STM32F103ZET6【标准库函数开发】------05.通用定时器TIM4四个通道输出占空比、频率可调的PWM信号

一、最近在驱动步进电机需要经常用到PWM信号，刚好STM32的定时器用的比较多，下面简单介绍下STM32定时器输出PWM信号，分两种方式，
第一种是同一个定时器的四个通道输出相同频率，不同占空比的情况
第二种是同一个定时器的四个通道输出相同频率，不同占空比的情况

二、软硬件介绍
1、硬件用的是野火的STM32F103开发板，如下图
2、软件用的Keil 5，程序架构用的正点原子的
3、定时器用的TIM4的四个通道
TIM4_CH1-----------PD12
TIM4_CH2-----------PD13
TIM4_CH3-----------PD14
TIM4_CH4-----------PD15

三、实现功能
1、首先实现TIM4的四个通道输出，同样频率，不同占空比的效果。四个通道输出频率为1K，占空比为20%、30%、40%、50%。
主函数如下

#include "sys.h"
#include "delay.h"
#include "led.h"
#include "timer.h" 


int main(void)
 {	 
	 //TIM4_CH1     PD12
	 //TIM4_CH2     PD13
	 //TIM4_CH3     PD14
	 //TIM4_CH4     PD15
	TIM4_PWM_Init(999,71); 	 //频率：72000000/1000/72=1000
	while(1)
	{
		TIM_SetCompare1(TIM4,200);	//M4
		TIM_SetCompare2(TIM4,300);	//M3
		TIM_SetCompare3(TIM4,400);	//M1
		TIM_SetCompare4(TIM4,500);	//M2
 	}
}

主要需要调用的是两个库函数：
TIM4_PWM_Init(999,71);用来实现频率的调节
TIM_SetCompare1(TIM4,200); 用来实现占空比的调节

需要用到的子函数主要是time.h，代码如下，主要配置IO，定时器初始化等等。

#include "timer.h"
#include "led.h"
#include "usart.h" 	  
//TIM3 PWM部分初始化 
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void TIM4_PWM_Init(u16 arr,u16 psc)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);	//使能定时器3时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟	
	GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //TIM4重映射  
 
//设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形	GPIOB.5
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //TIM_CH2
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO

//初始化TIM3
	TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
//初始化TIM3 Channel2 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
//CH1	
	TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
//CH12
	TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
//CH13
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
//CH14
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器
	
	TIM_Cmd(TIM4, ENABLE);  //使能TIM3
}

示波器抓到的图形如下：

20%占空比	30%占空比
40%占空比	50%占空比

2、然后实现TIM4的四个通道输出，不同频率，同样占空比的效果。四个通道输出占空比为50%，频率为400HZ、600HZ、800HZ、1000HZ
这个的配置基本都在子函数time.h，具体如下：

#include "timer.h"
#include "led.h"
#include "usart.h" 	  
//TIM3 PWM部分初始化 
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
vu16 CCR1_Val = 30000;//M4----TIM4_CH1
vu16 CCR2_Val = 20000;//M3---TIM4_CH2
vu16 CCR3_Val = 15000;//M1---TIM4_CH3
vu16 CCR4_Val = 12000;//M2---TIM4_CH4
 
u16 capture = 0;
u16 capture2 = 0;
//extern vu16 CCR1_Val;
//extern vu16 CCR2_Val;
//extern vu16 CCR3_Val;
//extern vu16 CCR4_Val;


void TIM4_PWM_Init(void)
{  
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);	//使能定时器3时钟
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD  | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟	
	GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); //TIM4重映射  
 
   //设置该引脚为复用输出功能,输出TIM3 CH2的PWM脉冲波形	GPIOB.5
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //TIM_CH2
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化GPIO
	
//中断优先级设置
	NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;  //TIM3中断
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //先占优先级0级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
	NVIC_Init(&NVIC_InitStructure);  //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
	
//初始化TIM3
	TIM_TimeBaseStructure.TIM_Period = 65535; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler =2; //设置用来作为TIMx时钟频率除数的预分频值 
	TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM3 Channel2 PWM模式	 
	  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle;      //PWM模式2
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //正向通道有效
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;//反向通道无效
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;    //输出极性
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;     //互补端的极性
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
//CH_1	
  TIM_OCInitStructure.TIM_Pulse = CCR1_Val;         //占空时间
	TIM_OC1Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Disable);  //使能TIM3在CCR2上的预装载寄存器
//CH_2
	TIM_OCInitStructure.TIM_Pulse = CCR2_Val; 
	TIM_OC2Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Disable);  //使能TIM3在CCR2上的预装载寄存器
//CH_3
	TIM_OCInitStructure.TIM_Pulse = CCR3_Val; 
	TIM_OC3Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Disable);  //使能TIM3在CCR2上的预装载寄存器
//CH_4
	TIM_OCInitStructure.TIM_Pulse = CCR4_Val; 
	TIM_OC4Init(TIM4, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2
	TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Disable);  //使能TIM3在CCR2上的预装载寄存器
	
	TIM_Cmd(TIM4, ENABLE);  //使能TIM3
	TIM_ITConfig(TIM4, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4, ENABLE);
}

/
void TIM4_IRQHandler(void)
{
    /* TIM4_CH1 toggling with frequency = 366.2Hz *///TIM4_CH1     PD12实测400HZ
    if (TIM_GetITStatus(TIM4, TIM_IT_CC1) != RESET)
    {
			TIM_ClearITPendingBit(TIM4, TIM_IT_CC1 );	
			capture2 =TIM_GetCapture1(TIM4);//测试
			TIM_SetCompare1(TIM4, capture2+CCR1_Val);//
		}
 
    /* TIM4_CH2 toggling with frequency = 732.4Hz *///TIM4_CH2     PD13实测732.5HZ
    if (TIM_GetITStatus(TIM4, TIM_IT_CC2) != RESET)
    {
			TIM_ClearITPendingBit(TIM4, TIM_IT_CC2);
			capture= TIM_GetCapture2(TIM4);
			TIM_SetCompare2(TIM4, capture + CCR2_Val);
    }
 
    /* TIM4_CH3 toggling with frequency = 1464.8Hz *///TIM4_CH3    PD14实测1464HZ
    if (TIM_GetITStatus(TIM4, TIM_IT_CC3) != RESET)
    {
			TIM_ClearITPendingBit(TIM4, TIM_IT_CC3);
			capture = TIM_GetCapture3(TIM4);
			TIM_SetCompare3(TIM4, capture + CCR3_Val);
    }
 
    /* TIM4_CH4 toggling with frequency = 2929.6 Hz *///TIM4_CH4    PD15实测2926HZ
    if (TIM_GetITStatus(TIM4, TIM_IT_CC4) != RESET)
    {
			TIM_ClearITPendingBit(TIM4, TIM_IT_CC4);
			capture = TIM_GetCapture4(TIM4);
			TIM_SetCompare4(TIM4, capture + CCR4_Val);
    }
}

示波器抓到的图形如下：

频率400HZ	频率600HZ2
频率800HZ	频率1000HZ

百度云链接：
不同频率，同占空比
链接：https://pan.baidu.com/s/114UfYhdBIgVrIoQZX1xPUA
提取码：ckrb

同频率，不同占空比
链接：https://pan.baidu.com/s/15LFftCSvOhFyA7TOrSD80A
提取码：hjb5