HT32F52352 -- 解锁电调、电机速度控制

一、问题背景

1.1 硬件：

电池组，电子调速器（好盈电调 /ESC），接收机（HT32F52352），风扇。

1.2 软件 keil5

二、问题分析

通过1.1图中可知，我们只需要使用 HT32F52352 模拟接收机发送信号，就可以控制最后的风扇了。那么现在就只需要了解到接收机信号是什么就可以了。

2.1 接收机信号是什么？

我这里使用的是 R9DS接收机。通过途中可知，我们使用的3通道是一个pwm信号。

2.2 电路图

画了一个简易的原理图，其实和1.1的图并没有区别，只是需要注意PA4。

2.3 电调解锁

如果直接输入PWM风扇并不会有反应，我们还需要解锁电调。

如图可知，我们尝试用 HT32F52352 模拟遥控器给一个油门最高点，再在反应后（哔-哔-）给一个油门最低点。

三、程序编写

我这里根据之前的 HT32F52352 PWM控制舵机的基础进行的更改。

3.1 PWM配置

这里将 PA4 PA5 PA6 PA7 都配置上，可以随时更改


//PWM
//arr: 200-1
//psc: 4800-1
//GPIO PA4 PA5 PA6 PA7
//PA4  
void time_init()
{TM_TimeBaseInitTypeDef TimeBaseIniture;   //结构体TM_OutputInitTypeDef   OutIniture;CKCU_PeripClockConfig_TypeDef CKCUClock = {{0}};CKCUClock.Bit.PA         = 1;       //GPIOA时钟打开CKCUClock.Bit.AFIO       = 1;       //复用时钟CKCUClock.Bit.GPTM0      = 1;CKCU_PeripClockConfig(CKCUClock, ENABLE);      //时钟使能AFIO_GPxConfig(GPIO_PA, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, AFIO_MODE_4);              //开启复用功能GPIO_DirectionConfig(HT_GPIOA,HTGPIO_PIN,GPIO_DIR_OUT);TM_ClearFlag(HT_GPTM0, TM_FLAG_UEV);  TM_OutputStructInit(&OutIniture);    //定时器初始化TimeBaseIniture.CounterMode = TM_CNT_MODE_UP;            //边沿对齐向上模式TimeBaseIniture.CounterReload = 200-1;                       //计数重装载计数器TimeBaseIniture.Prescaler = 4800-1;                           //预分屏系数TimeBaseIniture.PSCReloadTime=TM_PSC_RLD_IMMEDIATE;    //立即重装载TM_TimeBaseInit(HT_GPTM0,&TimeBaseIniture);//  PA4OutIniture.Channel= TM_CH_0;OutIniture.Control= TM_CHCTL_ENABLE;         //GPIO使能通道OutIniture.OutputMode=TM_OM_PWM1 ;          //GPIO 通道 PWM1 输出模式 PWM2 翻转模式OutIniture.Polarity= TM_CHP_INVERTED;    //GPTO 通道极性是低电平或者下降沿   // OutIniture.Compare=200;                      // 配置占空比TM_OutputModeConfig(HT_GPTM0,TM_CH_0,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);// PA5OutIniture.Channel=TM_CH_1;OutIniture.Control=TM_CHCTL_ENABLE;        OutIniture.OutputMode=TM_OM_PWM1;          OutIniture.Polarity=TM_CHP_INVERTED;         //OutIniture.Compare=200;                     TM_OutputModeConfig(HT_GPTM0,TM_CH_1,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);// PA6OutIniture.Channel=TM_CH_2;OutIniture.Control=TM_CHCTL_ENABLE;         OutIniture.OutputMode=TM_OM_PWM1;          OutIniture.Polarity=TM_CHP_INVERTED;             //OutIniture.Compare=200;                     TM_OutputModeConfig(HT_GPTM0,TM_CH_2,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);//  PA7OutIniture.Channel=TM_CH_3;OutIniture.Control=TM_CHCTL_ENABLE;         OutIniture.OutputMode=TM_OM_PWM1;         OutIniture.Polarity=TM_CHP_INVERTED;       // OutIniture.Compare=200;                      TM_OutputModeConfig(HT_GPTM0,TM_CH_3,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);TM_IntConfig(HT_GPTM0, TM_INT_CH0CC|TM_INT_CH1CC|TM_INT_CH2CC|TM_INT_CH3CC, ENABLE);          //中断	TM_Cmd(HT_GPTM0,ENABLE);  //使能计数
}

3.2 模拟遥控器（电调解锁）

这里按照电调要求，我们先配置出PWM信号，然后给一个PWM高点，等待一段时间后给一个PWM最低点，那么我们可控制的范围就是这个最低点到最高点之间的数。

void PWM_R9DS_init(void){time_init();//TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,180);TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,90);delay_ms(3500);//TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190);TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190);delay_ms(3500);}

