1、BSRR = GPIO_Pin_8#define U_Dn_Off GPIOA-BRR = GPIO_Pin_8#define V_Up_On GPIOB-BSRR = GPIO_Pin_14#define V_Up_Off GPIOB-BRR = GPIO_Pin_14#define V_Dn_On GPIOA-BSRR = GPIO_Pin_9#define V_Dn_Off GPIOA-BRR = GPIO_Pin_9#define W_Up_On GPIOB-BSRR = GPIO_Pin_15#define W_Up_Off GPIOB-BRR = GPIO_Pin_15#defin
2、e W_Dn_On GPIOA-BSRR = GPIO_Pin_10#define W_Dn_Off GPIOA-BRR = GPIO_Pin_10#define SU_HOR GPIOA-IDR & GPIO_Pin_15#define SV_HOR GPIOA- GPIO_Pin_12#define SW_HOR GPIOA- GPIO_Pin_11/u8 Motor_Dir=0;/u8 Motor_EN=0;/u8 Hor_Value=7;/u16 TIM2_Conter=0;u16 Hall_Conter=0;MotorStruct Motor=CLOCK,40,STOP;/* 函数:
3、void IO_Init(void)* 描述:IO* 参数:* 返回:* 其它:*/ GPIO_InitTypeDef GPIO_InitStruct; EXTI_InitTypeDef EXTI_InitStructure; /GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); /*使能SWD 禁用JTAG*/ /*LED Light*/ GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12; GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; GPIO_InitStruct
4、.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; GPIO_Init(GPIOA, &/Harl GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11); GPIO_EXTILineConfig(GPIO_Po
5、rtSourceGPIOA, GPIO_PinSource12); GPIO_EXTILineConfig(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.E
6、XTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure);/*函数:void PWM_Init(void)描述:配置PWM定时器TIM1参数:返回:无*/ GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_OCInitTypeDef TIM_OCInitStructure; /TIM_BDTRInitTypeDef TIM_BDTRInitStructure; TIM_Cmd(TIM1 , DISABLE); TIM_C
7、trlPWMOutputs(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); GPI
8、O_SetBits(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.T
9、IM_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_ARRPreloadConf
10、ig(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_OCInitStructu
11、re.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(TIM1, & TIM_OC3Init(TIM1, &
12、TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM1, ENABLE); /使能TIMx在ARR上的预装载寄存器 TIM_Cmd(TIM1 , ENABLE); TIM_Cmd(TIM1 , ENABLE); TIM_CtrlPWMOutputs(TIM1, ENABLE);/*void Motor_
13、Init(void)*/ IO_Init(); PWM_Init();void Flash_Led(u8 n) u8 i=0; for(i=0;iCCR1=pulse; break; case 2 :CCR2=pulse; case 3 :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*/void PWM_T_Output(u8 pName , u8 nName , u8 mRate) switch(pName) case 1: GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_
14、Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_13); case 2: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 ); GPIO_ResetBits(GPIOB , GPIO_Pin_14); case 3: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_15); default: switch(nName) TIM_SetCompare2(TIM1,0); TIM_SetCompare3(T
15、IM1,0); TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); TIM_SetCompare3(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void
16、 PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction) if(direction = 1) switch(hallValue) case 5: PWM_T_Output(1 , 3 , mRate); PWM_T_Output(1 , 2 , mRate); PWM_T_Output(3 , 2 , mRate); PWM_T_Output(3 , 1 , mRate); case 6: PWM_T_Output(2 , 1 , mRate); case 4: PWM_T_Output(2 , 3 , mRate); PWM_T_O
17、utput(4 , 4 , 0); elsePWM_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void PWM_T_Int(u8 direction , u8 mRate) u8 hallValueTemp; u8 hallValue; hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15)
18、 2); hallValue = hallValueTemp; PWM_T_Calculation(hallValue , mRate , direction);/*PWM_StopPWM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*/void PWM_Stop(u8 pwmflag) NVIC_InitTypeDef NVIC_InitStructure; if(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;
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