STM32G4高级定时器配置互补输出驱动出现波形抖动

miracle_shaw 提问时间：2025-3-11 15:05 / 已解决

问答
是否解决:	已解决

想使用STM32G474VET6的TIM1（高级定时器）作为PWM输出控制三相电机，希望使用互补带死区功能CH1，CH1N，CH2，CH2N，CH3，CH3N。参考官方Demo和CubeMx，使用以下代码生成PWM

TIM_HandleTypeDef htim1;
void InitTimer1(void){
    TIM_OC_InitTypeDef sConfigOC = {0};
    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    TIM_MasterConfigTypeDef sMasterConfig = {0};
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

    __HAL_RCC_TIM1_CLK_ENABLE();

    htim1.Instance                  = TIM1;
    htim1.Init.Prescaler            = 0;
    htim1.Init.CounterMode          = TIM_COUNTERMODE_CENTERALIGNED2;
    htim1.Init.Period               = 4249;                     //170MHz / 20KHz / 2 - 1
    htim1.Init.ClockDivision        = TIM_CLOCKDIVISION_DIV1;
    htim1.Init.AutoReloadPreload    = TIM_AUTORELOAD_PRELOAD_DISABLE;
    htim1.Init.RepetitionCounter    = 0;
    HAL_TIM_PWM_Init(&htim1);

    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);

    //TODO
    sMasterConfig.MasterOutputTrigger   = TIM_TRGO_RESET;
    sMasterConfig.MasterOutputTrigger2  = TIM_TRGO2_RESET;
    sMasterConfig.MasterSlaveMode       = TIM_MASTERSLAVEMODE_DISABLE;
    HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);

    sConfigOC.OCMode                = TIM_OCMODE_PWM1;                  //CCMR1_OCxM
    sConfigOC.Pulse                 = 300;
    sConfigOC.OCPolarity            = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity           = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCFastMode            = TIM_OCFAST_DISABLE;
    sConfigOC.OCIdleState           = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState          = TIM_OCNIDLESTATE_RESET;
    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);
    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);

    __HAL_TIM_ENABLE_OCxPRELOAD(&htim1, TIM_CHANNEL_1);
    __HAL_TIM_ENABLE_OCxPRELOAD(&htim1, TIM_CHANNEL_2);
    __HAL_TIM_ENABLE_OCxPRELOAD(&htim1, TIM_CHANNEL_3);

    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);

    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);

    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);

    LL_TIM_GenerateEvent_UPDATE(TIM1);

}

static void SetSysClockTo170_HSE8(void){
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

    RCC_OscInitTypeDef RCC_OscInitStruct;
    RCC_ClkInitTypeDef RCC_ClkInitStruct;

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
    RCC_OscInitStruct.PLL.PLLN = 85;            //8-127
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV16;
    RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV6;
    RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;

    if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){
        while(1);
    }
    /*The maximum frequency of the AHB, the APB1 and the APB2 domains is 170 MHz.*/
    RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if(HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK){
        while(1);
    }
}

int main(void){

    HAL_Init();
    SetSysClockTo170_HSE8();

    InitGpio();
    InitTimer1();
    //InitTimer1_LL();

    while(1){
        HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
        HAL_Delay(250);
    }
    return 0;
}


void InitGpio(void){
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOE_CLK_ENABLE();
    GPIO_InitTypeDef GPIO_InitStruct;

    GPIO_InitStruct.Pin = GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;                         //推挽
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    //LED Red-PE0 Green-PE1
    GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;                         //推挽
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

    //upper bridge arm U-PA8 V-PA9 W-PA10
    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;                             //复用推挽
    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    //lower bridge arm U-PB13 V-PB14
    GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;                             //复用推挽
    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    //lower bridge arm W-PB15
    GPIO_InitStruct.Pin = GPIO_PIN_15;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;                             //复用推挽
    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

经过测试，发现在使能输出以后，正脉冲宽度会有波动，在示波器上可以看出明显余晖，如下图所示，按照代码设计，PWM频率应为20KHz，占空比约为7.06%，正脉冲宽度约为3.529us，大部分波形符合预期。