多相交错技术是低压大电流电源里面必备的技术之一，不光可以突破单个电感电流容量的限制，而且还能分散热点，更重要的是极大降低了有效值电流还提高了效率。多相交错电源里面每一路pwm都是需要相差一定角度的，比如三路交错就是需要三个相位之间相差120度的信号。本帖忽略匀流问题（实际中必须处理下否则相之间负载不平衡会让负载大的相烧掉）。如果启用了互补输出还可以做到三相交错的互补PWM。

STM32单片机是一种很常见性价比很高的32位单片机，最低端的STM32F0系列也有ADC，众多定时器等外设，于是本帖使用STM32F030K6为例，讲解高速多路交错PWM的产生方式，同样的原理也可以拓展到STM32F1/F3/F4系列和其他系列的单片机里面。在单片机里面有这么一种东西叫做时钟树，描述的是单片机内部每个模块的时钟频率，来源还有可用的分频/倍频选项，STM32F030K6的时钟树如图：

这个图是在STM32 CubeMX里面自动给出的，这个软件很不错，可以用图形界面来生成时钟树以及其他外设的初始化代码，再也不用死坑datasheet啦 哈哈哈（雾

STM32所有定时器的时钟都是接到APB1 Timer Clocks这里的，也就是说所有的定时器都是在同一时刻对Counter进行累加的。如果配置三个定时器为PWM输出模式，频率相同，但是开始计数的时间人为的叉开，就可以达到多相PWM的目的。我们可以配置三个定时器为同频率的PWM输出，然后再用一个定时器对这三个定时器在特定时间进行使能即可。GPIO的占用如下图:

<code class="hljs cpp"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"> </span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title">hw_init</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params">(</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params">)</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"> </span></span></span></span></span></span></span></span></span></span></span></span></span></span>{
    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">/* Reset of all peripherals, Initializes the Flash interface and the Systick. */</span></span></span></span></span></span></span></span></span></span></span></span></span></span>
    HAL_Init();

    SystemClock_Config();
    GPIO_Init();

    Timer1_Init();
    Timer16_Init();
    Timer17_Init();
    Timer14_Init();
    Timer_Sync_1_16_17();
}</code>

GPIO_Init();是把GPIO口变成PWM输出的，参见服见里面的platform.c这里就不贴出了。

TIM1, TIM16, TIM17的初始化代码很相似，这里就只贴TIM1的代码了：

<code class="hljs cpp"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword">static</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"> </span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"> </span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title"><span class="hljs-function"><span class="hljs-title">Timer1_Init</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params">(</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword"><span class="hljs-function"><span class="hljs-params"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params"><span class="hljs-function"><span class="hljs-params">)</span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span></span><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"><span class="hljs-function"> </span></span></span></span></span></span></span></span></span></span></span></span></span>{
    <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">__</span></span></span></span></span></span></span></span></span></span></span></span></span>HAL_RCC_TIM1_CLK_ENABLE();<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">//启用TIM1外射的时钟，如果没开时钟根本不工作也不能被配置的哦</span></span></span></span></span></span></span></span></span></span></span></span></span>
</code><code class="hljs php">    TIM1->CR1 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span></span></span>;
    TIM1->CR2 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span></span></span>;
    TIM1->DIER = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span></span></span>;

    TIM1->ARR = TIM_ARR_SW;	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Auto-reload value : 100kHz overflow</span></span></span></span></span></span></span></span></span></span></span></span></span>
    TIM1->PSC = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span></span></span>;
    TIM1->CCR2 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span></span></span>;

    TIM1->CCMR1 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0x6800</span></span></span></span></span></span></span></span></span></span></span></span></span>;	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// 110: PWM mode 1, up counting.</span></span></span></span></span></span></span></span></span></span></span></span></span>
    TIM1->CCER = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0x0050</span></span></span></span></span></span></span></span></span></span></span></span></span>; 	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// CH2 output enable with complement, active high</span></span></span></span></span></span></span></span></span></span></span></span></span>

    TIM1->BDTR = TIM_BDTR_DTG_Msk & TIM_DEADTIME;	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Set dead-time</span></span></span></span></span></span></span></span></span></span></span></span></span>
}</code>

