无刷电机驱动代码

1、8 u_d OEOU #S8A-<O一douo uq n u!pp4tw eLIU_dlo_doH #820一dokoldnln u 怎 p#帝 eLIUillo 一 doHQrQrs8A8o-douoldnln uu= p4t議00 寸-LIQO 正山 dllAIMd u!pp4t段=lr010EIe>p= pnQu 算w =LTXOLReE0 pnQu 算矍 wOL u_d o_doHQrQr8A-<o一doko UQ AA u!pp4tw 0LIU_dlo 一 doH #S8A-<O一doUolUQIM u!pp4t聯 9LIU_dlo一doHQrQr8A-8o_

2、doti=oldnl/A u!pp4t世 9LIU_dlo 一 doHQrQrs8A-8o_douodnIM u!pp4t崔 6lu_dlo_doHQrQr8A-<0一dot=olucr> u!pp4t牌 6lu_dlo_doH #S8A-<O一doUOIUQI> u!pp4t蠻 寸 LI u_dlo_doHQrQraAmo一dot=oldnl> u!pp4tw 寸 LIU_dlo一doH 一douoldnl> u!pp4t>M 8lu_dlo_doHQrQr8A-<0一dokolucrn u!pp4t蠻羆 #defi ne SU_HOR GPI

3、OA->IDR & GPI0_Pin_15羀 #defi ne SV_HOR GPIOA->IDR & GPI0_Pin_12莀 #defi ne SW_HOR GPIOA->IDR & GPIO_Pin_11羅肅莁 u8 Motor_Dir=0;螈肇 u8 Motor_EN=0;膅螂 u8 Hor_Value=7;薀 u16 TIM2_Co nter=O;螇 u16 Hall_Co nter=O;芅膃羈 MotorStruct Motor=CLOCK,40,STOP;薆莅/*薄* 函数： void IO_Init(void)虿* 描述： IO蕿 *

4、参数：莅 * 返回：蚀* 其它：*莇 void IO_Init(void)肁衿GPIO_InitTypeDef GPIO_InitStruct;膆EXTI_InitTypeDef EXTI_InitStructure;薅/GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);/* 使能 SWD 禁用 JTAG*/* LED Light* *羅 GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12;蚅 GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;袃 GPIO_InitStruc

5、t.GPIO_Speed=GPIO_Speed_2MHz;聿 羈 GPIO_Init(GPIOB, &GPIO_InitStruct);螄霍尔传感器中断 */螁 GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15;螇 GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING;袄 GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;腿 GPIO_Init(GPIOA, &GPIO_InitStruct);/Harl蒆袄GPIO_EXTILi

6、neConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);袂GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12);羁GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15);蕿羄EXTI_InitStructure.EXTI_Line = EXTI_Line11 | EXTI_Line12|EXTI_Line15;芃EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;莈 EXTI

7、_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;芈EXTI_InitStructure.EXTI_LineCmd = ENABLE;肄EXTI_Init(&EXTI_InitStructure);蚄肀 /*肆函数： void PWM_Init(void)膄描述：配置 PWM 定时器 TIM1螀参数：薈返回：无*芄 void PWM_Init(void)膁 芀 GPIO_InitTypeDef GPIO_InitStructure; 袈 TIM_TimeBaseInitTypeDef TIM_TimeBaseInitSt

8、ruct;莄 TIM_OCInitTypeDef TIM_OCInitStructure;薂 /TIM_BDTRInitTypeDef TIM_BDTRInitStructure;螈 TIM_Cmd(TIM1 , DISABLE);蚇 TIM_CtrlPWMOutputs(TIM1, DISABLE);/ 禁止 OC 输出蒃羃 /IO 口设置蒀 GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); /PWM 口莆 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GP

9、IO_Pin_10;蒃 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;莄 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;袈 GPIO_Init(GPIOA, &GPIO_InitStructure);葿薃 GPIO_SetBits(GPIOB, GPI0_Pin_13 | GPI0_Pin_14 | GPI0_Pin_15);/厝通 10 口薁GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;薀GP

