[bsp]stm32f103-keysking pwm驱动

QianJiu05 · QianJiu05 · commit 0a0378217e2e · 2025-05-27T17:21:45.000+08:00
diff --git a/bsp/stm32/stm32f103-keysking-learning/.ci/attachconfig/ci.attachconfig.yml b/bsp/stm32/stm32f103-keysking-learning/.ci/attachconfig/ci.attachconfig.yml
@@ -5,12 +5,13 @@ system.use_nano:
   <<: *scons
   kconfig:
     CONFIG_RT_USING_NANO=y
-devices.gpio:
+devices.uart:
   <<: *scons
   kconfig:
     - CONFIG_BSP_USING_GPIO=y
-devices.uart:
+    - CONFIG_BSP_USING_UART=y
+    - CONFIG_USING_SERIAL=y
+devices.servo:
   <<: *scons
   kconfig:
-    - CONFIG_BSP_USING_UART=y
-    - CONFIG_USING_SERIAL=y
+    - CONFIG_BSP_USING_SERVO=y
diff --git a/bsp/stm32/stm32f103-keysking-learning/.config b/bsp/stm32/stm32f103-keysking-learning/.config
@@ -252,7 +252,7 @@ CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_NULL is not set
 # CONFIG_RT_USING_ZERO is not set
 # CONFIG_RT_USING_RANDOM is not set
-# CONFIG_RT_USING_PWM is not set
+CONFIG_RT_USING_PWM=y
 # CONFIG_RT_USING_PULSE_ENCODER is not set
 # CONFIG_RT_USING_INPUT_CAPTURE is not set
 # CONFIG_RT_USING_MTD_NOR is not set
@@ -1380,6 +1380,7 @@ CONFIG_SOC_SERIES_STM32F1=y
 # Onboard Peripheral Drivers
 #
 CONFIG_BSP_USING_USB_TO_USART=y
+# CONFIG_BSP_USING_SERVO is not set
 # end of Onboard Peripheral Drivers
 
 #
@@ -1390,6 +1391,9 @@ CONFIG_BSP_USING_UART=y
 CONFIG_BSP_STM32_UART_V1_TX_TIMEOUT=2000
 CONFIG_BSP_USING_UART2=y
 CONFIG_BSP_USING_UART3=y
+CONFIG_BSP_USING_PWM=y
+CONFIG_BSP_USING_PWM3=y
+# CONFIG_BSP_USING_PWM4 is not set
 # CONFIG_BSP_USING_UDID is not set
 # end of On-chip Peripheral Drivers
 
diff --git a/bsp/stm32/stm32f103-keysking-learning/README.md b/bsp/stm32/stm32f103-keysking-learning/README.md
@@ -41,12 +41,14 @@ Keysking学习板是B站UP主Keysking推出的一块基于ARM Cortex-M3内核的
 
 本BSP目前对外设的支持情况如下：
 
-| 板载外设     | 支持情况     | 备注          |
-| -------- |:--------:| ----------- |
-| USB转串口   | 支持       | UART2 |
-| **片上外设** | **支持情况** | **备注**      |
-| GPIO     | 支持       |             |
-| UART     | 支持       | UART2,3     |
+| 板载外设     | 支持情况     | 备注             |
+| -------- |:--------:| -------------- |
+| USB转串口   | 支持       | UART2(用作finsh) |
+| 舵机       | 支持       | PWM4CH3        |
+| **片上外设** | **支持情况** | **备注**         |
+| GPIO     | 支持       |                |
+| UART     | 支持       | UART2,3        |
+| PWM      | 支持       | PWM3，PWM4      |
 
 ## 使用说明
 
@@ -121,5 +123,3 @@ STM32F103C8T6的Flash在官方文档中的大小是64KB，但是其实该芯片
 维护人: 
 
