无刷电机驱动代码Word格式文档下载.docx

1、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 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_C

2、onter=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：*/ 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

3、_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; GPIO_Init（GPIOA, &/Harl GPIO_EXTILineConfig（GPIO

4、_PortSourceGPIOA, GPIO_PinSource11）; GPIO_EXTILineConfig（GPIO_PortSourceGPIOA, 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.

5、EXTI_Trigger = EXTI_Trigger_Rising_Falling; EXTI_InitStructure.EXTI_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_BDTRI

6、nitTypeDef TIM_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_In

7、itStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure）; GPIO_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_PERI

8、OD_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）;

9、/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_OutputNSta

10、te_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,

11、 &TIM_OCInitStructure）; TIM_OC2Init（TIM1, & TIM_OC3Init（TIM1, & 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_Cm

12、d（TIM1 , ENABLE）; TIM_CtrlPWMOutputs（TIM1, ENABLE）;/*void Motor_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 mRat

13、e） switch（pName） case 1: GPIO_SetBits（GPIOB, GPIO_Pin_15 | GPIO_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）; d

14、efault: switch（nName） TIM_SetCompare2（TIM1,0）; TIM_SetCompare3（TIM1,0）; 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_

15、T）;PWM_T_Calculation梯形波计算HallValue霍尔值，mRate调制百分比，direction方向void 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_Out

16、put（2 , 1 , mRate）; case 4: PWM_T_Output（2 , 3 , mRate）; PWM_T_Output（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（GPI

17、OA, GPIO_Pin_12） 1） + （GPIO_ReadInputDataBit（GPIOA, GPIO_Pin_15） 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

18、（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.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; /PWM_T_Output（4 , 4 , 0）; if（pwmflag = DISABLE）/使能PWM输出 NVIC_InitStructure.NVIC_IRQChannelSubPriority