10、I0_InitStructure.GPI0_Speed = GPI0_Speed_10MHz;膈GPI0_InitStructure.GPI0_Mode = GPI0_Mode_0ut_PP;蚃GPI0_Init(GPI0B, &GPI0_InitStructure);羂莂/ 定时器设置羇 TIM_TimeBaselnitStruct.TIM_Period = PWM_PERI0D_T;/5 极电机，3000RPM,每个 Step 有 10 个脉冲，载波 15KHZ螃 TIM_TimeBaseInitStruct.TIM_Prescaler = 2;莃TIM_TimeBaseInitS

11、truct.TIM_ClockDivision = TIM_CKD_DIV1;蝿TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;螅TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;袃 TIM_TimeBaseInit(TIM1 , &TIM_TimeBaseInitStruct);螃/TIM_ClearITPendingBit(TIM1, TIM_IT_Update);蒁/TIM_ARRPreloadConfig(TIM1, ENABLE);螈/TIM_ITConfi

12、g(TIM1, TIM_IT_Update, ENABLE);羃/ 配置 PWM 输出袀 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;罿TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;薇TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;肃TIM_OCInitStructure.TIM_Pulse = 1;芁TIM_OCInitStructure.TIM_OCPolarity = TIM_OC

13、Polarity_Low;蚁TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;莆TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;莆TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;蚂TIM_OC1Init(TIM1, &TIM_OCInitStructure);腿TIM_OC2Init(TIM1, &TIM_OCInitStructure);荿TIM_OC3Init(TIM1,

14、 &TIM_OCInitStructure);蒆肃 TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);袁 TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);膈 TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); 薆/ 使能 TIMx 在 ARR 上蒄 TIM_ARRPreloadConfig(TIM1, ENABLE); 的预装载寄存器TIM_Cmd(TIM1 , ENABLE);艿 袇 TIM_Cmd(TIM1 , ENABLE);蚆 TIM

15、_CtrlPWMOutputs(TIM1, ENABLE);蚁肀/*蚆函数： void Motor_Init(void)螆描述：肂参数：蒈返回：蚈*/螆 void Motor_Init(void)蒂膀IO_Init();蒇PWM_Init();袆*蚈函数： void Flash_Led(u8 n)芆描述：羆参数：羀返回：莀*/羅 void Flash_Led(u8 n)肅莁u8 i=0;螈for(i=0;i<n;i+)肈膅Led_On;螂DelayMs(100*n);薀Led_Off;螇DelayMs(100*n);芅膃羈/*薆函数： void SetPWMduty(u8 PWMChan

16、el,u16 pulse)莅描述：设置 pwm 波占空比薄参数：虿返回：*/莅 void SetPWMduty(u8 PWMChanel,u16 pulse)switch(PWMChanel)case 1 :TIM1->CCR1=pulse;break;case 2 :TIM1->CCR2=pulse;break;case 3 :TIM1->CCR3=pulse;break;default :break;肀/*螇函数： PWM_T_Output袄描述：设置相应的 PWM 梯形波输出蒁参数： pName 上桥臂名称， nName 下桥臂名称腿返回：无蒆*/袄 void PWM_

17、T_Output(u8 pName , u8 nName , u8 mRate)袂羁 switch(pName)蕿羄 case 1:芃 GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_Pin_14 );莈GPIO_ResetBits(GPIOB , GPIO_Pin_13);芈break;肄 case 2:蚄GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 );肀GPIO_ResetBits(GPIOB , GPIO_Pin_14);肆break;膄 case 3:螀GPIO_SetBits(GPIOB, GPIO_Pin

18、_13 | GPIO_Pin_14 );薈GPIO_ResetBits(GPIOB , GPIO_Pin_15);袅break;芄 default:膁GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);芀袈 switch(nName)莄薂 case 1:螈蚇TIM_SetCompare2(TIM1,0);蒃TIM_SetCompare3(TIM1,0);羃TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100);蒀break;莆 case 2:蒃莄TIM_SetCompar

