小贝子编程

c语言 - PWM信号在stm32 f767zit上未正确生成



>我正在使用stm32 f767zit，我正在尝试生成PWM信号来控制舵机，但它们无法正确生成。我从这里学习了深蓝嵌入式教程，能够在stm32 f103rb上很好地生成PWM信号，但我切换到f767zit，因为我需要更多的PWM输出。我已经查看了 HAL 文档以及两者并对其进行了比较，据我所知，在如何生成 pwm 信号方面没有任何差异。

我已经用stm32板做了几个项目，但我仍然是一个菜鸟。我已经寻找了很多小时的解决方案，但我找不到。抱歉，如果这实际上只是我缺少的简单而基本的东西。

以下是 PWM 输出的屏幕截图。 如您所见，F103RB 正常生成它们，50Hz 和 3.3V 峰值的 sguare 波。f767上的pwm信号由许多尖峰组成，峰值为10mV。虽然，它们似乎确实以正确的脉冲长度产生

f103rb 的 PWM 输出

f767 的 PWM 输出

在我的代码中，我试图做的只是启动伺服并将它们设置为一个位置。有 12 个舵机，他们使用计时器 1-4。具体的通道和引脚可以在伺服配置代码中看到。我的主代码初始化所有外围设备，然后调用initServos()SERVO_CfgParam中的每个伺服器调用SERVO_init()。然后我的主循环调用SERVO_moveto().我只在主代码中移动一个舵机，但我已经测试了我正在使用的每个引脚并得到了相同的结果。

我使用相同的 meathod 和代码来控制我的 f3rb 上的 013 个伺服系统，没有任何问题。我无法弄清楚 f767zit 有什么区别。

主代码 

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_USART3_UART_Init();
MX_USB_OTG_FS_PCD_Init();
MX_SPI1_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
initServos();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
SERVO_MoveTo(11,90);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}

伺服配置。

typedef struct
{
GPIO_TypeDef * SERVO_GPIO;
uint16_t       SERVO_PIN;
TIM_TypeDef*   TIM_Instance;
uint32_t*      TIM_CCRx;
uint32_t       PWM_TIM_CH;
uint32_t       TIM_CLK;
float          MinPulse;
float          MaxPulse;
}SERVO_CfgType;
const SERVO_CfgType SERVO_CfgParam[SERVO_NUM] =
{
// Servo Motor 1 Configurations
{
GPIOE,
GPIO_PIN_9,
TIM1,
&TIM1->CCR1,
TIM_CHANNEL_1,
72000000,
0.65,
2.3
},
// Servo Motor 2 Configurations
{
GPIOE,
GPIO_PIN_11,
TIM1,
&TIM1->CCR2,
TIM_CHANNEL_2,
72000000,
0.65,
2.3
},
// Servo Motor 3 Configurations
{
GPIOE,
GPIO_PIN_13,
TIM1,
&TIM1->CCR3,
TIM_CHANNEL_3,
72000000,
0.65,
2.3
},
// Servo Motor 4 Configurations
{
GPIOE,
GPIO_PIN_14,
TIM1,
&TIM1->CCR4,
TIM_CHANNEL_4,
72000000,
0.65,
2.3
},
// Servo Motor 5 Configurations
{
GPIOA,
GPIO_PIN_15,
TIM2,
&TIM2->CCR1,
TIM_CHANNEL_1,
72000000,
0.65,
2.3
},
// Servo Motor 6 Configurations
{
GPIOB,
GPIO_PIN_10,
TIM2,
&TIM2->CCR2,
TIM_CHANNEL_3,
72000000,
0.65,
2.3
},
// Servo Motor 7 Configurations
{
GPIOB,
GPIO_PIN_11,
TIM2,
&TIM2->CCR4,
TIM_CHANNEL_4,
72000000,
0.65,
2.3
},
// Servo Motor 8 Configurations
{
GPIOC,
GPIO_PIN_6,
TIM3,
&TIM3->CCR1,
TIM_CHANNEL_1,
72000000,
0.65,
2.3
},
// Servo Motor 9 Configurations
{
GPIOC,
GPIO_PIN_7,
TIM3,
&TIM3->CCR2,
TIM_CHANNEL_2,
72000000,
0.65,
2.3
},
// Servo Motor 10 Configurations
{
GPIOC,
GPIO_PIN_8,
TIM3,
&TIM3->CCR3,
TIM_CHANNEL_3,
72000000,
0.65,
2.3
},
// Servo Motor 11 Configurations
{
GPIOC,
GPIO_PIN_9,
TIM3,
&TIM3->CCR4,
TIM_CHANNEL_4,
72000000,
0.65,
2.3
},
// Servo Motor 12 Configurations
{
GPIOB,
GPIO_PIN_6,
TIM4,
&TIM4->CCR1,
TIM_CHANNEL_1,
72000000,
0.65,
2.3
}
};

