Pin27=VP_TIM4_VS_ClockSourceINT
Mcu.Pin28=VP_TIM11_VS_ClockSourceINT
Mcu.Pin3=PH1 - OSC_OUT
Mcu.Pin4=PC0
Mcu.Pin5=PC1
@ -48,7 +51,7 @@ Mcu.Pin6=PA0-WKUP
Mcu.Pin7=PA1
Mcu.Pin8=PA2
Mcu.Pin9=PA3
Mcu.PinsNb=27
Mcu.PinsNb=29
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F401RETx
@ -85,13 +88,9 @@ PA3.Mode=Asynchronous
PA3.Signal=USART2_RX
PA4.Locked=true
PA4.Signal=ADCx_IN4
PA5.Locked=true
PA5.Mode=Full_Duplex_Master
PA5.Signal=SPI1_SCK
PA6.Mode=Full_Duplex_Master
PA6.Signal=SPI1_MISO
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA7.Mode=Output Compare1 CH1 CH1N
PA7.Signal=TIM1_CH1N
PA8.Signal=S_TIM1_CH1
PB0.Locked=true
PB0.Signal=ADCx_IN8
PB10.Locked=true
@ -100,6 +99,7 @@ PB3.Locked=true
PB3.Signal=S_TIM2_CH2
PB4.Locked=true
PB4.Signal=S_TIM3_CH1
PB6.Signal=S_TIM4_CH1
PC0.Locked=true
PC0.Signal=ADCx_IN10
PC1.Locked=true
@ -183,6 +183,8 @@ SH.ADCx_IN4.0=ADC1_IN4,IN4
SH.ADCx_IN4.ConfNb=1
SH.ADCx_IN8.0=ADC1_IN8,IN8
SH.ADCx_IN8.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,Output Compare1 CH1 CH1N
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
@ -191,16 +193,18 @@ SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
SH.S_TIM3_CH2.ConfNb=1
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
SH.S_TIM4_CH1.ConfNb=1
TIM1.Channel-Output\ Compare1\ CH1\ CH1N=TIM_CHANNEL_1
TIM1.IPParameters=Channel-Output Compare1 CH1 CH1N
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM2.IPParameters=Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3
TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM4.IPParameters=Channel-PWM Generation1 CH1
USART2.IPParameters=VirtualMode
USART2.VirtualMode=VM_ASYNC
VP_ADC1_TempSens_Input.Mode=IN-TempSens
@ -211,8 +215,12 @@ VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM11_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM11_VS_ClockSourceINT.Signal=TIM11_VS_ClockSourceINT
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
board=custom

2
bsp/stm32/stm32f401-st-nucleo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
View File

@ -62,7 +62,7 @@
/* #define HAL_SAI_MODULE_ENABLED */
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
/* #define HAL_SPI_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */

162
bsp/stm32/stm32f401-st-nucleo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
View File

@ -80,7 +80,7 @@
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
@ -186,73 +186,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
}
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hspi->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
}
}
/**
* @brief SPI MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
{
if(hspi->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspDeInit 0 */
/* USER CODE END SPI1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI1_CLK_DISABLE();
/**SPI1 GPIO Configuration
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
@ -261,7 +194,18 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
@ -283,6 +227,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
else if(htim_base->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspInit 0 */
@ -300,11 +255,33 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM2)
if(htim->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA7 ------> TIM1_CH1N
PA8 ------> TIM1_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
else if(htim->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM2 GPIO Configuration
PB10 ------> TIM2_CH3
@ -351,6 +328,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(htim->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.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
}
/**
@ -361,7 +359,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM2)
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
@ -383,6 +392,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(htim_base->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 */
}
else if(htim_base->Instance==TIM11)
{
/* USER CODE BEGIN TIM11_MspDeInit 0 */

22
bsp/stm32/stm32f401-st-nucleo/board/Kconfig
View File

@ -22,12 +22,16 @@ menu "Onboard Peripheral Drivers"
select BSP_USING_ADC
select BSP_USING_ADC1
select BSP_USING_PWM
select BSP_USING_PWM1
select BSP_USING_PWM1_CH1
select BSP_USING_PWM2
select BSP_USING_PWM2_CH2
select BSP_USING_PWM2_CH3
select BSP_USING_PWM3
select BSP_USING_PWM3_CH1
select BSP_USING_PWM3_CH2
select BSP_USING_PWM4
select BSP_USING_PWM4_CH1
select BSP_USING_I2C
select BSP_USING_I2C1
imply RTDUINO_USING_SERVO
@ -86,6 +90,15 @@ menu "On-chip Peripheral Drivers"
select RT_USING_PWM
if BSP_USING_PWM
menuconfig BSP_USING_PWM1
bool "Enable timer1 output PWM"
default n
if BSP_USING_PWM1
config BSP_USING_PWM1_CH1
bool "Enable PWM1 channel1"
default n
endif
menuconfig BSP_USING_PWM2
bool "Enable timer2 output PWM"
default n
@ -111,6 +124,15 @@ menu "On-chip Peripheral Drivers"
bool "Enable PWM3 channel2"
default n
endif
menuconfig BSP_USING_PWM4
bool "Enable timer4 output PWM"
default n
if BSP_USING_PWM4
config BSP_USING_PWM4_CH1
bool "Enable PWM4 channel1"
default n
endif
endif
menuconfig BSP_USING_SPI