这部分代码是很典型的把定时器配置成向上计数的PWM模式1并加互补死区的操作，就不详细解释了，如果有不懂可以参见RM0091（股沟得到）

重点来了！TIM14被用作了同步TIM1，TIM16和TIM17，但是这个同步并没有用到任何硬件上的同步（硬件也没有提供啊QAQ）

<code class="hljs php"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">static</span></span></span></span></span></span></span></span></span></span></span> void Timer14_Init(void) {
    __HAL_RCC_TIM14_CLK_ENABLE();

    TIM14->CR1 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;
    TIM14->DIER = TIM_DIER_UIE;

    TIM14->ARR = TIM_ARR_PHSYNC;	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Auto-reload value : 300kHz overflow</span></span></span></span></span></span></span></span></span></span></span>
    TIM14->PSC = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;

    NVIC_EnableIRQ(TIM14_IRQn);
}</code>

首先还是开启时钟，这个千万别忘，很常见的错误，然后TIM14被配置成了自动重装模式，以300KHz的频率触发中断。300KHz的一个周期正好是我们想要的相位差的时间。Timer_Sync_1_16_17()首先确保TIM1，TIM14，TIM16和TIM17的计数器都是0，然后启动TIM14并等待TIM14被停止。

<code class="hljs objectivec"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">static</span></span></span></span></span></span></span></span></span></span></span> <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span> Timer_Sync_1_16_17(<span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">void</span></span></span></span></span></span></span></span></span></span></span>) {
    <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">extern</span></span></span></span></span></span></span></span></span></span></span> <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">volatile</span></span></span></span></span></span></span></span></span></span></span> uint32_t* tim_cr1;

    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Clear counter value</span></span></span></span></span></span></span></span></span></span></span>
    TIM14-><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in">CNT</span></span></span></span></span></span></span></span></span></span></span> = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;
    TIM1-><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in">CNT</span></span></span></span></span></span></span></span></span></span></span> = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;
    TIM16-><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in">CNT</span></span></span></span></span></span></span></span></span></span></span> = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;
    TIM17-><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in"><span class="hljs-built_in">CNT</span></span></span></span></span></span></span></span></span></span></span> = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>;

    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Enable the synchronizer timer</span></span></span></span></span></span></span></span></span></span></span>
    TIM14->CR1 |= <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">1</span></span></span></span></span></span></span></span></span></span></span>;

    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Wait until the synchronization is done</span></span></span></span></span></span></span></span></span></span></span>
    <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">while</span></span></span></span></span></span></span></span></span></span></span> (tim_cr1 > <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span></span>);</code>

while那会让程序卡住，但是还是会进定时器中断的。TIM14中断的程序如下：

<code class="hljs php"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">static</span></span></span></span></span></span></span></span></span></span> uint32_t* tim_cr1 = &(TIM1->CR1);
void TIM14_IRQHandler(void) {
    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// This can be commented out, since update is the only source of interrupt</span></span></span></span></span></span></span></span></span></span>
    <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">if</span></span></span></span></span></span></span></span></span></span>(TIM14->SR & TIM_SR_UIF) {
        TIM14->SR &= ~TIM_SR_UIF; <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// clear UIF flag</span></span></span></span></span></span></span></span></span></span>

        <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">if</span></span></span></span></span></span></span></span></span></span> (tim_cr1 > <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span>) {
            *tim_cr1 |= TIM_CR1_CEN;

            <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Set the next timer to be enabled</span></span></span></span></span></span></span></span></span></span>
            <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">if</span></span></span></span></span></span></span></span></span></span> (tim_cr1 == &(TIM1->CR1)) {
                tim_cr1 = &(TIM16->CR1);
            } <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">else</span></span></span></span></span></span></span></span></span></span> <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">if</span></span></span></span></span></span></span></span></span></span> (tim_cr1 == &(TIM16->CR1)) {
                tim_cr1 = &(TIM17->CR1);
            } <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">else</span></span></span></span></span></span></span></span></span></span> <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">if</span></span></span></span></span></span></span></span></span></span> (tim_cr1 == &(TIM17->CR1)) {
                <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// All timers have been synchronized to the correct phase order</span></span></span></span></span></span></span></span></span></span>
                tim_cr1 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span></span></span>;	<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// No more CR1 to be set</span></span></span></span></span></span></span></span></span></span>

