无刷电机驱动代码

1、#includestm32f10 x.h#includedriver_motor.h#definePWM_PERIOD_T400defineU_Up_OnGPIOB-BSRR=GPIO_Pin_13defineU_Up_OffGPIOB-BRR=GPIO_Pin_13defineU_Dn_OnGPIOA-BSRR=GPIO_Pin_8defineU_Dn_OffGPIOA-BRR=GPIO_Pin_8defineV_Up_OnGPIOB-BSRR=GPIO_Pin_14defineV_Up_OffGPIOB-BRR=GPIO_Pin_14defineV_Dn_OnGPIOA-BSRR=GPIO

2、_Pin_9defineV_Dn_OffGPIOA-BRR=GPIO_Pin_9defineW_Up_OnGPIOB-BSRR=GPIO_Pin_15defineW_Up_OffGPIOB-BRR=GPIO_Pin_15defineW_Dn_OnGPIOA-BSRR=GPIO_Pin_10defineW_Dn_OffGPIOA-BRR=GPIO_Pin_10#defineSU_HORGPIOA-IDR&GPIO_Pin_15#defineSV_HORGPIOA-IDR&GPIO_Pin_12#defineSW_HORGPIOA-IDR&GPIO_Pin_11/u8Motor_Dir=0;/u8

3、Motor_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：/voidIO_Init(void)GPIO_InitTypeDefGPIO_InitStruct;EXTI_InitTypeDefEXTI_InitStructure;/GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);/*使能SWD禁用JTAG*/*LEDLight/*GPIO

4、_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*/*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_InitStruct.G

5、PIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOA,&GPIO_InitStruct);/HarlGPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource11);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource12);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource15);EXTI_InitStructure.EXTI_Line=EXTI_Line11|EXTI_Line12|EXTI_

6、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(void)描述：配置PWM定时器TIM1参数：返回：无voidPWM_Init(void)GPIO_InitTypeDefGPIO_InitStructure;TIM_TimeBaseInitTy

7、peDefTIM_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

8、_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;GPIO_Init(GPIOA,&GPIO_InitStructure);GPIO_SetBits(GPIOB,GPIO_Pin_13|GPIO_Pin_14|610_15);/普通IO口GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;GPIO_InitStructure.GPIO_Speed=GPIO_Speed_10MHz;GPIO_In

9、itStructure.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_Init(GPIOB,&GPIO_InitStructure);/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15KHzTIM_TimeBaseInitStruct.TIM_Prescaler=2;TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_C

10、ounterMode_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_OCInitStructur

11、e.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

12、;TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Set;TIM_OC1Init(TIM1,&TIM_OCInitStructure);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,TI

13、M_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);函数：voidMotor_Init(void)描述：参数：返回：voidMotor_Init(void)IO_Init();PWM_Init();函数：voidFlash_Led(u8n)描述：参数：返回：voidFlash_Led(u8n)u8i=0;for(i=0;iCCR1=pulse;break;:

14、TIM1-CCR2=pulse;break;:TIM1-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*/voidPWM_T_Output(u8pName,u8nName,u8mRate)switch(pName)GPIO_SetBits(GPIOB,GPIO_Pin_15|GPIO_Pin_14);GPIO_ResetBits(GPIOB,GPIO_Pin_13);break;GPIO_SetBits(GPIOB,GPIO_Pin_13|GPIO_Pin_1

15、5);GPIO_ResetBits(GPIOB,GPIO_Pin_14);break;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)TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T*mRate/10

16、0);break;TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T*mRate/100);break;TIM_SetCompare2(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare3(TIM1,(u16)(PWM_PERIOD_T*mRate/100);break;default:TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);T

17、IM_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voidPWM_T_Calculation(u8hallValue,u8mRate,u8direction)if(direction=1)switch(hallValue)case5:PWM_T_Output(1,3,mRate);break;PWM_T_Output(1,2,mRate);break;case3:PWM_T_Output(3,2,mRate);break;PWM_T_

18、Output(3,1,mRate);break;case6:PWM_T_Output(2,1,mRate);break;PWM_T_Output(2,3,mRate);break;default:PWM_T_Output(4,4,0);break;elseswitch(hallValue)PWM_T_Output(3,1,mRate);break;PWM_T_Output(2,1,mRate);break;case3:PWM_T_Output(2,3,mRate);break;PWM_T_Output(1,3,mRate);break;case6:PWM_T_Output(1,2,mRate)

19、;break;case4:PWM_T_Output(3,2,mRate);break;default:PWM_T_Output(4,4,0);break;*函数：PWM_T_Int描述：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*/voidPWM_T_Int(u8direction,u8mRate)u8hallValueTemp;u8hallValue;hallValueTemp=GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_11)+(GPIO_ReadInputDataBit(GPIOA,GPIO_

20、Pin_12)1)+(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_15)2);hallValue=hallValueTemp;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voidPWM_Stop(u8pwmflag)NVIC_InitTypeDefNVIC_InitStructure;GPIO_InitTypeDefGPIO_

21、InitStructure;if(pwmflag=ENABLE)/禁止PWM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(&N

22、VIC_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_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

23、=DISABLE)/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(TIM2,ENABLE);函数：