STM32F405 FOC TIM初始化

以下是使用HAL库在STM32F405上实现FOC（Field Oriented Control）的TIM（定时器）初始化代码示例：

// 定义定时器句柄
TIM_HandleTypeDef htim1;

// 定义FPU控制状态类型
typedef enum {
  FPU_CONTROL_CORRECTLY_INITIALIZED = 0U,   // FPU控制状态正确初始化
  FPU_CONTROL_NOT_INITIALIZED = 1U          // FPU控制状态未初始化
} FPU_CONTROL_Type;

// 初始化FPU控制状态
static FPU_CONTROL_Type FPU_GetControlStatus(void) {
  uint32_t result = FPU_CONTROL_NOT_INITIALIZED;
  uint32_t regValue = 0U;

  regValue = FPU->FPCCR;
  if ((regValue & (uint32_t)FPU_FPCCR_ASPEN_Msk) &&
      (regValue & (uint32_t)FPU_FPCCR_LSPEN_Msk)) {
    result = FPU_CONTROL_CORRECTLY_INITIALIZED;
  }

  return ((FPU_CONTROL_Type)result);
}

// 初始化TIM1
void MX_TIM1_Init(void) {
  // 初始化FPU控制状态
  if (FPU_GetControlStatus() == FPU_CONTROL_NOT_INITIALIZED) {
    // 打开FPU
    __FPU_ENABLE();
    // 打开浮点数运算单元
    __FPU_SET_FP_ROUNDING_MODE(FPU_ROUND_NEAREST);
    __FPU_SET_FP_EXCEPTION_MASK(FPU_IEEE_Msk);
  }

  // 定义TIM1初始化参数
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
  htim1.Init.Period = 8399;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 1;
  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;

  if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
    Error_Handler();
  }

  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) {
    Error_Handler();
  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) {
    Error_Handler();
  }

  // 定义PWM通道初始化参数
  TIM_OC_InitTypeDef sConfigOC = {0};
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  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;

  // 初始化PWM通道1
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) {
    Error_Handler();
  }

  // 初始化PWM通道2
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) {
    Error_Handler();
  }

  // 初始化PWM通道3
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) {
    Error_Handler();
  }

  // 初始化PWM通道4
  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) {
    Error_Handler();
  }

  // 启动TIM1
  if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1) != HAL_OK) {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2) != HAL_OK) {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3) != HAL_OK) {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4) != HAL_OK) {
    Error_Handler();
  }
}

此代码示例初始化了一个带有4个PWM通道的TIM1，用于驱动FOC控制的三相电机。在初始化过程中，首先通过FPU_GetControlStatus()函数初始化FPU控制状态，然后使用HAL_TIM库初始化TIM1和4个PWM通道。最后启动TIM1和4个PWM通道以产生PWM输出信号。

需要注意的是，TIM1的定时器模式被设置为“中央对齐模式1（CENTERALIGNED1）”，并且重复计数器的值被设置为1。这是因为FOC控制需要使用中央对齐模式，并且PWM输出频率需要与电机转速成正比。在FOC控制中，重复计数器的值通常为1或2，以使PWM输出的周期与电机旋转一周的周期一致。