3.3 油门模拟函数

结合3.2 ，我们在90-190间，但190是最低点，所以我们将其整理成我们熟悉的样子

i 取 0~100 越高风扇转速越快


void Fan_drive(int i){TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190-i);
}

3.4 主函数

int main(void)
{PWM_R9DS_init();//delay_ms(2000);while (1){//油门注意不要给大了，无刷电机威力还是挺大的Fan_drive(1);}
}

四、PWM_R9DS

4.1 PWM_R9DS.h

#ifndef __PWMR9DS_H_
#define __PWMR9DS_H_
#include "ht32f5xxxx_bftm.h"#define HTGPIO_PIN (GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7)void PWM_R9DS_init(void);void time_init(void);void Fan_drive(int i);
#endif

4.2 PWM_R9DS.c

#include "PWM_R9DS.h"
#include "delay.h" //此处的延时函数 在文章尾部相关资料中有//PWM
//arr: 200-1
//psc: 4800-1
//GPIO PA4 PA5 PA6 PA7
//PA4  
void time_init()
{TM_TimeBaseInitTypeDef TimeBaseIniture;   //结构体TM_OutputInitTypeDef   OutIniture;CKCU_PeripClockConfig_TypeDef CKCUClock = {{0}};CKCUClock.Bit.PA         = 1;       //GPIOA时钟打开CKCUClock.Bit.AFIO       = 1;       //复用时钟CKCUClock.Bit.GPTM0      = 1;CKCU_PeripClockConfig(CKCUClock, ENABLE);      //时钟使能AFIO_GPxConfig(GPIO_PA, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, AFIO_MODE_4);              //开启复用功能GPIO_DirectionConfig(HT_GPIOA,HTGPIO_PIN,GPIO_DIR_OUT);TM_ClearFlag(HT_GPTM0, TM_FLAG_UEV);  TM_OutputStructInit(&OutIniture);    //定时器初始化TimeBaseIniture.CounterMode = TM_CNT_MODE_UP;            //边沿对齐向上模式TimeBaseIniture.CounterReload = 200-1;                       //计数重装载计数器TimeBaseIniture.Prescaler = 4800-1;                           //预分屏系数TimeBaseIniture.PSCReloadTime=TM_PSC_RLD_IMMEDIATE;    //立即重装载TM_TimeBaseInit(HT_GPTM0,&TimeBaseIniture);//  PA4OutIniture.Channel= TM_CH_0;OutIniture.Control= TM_CHCTL_ENABLE;         //GPIO使能通道OutIniture.OutputMode=TM_OM_PWM1 ;          //GPIO 通道 PWM1 输出模式 PWM2 翻转模式OutIniture.Polarity= TM_CHP_INVERTED;    //GPTO 通道极性是低电平或者下降沿   // OutIniture.Compare=200;                      // 配置占空比TM_OutputModeConfig(HT_GPTM0,TM_CH_0,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);// PA5OutIniture.Channel=TM_CH_1;OutIniture.Control=TM_CHCTL_ENABLE;        OutIniture.OutputMode=TM_OM_PWM1;          OutIniture.Polarity=TM_CHP_INVERTED;         //OutIniture.Compare=200;                     TM_OutputModeConfig(HT_GPTM0,TM_CH_1,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);// PA6OutIniture.Channel=TM_CH_2;OutIniture.Control=TM_CHCTL_ENABLE;         OutIniture.OutputMode=TM_OM_PWM1;          OutIniture.Polarity=TM_CHP_INVERTED;             //OutIniture.Compare=200;                     TM_OutputModeConfig(HT_GPTM0,TM_CH_2,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);//  PA7OutIniture.Channel=TM_CH_3;OutIniture.Control=TM_CHCTL_ENABLE;         OutIniture.OutputMode=TM_OM_PWM1;         OutIniture.Polarity=TM_CHP_INVERTED;       // OutIniture.Compare=200;                      TM_OutputModeConfig(HT_GPTM0,TM_CH_3,TM_OM_PWM1);TM_OutputInit(HT_GPTM0,&OutIniture);TM_IntConfig(HT_GPTM0, TM_INT_CH0CC|TM_INT_CH1CC|TM_INT_CH2CC|TM_INT_CH3CC, ENABLE);          //中断	TM_Cmd(HT_GPTM0,ENABLE);  //使能计数
}void PWM_R9DS_init(void){time_init();//TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,180);TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,90);delay_ms(3500);//TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190);TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190);delay_ms(3500);}void Fan_drive(int i){TM_SetCaptureCompare(HT_GPTM0,TM_CH_0,190-i);
}