无刷电机驱动代码

1、#include stm32f10x.h#include driver_motor.h#define PWM_PERIOD_T 400#define U_Up_On GPIOB-BSRR = GPIO_Pin_13#define U_Up_Off GPIOB-BRR = GPIO_Pin_13#define U_Dn_On GPIOA-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_P

2、in_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#define 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 GPIO

3、A-IDR & GPIO_Pin_12#define SW_HOR GPIOA-IDR & 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： void IO_Init(void)* 描述： IO* 参数：* 返回：* 其它：* /void IO_Init(void)GPIO_InitTypeDef GPIO_InitStruct;EXTI_InitTypeDef EXTI_Ini

4、tStructure;/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.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOB, &GPIO_InitStruct);GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPI

5、O_Pin_12|GPIO_Pin_15;GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOA, &GPIO_InitStruct);/HarlGPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12);GPIO_EXTILineConfig(GPIO_Por

6、tSourceGPIOA, 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： void PW

7、M_Init(void)描述：配置 PWM 定时器 TIM1参数：返回：无*/void PWM_Init(void)GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;TIM_OCInitTypeDef TIM_OCInitStructure;/TIM_BDTRInitTypeDef TIM_BDTRInitStructure;TIM_Cmd(TIM1 , DISABLE);TIM_CtrlPWMOutputs(TIM1, DISABLE);/ 禁止 OC 输出/IO 口设置GPI

8、O_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_Init(GPIOA, &GPIO_InitStructure);GPIO_SetBits(GPIOB, GPI0_Pin_13 |

9、 GPI0_Pin_14 | GPI0_Pin_15);/厝通 10 口GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; GPI0_InitStructure.GPI0_Speed = GPI0_Speed_10MHz;GPI0_InitStructure.GPI0_Mode = GPI0_Mode_0ut_PP;GPI0_Init(GPI0B, &GPI0_InitStructure);/定时器设置TIM_TimeBaselnitStruct.TIM_Period = PWM_PERI0D_T;/5

10、极电机，3000RPM,每个 Step 有 10 个脉冲，载波 15KHZTIM_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_C

11、learITPendingBit(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_Di

12、sable;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_OC

13、InitStructure);TIM_OC2Init(TIM1, &TIM_OCInitStructure);TIM_OC3Init(TIM1, &TIM_OCInitStructure);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

14、 TIM_Cmd(TIM1 , ENABLE);TIM_Cmd(TIM1 , ENABLE); TIM_CtrlPWMOutputs(TIM1, ENABLE); /*函数： void Motor_Init(void)描述：参数：返回：*/void Motor_Init(void)IO_Init(); PWM_Init(); /*函数： void Flash_Led(u8 n) 描述：参数：*返回：*/void Flash_Led(u8 n) u8 i=0; for(i=0;iCCR1=pulse;break;case 2 :TIM1-CCR2=pulse;break;case 3 :TIM1

15、-CCR3=pulse;break;default :break;/*函数： PWM_T_Output描述：设置相应的 PWM 梯形波输出参数： pName 上桥臂名称， nName 下桥臂名称*返回：无*/void PWM_T_Output(u8 pName , u8 nName , u8 mRate)switch(pName)case 1:GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_Pin_14 );GPIO_ResetBits(GPIOB , GPIO_Pin_13); break;case 2:GPIO_SetBits(GPIOB, GPIO_Pin_

16、13 | GPIO_Pin_15 );GPIO_ResetBits(GPIOB , GPIO_Pin_14); break;case 3:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 );GPIO_ResetBits(GPIOB , GPIO_Pin_15); break;default:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); switch(nName)case 1:TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TI

17、M_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); break;case 2:TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); break;case 3:TIM_SetCompare2(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare3(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); break;defaul

18、t:TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetAutoreload(TIM1, PWM_PERIOD_T);/*函数： PWM_T_Calculation 描述：梯形波计算 参数： HallValue 霍尔值， mRate 调制百分比， direction 方向 返回：无*/void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction)if(direction = 1)switch(hallValue)case 5:P

19、WM_T_Output(1 , 3 , mRate);break;case 1:PWM_T_Output(1 , 2 , mRate);break;case 3:PWM_T_Output(3 , 2 , mRate);break;case 2:PWM_T_Output(3 , 1 , mRate);break;case 6:PWM_T_Output(2 , 1 , mRate);break;case 4:PWM_T_Output(2 , 3 , mRate);break;default:PWM_T_Output(4 , 4 , 0);break;elseswitch(hallValue)cas

20、e 5:PWM_T_Output(3 , 1 , mRate);break;case 1:PWM_T_Output(2 , 1 , mRate);break;case 3:PWM_T_Output(2 , 3 , mRate);break;case 2:PWM_T_Output(1 , 3 , mRate);break;case 6:PWM_T_Output(1 , 2 , mRate);break;case 4:PWM_T_Output(3 , 2 , mRate);break;default:PWM_T_Output(4 , 4 , 0);break;/*函数： PWM_T_Int 描述：

21、定时器中断程序，根据霍尔位置设置输出梯形波 参数： direction= 顺时针 /逆时针 ,mRate 调制率 返回：无*/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) 2);hallValue = ha

22、llValueTemp;PWM_T_Calculation(hallValue , mRate , direction); /* 函数： PWM_Stop描述： PWM 控制信号使能输出 ,禁止 TIM1 中断，使能 TIM1 中断参数：pwmflag=DISABLE,PWM信号使能输出，pwmflag=ENABLE禁止 PWM 输出 返回：无*/void PWM_Stop(u8 pwmflag)NVIC_InitTypeDef NVIC_InitStructure;GPIO_InitTypeDef GPIO_InitStructure;if(pwmflag = ENABLE)/ 禁止 PWM

23、 输出TIM_Cmd(TIM1 , DISABLE);/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_Ini

24、tStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); /PWM 口 /PWM_T_Output(4 , 4 , 0);if(pwmflag = D

25、ISABLE)/ 使能 PWM 输出NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);/ TIM_Cmd