三相直流无刷电机驱动程序Word格式文档下载.docx
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#defineV_Up_OnGPIOB->
BSRR=GPIO_Pin_14
#defineV_Up_OffGPIOB->
BRR=GPIO_Pin_14
#defineV_Dn_OnGPIOA->
BSRR=GPIO_Pin_9
#defineV_Dn_OffGPIOA->
BRR=GPIO_Pin_9
#defineW_Up_OnGPIOB->
BSRR=GPIO_Pin_15
#defineW_Up_OffGPIOB->
BRR=GPIO_Pin_15
#defineW_Dn_OnGPIOA->
BSRR=GPIO_Pin_10
#defineW_Dn_OffGPIOA->
BRR=GPIO_Pin_10
#defineSU_HORGPIOA->
IDR&
GPIO_Pin_15
#defineSV_HORGPIOA->
GPIO_Pin_12
#defineSW_HORGPIOA->
GPIO_Pin_11
//u8Motor_Dir=0;
//u8Motor_EN=0;
//u8Hor_Value=7;
//u16TIM2_Conter=0;
u16Hall_Conter=0;
MotorStructMotor={CLOCK,40,STOP};
/*******************************************************************************
*函数：
voidIO_Init<
void>
*描述：
IO
*参数：
*返回：
*其它：
*******************************************************************************/
{
GPIO_InitTypeDefGPIO_InitStruct;
EXTI_InitTypeDefEXTI_InitStructure;
//GPIO_PinRemapConfig<
GPIO_Remap_SWJ_JTAGDisable,ENABLE>
;
/*使能SWD禁用JTAG*/
/**********************LEDLight***********/
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;
GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;
GPIO_Init<
GPIOB,&
GPIO_InitStruct>
/***********************霍尔传感器中断**********/
GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15;
GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING;
GPIOA,&
//Harl
GPIO_EXTILineConfig<
GPIO_PortSourceGPIOA,GPIO_PinSource11>
GPIO_EXTILineConfig<
GPIO_PortSourceGPIOA,GPIO_PinSource12>
GPIO_PortSourceGPIOA,GPIO_PinSource15>
EXTI_InitStructure.EXTI_Line=EXTI_Line11|EXTI_Line12|EXTI_Line15;
EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd=ENABLE;
EXTI_Init<
&
EXTI_InitStructure>
}
/***************************************************************************
函数：
voidPWM_Init<
描述：
配置PWM定时器TIM1
参数：
返回：
无
***************************************************************************/
GPIO_InitTypeDefGPIO_InitStructure;
TIM_TimeBaseInitTypeDefTIM_TimeBaseInitStruct;
TIM_OCInitTypeDefTIM_OCInitStructure;
//TIM_BDTRInitTypeDefTIM_BDTRInitStructure;
TIM_Cmd<
TIM1,DISABLE>
TIM_CtrlPWMOutputs<
TIM1,DISABLE>
//禁止OC输出
//IO口设置
GPIO_SetBits<
GPIOA,GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10>
//PWM口
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_InitStructure>
GPIOB,GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15>
//普通IO口
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
//定时器设置
TIM_TimeBaseInitStruct.TIM_Period=PWM_PERIOD_T;
//5极电机,3000RPM,每个Step有10个脉冲,载波15KHZ
TIM_TimeBaseInitStruct.TIM_Prescaler=2;
TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_RepetitionCounter=0;
TIM_TimeBaseInit<
TIM1,&
TIM_TimeBaseInitStruct>
//TIM_ClearITPendingBit<
TIM1,TIM_IT_Update>
//TIM_ARRPreloadConfig<
TIM1,ENABLE>
//TIM_ITConfig<
TIM1,TIM_IT_Update,ENABLE>
//配置PWM输出
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState=TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse=1;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCNPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Set;
TIM_OC1Init<
TIM1,&
TIM_OCInitStructure>
TIM_OC2Init<
TIM_OC3Init<
TIM_OC1PreloadConfig<
TIM1,TIM_OCPreload_Enable>
TIM_OC2PreloadConfig<
TIM_OC3PreloadConfig<
TIM_ARRPreloadConfig<
//使能TIMx在ARR上的预装载寄存器TIM_Cmd<
TIM1,ENABLE>
/*****************************************************************************************
voidMotor_Init<
*****************************************************************************************/
IO_Init<
>
PWM_Init<
voidFlash_Led<
u8n>
u8i=0;
for<
i=0;
i<
n;
i++>
{
Led_On;
DelayMs<
100*n>
Led_Off;
}
voidSetPWMduty<
u8PWMChanel,u16pulse>
设置pwm波占空比
switch<
PWMChanel>
case1:
TIM1->
CCR1=pulse;
break;
case2:
CCR2=pulse;
case3:
CCR3=pulse;
default:
PWM_T_Output
设置相应的PWM梯形波输出
pName上桥臂名称,nName下桥臂名称
********************************************************************************/
voidPWM_T_Output<
u8pName,u8nName,u8mRate>
pName>
case1:
GPIOB,GPIO_Pin_15|GPIO_Pin_14>
GPIO_ResetBits<
GPIOB,GPIO_Pin_13>
case2:
GPIOB,GPIO_Pin_13|GPIO_Pin_15>
GPIOB,GPIO_Pin_14>
case3:
GPIOB,GPIO_Pin_13|GPIO_Pin_14>
GPIOB,GPIO_Pin_15>
default:
nName>
TIM_SetCompare2<
TIM1,0>
TIM_SetCompare3<
TIM_SetCompare1<
TIM1,<
u16>
<
PWM_PERIOD_T*mRate/100>
TIM_SetAutoreload<
TIM1,PWM_PERIOD_T>
PWM_T_Calculation
梯形波计算
HallValue霍尔值,mRate调制百分比,direction方向
voidPWM_T_Calculation<
u8hallValue,u8mRate,u8direction>
if<
direction==1>
hallValue>
{
case5:
PWM_T_Output<
1,3,mRate>
1,2,mRate>
3,2,mRate>
3,1,mRate>
case6:
2,1,mRate>
case4:
2,3,mRate>
4,4,0>
else
PWM_T_Int
定时器中断程序,根据霍尔位置设置输出梯形波
direction=顺时针/逆时针,mRate调制率
voidPWM_T_Int<
u8direction,u8mRate>
u8hallValueTemp;
u8hallValue;
hallValueTemp=GPIO_ReadInputDataBit<
GPIOA,GPIO_Pin_11>
+<
GPIO_ReadInputDataBit<
GPIOA,GPIO_Pin_12>
<
1>
GPIOA,GPIO_Pin_15>
2>
hallValue=hallValueTemp;
PWM_T_Calculation<
hallValue,mRate,direction>
/************************************************************************
PWM_Stop
PWM控制信号使能输出,禁止TIM1中断,使能TIM1中断
pwmflag=DISABLE,PWM信号使能输出,pwmflag=ENABLE,禁止PWM输出
*************************************************************************/
voidPWM_Stop<
u8pwmflag>
NVIC_InitTypeDefNVIC_InitStructure;
pwmflag==ENABLE>
//禁止PWM输出
//TIM_Cmd<
TIM2,DISABLE>
NVIC_InitStructure.NVIC_IRQChannel=TIM1_UP_TIM16_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
NVIC_InitStructure.NVIC_IRQChannelCmd=DISABLE;
NVIC_Init<
NVIC_InitStructure>
GPIO_InitStructure.G
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