伺服初始化功能

void SERVO_Init(uint16_t au16_SERVO_Instance)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_HandleTypeDef htim;
uint32_t PSC_Value = 0;
uint32_t ARR_Value = 0;
//DWT_Delay_Init();
/*--------[ Configure The Servo PWM GPIO Pin ]-------*/
if(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO == GPIOA)
{
__HAL_RCC_GPIOA_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO == GPIOB)
{
__HAL_RCC_GPIOB_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO == GPIOC)
{
__HAL_RCC_GPIOC_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO == GPIOD)
{
__HAL_RCC_GPIOD_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO == GPIOE)
{
__HAL_RCC_GPIOE_CLK_ENABLE();
}
GPIO_InitStruct.Pin = SERVO_CfgParam[au16_SERVO_Instance].SERVO_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(SERVO_CfgParam[au16_SERVO_Instance].SERVO_GPIO, &GPIO_InitStruct);
/*--------[ Calculate The PSC & ARR Values To Maximize PWM Resolution ]-------*/
/* Those Equations Sets The F_pwm = 50Hz & Maximizes The Resolution*/
PSC_Value = (uint32_t) (SERVO_CfgParam[au16_SERVO_Instance].TIM_CLK / 3276800.0);
ARR_Value = (uint32_t) ((SERVO_CfgParam[au16_SERVO_Instance].TIM_CLK / (50.0*(PSC_Value+1.0)))-1.0);
/*--------[ Configure The Servo PWM Timer Channel ]-------*/
/*--[Check The Timer & Enable Its Clock]--*/
if(SERVO_CfgParam[au16_SERVO_Instance].TIM_Instance == TIM1)
{
__HAL_RCC_TIM1_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].TIM_Instance == TIM2)
{
__HAL_RCC_TIM2_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].TIM_Instance == TIM3)
{
__HAL_RCC_TIM3_CLK_ENABLE();
}
else if(SERVO_CfgParam[au16_SERVO_Instance].TIM_Instance == TIM4)
{
__HAL_RCC_TIM4_CLK_ENABLE();
}
htim.Instance = SERVO_CfgParam[au16_SERVO_Instance].TIM_Instance;
htim.Init.Prescaler = PSC_Value;
htim.Init.CounterMode = TIM_COUNTERMODE_UP;
htim.Init.Period = ARR_Value;
htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
HAL_TIM_Base_Init(&htim);
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
HAL_TIM_ConfigClockSource(&htim, &sClockSourceConfig);
HAL_TIM_PWM_Init(&htim);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&htim, &sConfigOC, SERVO_CfgParam[au16_SERVO_Instance].PWM_TIM_CH);
/*--------[ Calculate & Save The Servo Pulse Information ]-------*/
gs_SERVO_info[au16_SERVO_Instance].Period_Min = (uint16_t) (ARR_Value * (SERVO_CfgParam[au16_SERVO_Instance].MinPulse/20.0));
gs_SERVO_info[au16_SERVO_Instance].Period_Max = (uint16_t) (ARR_Value * (SERVO_CfgParam[au16_SERVO_Instance].MaxPulse/20.0));
/*--------[ Start The PWM Channel ]-------*/
HAL_TIM_PWM_Start(&htim, SERVO_CfgParam[au16_SERVO_Instance].PWM_TIM_CH);
}

移动舵机

/* Moves A Specific Motor To A Specific Degree That Can Be Float Number */
void SERVO_MoveTo(uint16_t au16_SERVO_Instance, float af_Angle)
{
uint16_t au16_Pulse = 0;
au16_Pulse = ((af_Angle*(gs_SERVO_info[au16_SERVO_Instance].Period_Max - gs_SERVO_info[au16_SERVO_Instance].Period_Min))/180.0)
+ gs_SERVO_info[au16_SERVO_Instance].Period_Min;
*(SERVO_CfgParam[au16_SERVO_Instance].TIM_CCRx) = au16_Pulse;
}

GPIO 和计时器初始化

/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LD1_Pin|LD3_Pin|LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(USB_PowerSwitchOn_GPIO_Port, USB_PowerSwitchOn_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : USER_Btn_Pin */
GPIO_InitStruct.Pin = USER_Btn_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(USER_Btn_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : RMII_MDC_Pin RMII_RXD0_Pin RMII_RXD1_Pin */
GPIO_InitStruct.Pin = RMII_MDC_Pin|RMII_RXD0_Pin|RMII_RXD1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : RMII_REF_CLK_Pin RMII_MDIO_Pin RMII_CRS_DV_Pin */
GPIO_InitStruct.Pin = RMII_REF_CLK_Pin|RMII_MDIO_Pin|RMII_CRS_DV_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : LD1_Pin LD3_Pin LD2_Pin */
GPIO_InitStruct.Pin = LD1_Pin|LD3_Pin|LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : RMII_TXD1_Pin */
GPIO_InitStruct.Pin = RMII_TXD1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
HAL_GPIO_Init(RMII_TXD1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USB_PowerSwitchOn_Pin */
GPIO_InitStruct.Pin = USB_PowerSwitchOn_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(USB_PowerSwitchOn_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : USB_OverCurrent_Pin */
GPIO_InitStruct.Pin = USB_OverCurrent_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(USB_OverCurrent_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : RMII_TX_EN_Pin RMII_TXD0_Pin */
GPIO_InitStruct.Pin = RMII_TX_EN_Pin|RMII_TXD0_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
}
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_OnePulse_Init(&htim1, TIM_OPMODE_SINGLE) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
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;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != 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.BreakFilter = 0;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}

如果您需要更多信息，请告诉我。

我认为您的问题可能是由于备用函数映射造成的。F767 数据表在第 89 页有一个表格，列出了您应该将哪些值放入GPIOn.AFR寄存器(我假设是 HAL 中的GPIO_InitStruct.Alternate)，以便在引脚上获得正确的外设。看起来这些引脚的定时器通道都是AF1的，并且您尚未定义在SERVO_Init例程中使用哪个AF。填写结构的每个成员可能是个好主意，即使您认为这是不必要的，只是为了确保您不会错过任何看似重要的东西。

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