 * qianjiuyuan, 邮箱:<3211471056@qq.com>
-
-
diff --git a/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/CubeMX_Config.ioc
@@ -10,23 +10,30 @@ Mcu.Family=STM32F1
 Mcu.IP0=NVIC
 Mcu.IP1=RCC
 Mcu.IP2=SYS
-Mcu.IP3=USART2
-Mcu.IP4=USART3
-Mcu.IPNb=5
+Mcu.IP3=TIM3
+Mcu.IP4=TIM4
+Mcu.IP5=USART2
+Mcu.IP6=USART3
+Mcu.IPNb=7
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC14-OSC32_IN
 Mcu.Pin1=PC15-OSC32_OUT
-Mcu.Pin10=VP_SYS_VS_Systick
+Mcu.Pin10=PA13
+Mcu.Pin11=PA14
+Mcu.Pin12=PB8
+Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin14=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin15=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin2=PD0-OSC_IN
 Mcu.Pin3=PD1-OSC_OUT
 Mcu.Pin4=PA2
 Mcu.Pin5=PA3
-Mcu.Pin6=PB10
-Mcu.Pin7=PB11
-Mcu.Pin8=PA13
-Mcu.Pin9=PA14
-Mcu.PinsNb=11
+Mcu.Pin6=PA6
+Mcu.Pin7=PB10
+Mcu.Pin8=PB11
+Mcu.Pin9=PA8
+Mcu.PinsNb=16
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103C8Tx
@@ -55,10 +62,16 @@ PA3.GPIOParameters=GPIO_PuPd
 PA3.GPIO_PuPd=GPIO_PULLUP
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PA6.Locked=true
+PA6.Signal=S_TIM3_CH1
+PA8.Mode=Clock-out
+PA8.Signal=RCC_MCO
 PB10.Mode=Asynchronous
 PB10.Signal=USART3_TX
 PB11.Mode=Asynchronous
 PB11.Signal=USART3_RX
+PB8.Locked=true
+PB8.Signal=S_TIM4_CH3
 PC14-OSC32_IN.Mode=LSE-External-Oscillator
 PC14-OSC32_IN.Signal=RCC_OSC32_IN
 PC15-OSC32_OUT.Mode=LSE-External-Oscillator
@@ -98,7 +111,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_USART3_UART_Init-USART3-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true
 RCC.ADCFreqValue=12000000
 RCC.ADCPresc=RCC_ADCPCLK2_DIV6
 RCC.AHBFreq_Value=72000000
@@ -110,22 +123,38 @@ RCC.APB2TimFreq_Value=72000000
 RCC.FCLKCortexFreq_Value=72000000
 RCC.FamilyName=M
 RCC.HCLKFreq_Value=72000000
-RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,USBPrescaler,VCOOutput2Freq_Value
-RCC.MCOFreq_Value=72000000
+RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,RCC_MCOSource,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,USBPrescaler,VCOOutput2Freq_Value
+RCC.MCOFreq_Value=36000000
 RCC.PLLCLKFreq_Value=72000000
 RCC.PLLMCOFreq_Value=36000000
 RCC.PLLMUL=RCC_PLL_MUL9
 RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.RCC_MCOSource=RCC_MCO1SOURCE_PLLCLK
 RCC.SYSCLKFreq_VALUE=72000000
 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
 RCC.TimSysFreq_Value=72000000
 RCC.USBFreq_Value=48000000
 RCC.USBPrescaler=RCC_USBCLKSOURCE_PLL_DIV1_5
 RCC.VCOOutput2Freq_Value=8000000
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.IPParameters=Channel-PWM Generation1 CH1,Prescaler,Period,Pulse-PWM Generation1 CH1
+TIM3.Period=10000-1
+TIM3.Prescaler=7200-1
+TIM3.Pulse-PWM\ Generation1\ CH1=50
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.IPParameters=Channel-PWM Generation3 CH3
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 board=custom
diff --git a/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h b/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
@@ -64,7 +64,7 @@
 /*#define HAL_SMARTCARD_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c b/bsp/stm32/stm32f103-keysking-learning/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
@@ -58,7 +58,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                                        /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -81,6 +83,114 @@ void HAL_MspInit(void)
   /* USER CODE END MspInit 1 */
 }
 
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+
+}
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM3 GPIO Configuration
+    PA6     ------> TIM3_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PB8     ------> TIM4_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+
+}
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
+
+}
+
 /**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
diff --git a/bsp/stm32/stm32f103-keysking-learning/rtconfig.h b/bsp/stm32/stm32f103-keysking-learning/rtconfig.h
@@ -148,6 +148,7 @@
 #define RT_USING_SERIAL_V1
 #define RT_SERIAL_USING_DMA
 #define RT_SERIAL_RB_BUFSZ 64
+#define RT_USING_PWM
 #define RT_USING_PIN
 /* end of Device Drivers */
 
@@ -412,6 +413,9 @@
 #define BSP_STM32_UART_V1_TX_TIMEOUT 2000
 #define BSP_USING_UART2
 #define BSP_USING_UART3
+#define BSP_USING_PWM
+#define BSP_USING_PWM3
+#define BSP_USING_PWM3_CH1
 /* end of On-chip Peripheral Drivers */
 
 /* Board extended module Drivers */