                <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Disable the timer</span></span></span></span></span></span></span></span></span></span>
                TIM14->CR1 &=~ TIM_CR1_CEN;
            }
        } <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">else</span></span></span></span></span></span></span></span></span></span> {
            <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Execute control routine here</span></span></span></span></span></span></span></span></span></span>
        }
    } <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// if(TIM14->SR & TIM_SR_UIF)</span></span></span></span></span></span></span></span></span></span>
}</code>

在单片机刚上电之后，tim_cr1会被设置为TIM1的CR1寄存器的地址，这样做是告诉单片机我们下次进中断需要开启TIM1并在开启TIM1之后为下次进中断开启TIM16做准备，就是把tim_cr1会被设置为TIM16的CR1寄存器的地址。这段代码确保了从进入中断到相应的CR1寄存器最低位被置1（定时器计数使能位）的指令条数完全相等，于是TIM1，TIM16，TIM17会依次在正确的时间被打开，完成三个定时器的同步产生正确的相位差。当TIM17被开启之后，tim_cr1会被置0（标识为无效状态，这样当TIM14作为其他用途用的时候会跳过同步TIM1-17的代码），然后TIM14的也会被禁用。退出中断程序后，while (tim_cr1 > 0); 这里也能够继续执行了。TIM14在同步TIM1，TIM16，TIM17完成之后可以用作其他用途比如执行反馈环的计算等。之后的TIM14中断处理程序写在"} // if(TIM14->SR & TIM_SR_UIF)"这行之后。static void Timer_Sync_1_16_17(void) 的后半段重新配置了TIM14：

<code class="hljs php"><span style="background-color:rgb(245, 245, 245); font-family:Menlo, Monaco, Consolas,;">    </span><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Wait until the synchronization is done</span></span></span></span></span></span></span></span>
    <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">while</span></span></span></span></span></span></span></span> (tim_cr1 > <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span>);

    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Reconfigure timer14 for executing control routine</span></span></span></span></span></span></span></span>
    TIM14->CR1 = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span>;
    TIM14->DIER = TIM_DIER_UIE;

    TIM14->ARR = TIM_ARR_CON;		<span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Auto-reload value : 50kHz overflow</span></span></span></span></span></span></span></span>
    TIM14->PSC = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span>;
    TIM14->CNT = <span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number"><span class="hljs-number">0</span></span></span></span></span></span></span></span>;

    <span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment"><span class="hljs-comment">// Enable the timer again</span></span></span></span></span></span></span></span>
    TIM14->CR1 |= TIM_CR1_CEN;
}</code>

下面三个宏分别是启用PWM输出，禁用PWM输出还有设置占空比：

<code class="hljs ocaml">__STATIC_INLINE void <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_PWM_ENABLE</span></span></span></span></span><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal">()</span></span></span></span></span> {
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM1</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> |= <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM16</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> |= <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM17</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> |= <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
}

__STATIC_INLINE void <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_PWM_DISABLE</span></span></span></span></span><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal"><span class="hljs-literal">()</span></span></span></span></span> {
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM1</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> &=~ <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM16</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> &=~ <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM17</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">BDTR</span></span></span></span></span> &=~ <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_BDTR_MOE</span></span></span></span></span>;
}

__STATIC_INLINE void <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM_PWM_SETVAL</span></span></span></span></span>(uint32_t <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">val</span></span></span></span></span>) {
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM1</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">CCR2</span></span></span></span></span> = <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">val</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM16</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">CCR1</span></span></span></span></span> = <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">val</span></span></span></span></span>;
    <span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">TIM17</span></span></span></span></span>-><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type"><span class="hljs-type">CCR1</span></span></span></span></span> = <span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword"><span class="hljs-keyword">val</span></span></span></span></span>;
}</code>

这个是实验效果：

有的同学可能想问，为啥这么多直接操作寄存器的？全部换成HAL不好吗？我感觉在这种需要对硬件行为进行精确把控的情况下使用HAL是不明智的选择，HAL的实现可能会在函数调用的时候产生短暂的无效输出状态，有可能会导致MOS管的误导通，这对于电源是灾难性的，会booooom

代码在附件里面，HAL库需要手动从Cube里考进来，当然如果把HAL的时钟GPIO初始化换成其他库或者寄存器操作也可以不要HAL。于是大家好好玩233333

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