33
components/drivers/misc/rt_drv_pwm.c
View File

@ -7,6 +7,7 @@
* Date Author Notes
* 2018-05-07 aozima the first version
* 2022-05-14 Stanley Lwin add pwm function
* 2022-07-25 liYony fix complementary outputs and add usage information in finsh
*/
#include <rtdevice.h>
@ -37,7 +38,7 @@ static rt_size_t _pwm_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_
rt_uint32_t *pulse = (rt_uint32_t *)buffer;
struct rt_pwm_configuration configuration = {0};
configuration.channel = pos;
configuration.channel = (pos > 0) ? (pos) : (-pos);
if (pwm->ops->control)
{
@ -65,7 +66,7 @@ static rt_size_t _pwm_write(rt_device_t dev, rt_off_t pos, const void *buffer, r
rt_uint32_t *pulse = (rt_uint32_t *)buffer;
struct rt_pwm_configuration configuration = {0};
configuration.channel = pos;
configuration.channel = (pos > 0) ? (pos) : (-pos);
if (pwm->ops->control)
{
@ -169,7 +170,7 @@ rt_err_t rt_pwm_set(struct rt_device_pwm *device, int channel, rt_uint32_t perio
return -RT_EIO;
}
configuration.channel = channel;
configuration.channel = (channel > 0) ? (channel) : (-channel);
configuration.period = period;
configuration.pulse = pulse;
result = rt_device_control(&device->parent, PWM_CMD_SET, &configuration);
@ -187,7 +188,7 @@ rt_err_t rt_pwm_set_period(struct rt_device_pwm *device, int channel, rt_uint32_
return -RT_EIO;
}
configuration.channel = channel;
configuration.channel = (channel > 0) ? (channel) : (-channel);
configuration.period = period;
result = rt_device_control(&device->parent, PWM_CMD_SET_PERIOD, &configuration);
@ -204,7 +205,7 @@ rt_err_t rt_pwm_set_pulse(struct rt_device_pwm *device, int channel, rt_uint32_t
return -RT_EIO;
}
configuration.channel = channel;
configuration.channel = (channel > 0) ? (channel) : (-channel);
configuration.pulse = pulse;
result = rt_device_control(&device->parent, PWM_CMD_SET_PULSE, &configuration);
@ -249,7 +250,7 @@ static int pwm(int argc, char **argv)
}
else
{
rt_kprintf("pwm probe <device name> - probe pwm by name\n");
rt_kprintf("pwm probe <device name> - probe pwm by name\n");
}
}
else
@ -269,9 +270,11 @@ static int pwm(int argc, char **argv)
}
else
{
rt_kprintf("pwm enable <channel> - enable pwm channel\n");
rt_kprintf("pwm enable <channel> - enable pwm channel\n");
rt_kprintf(" e.g. MSH >pwm enable 1 - PWM_CH1 nomal\n");
rt_kprintf(" e.g. MSH >pwm enable -1 - PWM_CH1N complememtary\n");
}
}
}
else if(!strcmp(argv[1], "disable"))
{
if(argc == 3)
@ -280,7 +283,7 @@ static int pwm(int argc, char **argv)
}
else
{
rt_kprintf("pwm disable <channel> - disable pwm channel\n");
rt_kprintf("pwm disable <channel> - disable pwm channel\n");
}
}
else if(!strcmp(argv[1], "get"))
@ -315,18 +318,18 @@ static int pwm(int argc, char **argv)
else
{
rt_kprintf("pwm get <channel> - get pwm channel info\n");
rt_kprintf("pwm get <channel> - get pwm channel info\n");
}
}
}
else
{
rt_kprintf("Usage: \n");
rt_kprintf("pwm probe <device name> - probe pwm by name\n");
rt_kprintf("pwm enable <channel> - enable pwm channel\n");
rt_kprintf("pwm disable <channel>- disable pwm channel\n");
rt_kprintf("pwm get <channel> - get pwm channel info\n");
rt_kprintf("pwm set <channel> <period> <pulse> - set pwm channel info\n");
rt_kprintf("pwm probe <device name> - probe pwm by name\n");
rt_kprintf("pwm enable <channel> - enable pwm channel\n");
rt_kprintf("pwm disable <channel> - disable pwm channel\n");
rt_kprintf("pwm get <channel> - get pwm channel info\n");
rt_kprintf("pwm set <channel> <period> <pulse> - set pwm channel info\n");
result = - RT_ERROR;
}