19、e3(TIM1,0);袈TIM_SetCompare1(TIM1,0);葿TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100);薃break;薁 case 3:薀膈 TIM_SetCompare2(TIM1,0);蚃TIM_SetCompare1(TIM1,0);羂TIM_SetCompare3(TIM1,(u16)(PWM_PERIOD_T * mRate / 100);莂break;羇 default:螃TIM_SetCompare1(TIM1,0);莃TIM_SetCompare2(TIM1,0);蝿TIM_SetCompare3(

20、TIM1,0);螅袃螃 TIM_SetAutoreload(TIM1, PWM_PERIOD_T);蒁螈羃/*袀函数： PWM_T_Calculation罿描述：梯形波计算薇参数： HallValue 霍尔值， mRate 调制百分比， direction 方向肃返回：无-+-芁*/蚁 void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction)莆莆 if(direction = 1)蚂腿 switch(hallValue)荿蒆 case 5:肃 PWM_T_Output(1 , 3 , mRate);袁 break;膈 case

21、 1:薆 PWM_T_Output(1 , 2 , mRate);蒄 break;艿 case 3:袇 PWM_T_Output(3 , 2 , mRate);蚆 break;蚁 case 2:肀 PWM_T_Output(3 , 1 , mRate);蚆 break;螆 case 6:肂 PWM_T_Output(2 , 1 , mRate);蒈 break;蚈 case 4:螆 PWM_T_Output(2 , 3 , mRate);蒂 break;膀 default:蒇PWM_T_Output(4 , 4 , 0);袆 break;袃蚈芆 else羆羀 switch(hallValue)

22、莀羅 case 5:肅PWM_T_Output(3 , 1 , mRate);莁 break;螈 case 1:肈PWM_T_Output(2 , 1 , mRate);膅 break;螂 case 3:薀PWM_T_Output(2 , 3 , mRate);螇 break;芅 case 2:膃PWM_T_Output(1 , 3 , mRate);羈 break;薆 case 6:莅 PWM_T_Output(1 , 2 , mRate);薄 break;虿 case 4:蕿 PWM_T_Output(3 , 2 , mRate);莅 break;蚀 default:蒁 PWM_T_Out

23、put(4 , 4 , 0);莇 break;蒅肁衿膆薅/*蒂函数： PWM_T_Int 薁描述：定时器中断程序，根据霍尔位置设置输出梯形波羅参数： direction= 顺时针 / 逆时针 ,mRate 调制率 蚅返回：无袃*/聿 void PWM_T_Int(u8 direction , u8 mRate)羈螄 u8 hallValueTemp;肀 u8 hallValue;螁 hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) <

24、< 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) << 2);螇 hallValue = hallValueTemp;袄 PWM_T_Calculation(hallValue , mRate , direction);蒁腿蒆/*袄函数：PWM_Stop袂描述：PWM 控制信号使能输出 ,禁止 TIM1 中断，使能 TIM1 中断羁参数：pwmflag=DISABLE,PWM信号使能输出，pwmflag=ENABLE禁止 PWM 输出蕿返回：无羄 */芃 void PWM_Stop(u8 pwmflag)莈芈 NVIC_Ini

25、tTypeDef NVIC_InitStructure;肄 GPIO_InitTypeDef GPIO_InitStructure;蚄 if(pwmflag = ENABLE)/ 禁止 PWM 输出肀肆TIM_Cmd(TIM1 , DISABLE);膄/TIM_Cmd(TIM2 , DISABLE);螀NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;薈NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;袅NVIC_InitStructure.NVIC_IRQChannelS

26、ubPriority = 1;芄NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;膁NVIC_Init(&NVIC_InitStructure);芀袈GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;莄 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;薂GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;螈 GPIO_Init(GPIOA, &GPIO_In

27、itStructure);蚇 GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); /PWM 口 蒃羃 /PWM_T_Output(4 , 4 , 0);蒀莆 if(pwmflag = DISABLE)/ 使能 PWM 输出蒃莄NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;袈NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;葿NVIC_InitStructure.NVIC_IRQChannelSubPri

28、ority = 1;薃NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;薁NVIC_Init(&NVIC_InitStructure);膈GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;蚃 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;羂 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;莂 GPIO_Init(GPIOA, &GPIO_InitStructure);