【STM32(nucleo)】TIMモジュールでモータ駆動用の三相相補PWM出力＋PWMに同期したAD変換＋BRK信号によるPWM信号遮断機能を構成する方法【PlatformIO】

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "usart.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#define GETCHAR_PROTOTYPE int __io_getchar(void)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#define GETCHAR_PROTOTYPE int f getc(FILE* f)
#endif
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint16_t iu, iv, iw;
uint8_t brkErr = 0;
static uint16_t adc1Buf;
static uint16_t adc2Buf[2];
static uint32_t errTick;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_LPUART1_UART_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_ADC3_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
  setbuf( stdout, NULL );
  setbuf( stdin, NULL );
  HAL_ADCEx_InjectedStart_IT(&hadc1);
  HAL_ADCEx_InjectedStart_IT(&hadc2);
  HAL_ADCEx_InjectedStart_IT(&hadc3);
  HAL_ADC_Start_DMA(&hadc1, (uint32_t *)&adc1Buf, 1);
  HAL_ADC_Start_DMA(&hadc2, (uint32_t *)adc2Buf, 2);
  HAL_TIM_PWM_Start_IT(&htim1, TIM_CHANNEL_1);
  HAL_TIMEx_PWMN_Start_IT(&htim1, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start_IT(&htim1, TIM_CHANNEL_2);
  HAL_TIMEx_PWMN_Start_IT(&htim1, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start_IT(&htim1, TIM_CHANNEL_3);
  HAL_TIMEx_PWMN_Start_IT(&htim1, TIM_CHANNEL_3);
  HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  uint32_t startTick = HAL_GetTick();
  while (1)
  {
    uint32_t nowTick = HAL_GetTick();

    if( nowTick - startTick > 1000 )
    {
      startTick = nowTick;
      printf("==========\r\n");
      printf("Vbus:%.2fV\r\n", adc1Buf*3.3f/4096.0f);
      printf("Temp:%.2fV\r\n", adc2Buf[0]*3.3f/4096.0f);
      printf("Speed:%.2fV\r\n", adc2Buf[1]*3.3f/4096.0f);
      printf("Iu:%.2fV\r\n", iu*3.3f/4096.0f);
      printf("Iv:%.2fV\r\n", iv*3.3f/4096.0f);
      printf("Iw:%.2fV\r\n", iw*3.3f/4096.0f);
      printf("==========\r\n");
      printf("\r\n");
    }

    if( !brkErr )
    {
      HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, 0);
      __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period);    // H:0% L:100% 
      __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, htim1.Init.Period>>1); // H:50% L:50%
      __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);                    // H:100% L:0%
    }
    else
    {
      HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, 1);
      if( nowTick - errTick > 5000 )
      {
        __HAL_TIM_MOE_ENABLE(&htim1);
      }
    }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |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)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim)
{
  errTick = HAL_GetTick();
  brkErr = 1;
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

#include "stm32g4xx_hal.h"

extern uint16_t iu, iv, iw;

void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc)
{
  static uint8_t adNum;

  if( hadc->Instance == ADC1 )
  {
    iu = HAL_ADCEx_InjectedGetValue(hadc, 1);
    adNum++;
  }
  else if( hadc->Instance == ADC2 )
  {
    iv = HAL_ADCEx_InjectedGetValue(hadc, 1);
    adNum++;
  }
  else if( hadc->Instance == ADC3 )
  {
    iw = HAL_ADCEx_InjectedGetValue(hadc, 1);
    adNum++;
  }

  if( adNum < 3 ) return;
	adNum = 0;
  // ここからモータ制御のコードを記述する
}