无刷电机驱动代码

#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_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#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-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_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.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_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_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.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*/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_Init(GPIOA, &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_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.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_CounterMode_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_OCInitStructure.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;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, 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);/*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-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_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);TIM_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;default: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:PWM_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)case 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：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 = 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*/void PWM_Stop(u8 pwmflag)NVIC_InitTypeDef NVIC_InitStructure;GPIO_InitTypeDef GPIO_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(&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_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 = 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： void Motor_Start(void)描述：启动电机参数：返回：*.*/void Motor_Start(void)PWM_T_Int(Motor.Dir,Motor.Speed);/*函数： void Motor_Stop(void)描述：停止参数：返回：*/void Motor_Stop(void)/U_Up_On;V_Up_On;W_Up_On;/U_Dn_On;V_Dn_On;W_Dn_On;PWM_T_Output(4,4,0);/*函数： void EXTI15_10_IRQHandler(u8 dir,u8 hall)描述：霍尔传感器中断参数：返回：*/void EXTI15_10_IRQHandler(void)Hall_Conter+;if (EXTI_GetITStatus(EXTI_Line11) != RESET)|(EXTI_GetITStatus(EXTI_Line12) != RESET)|(EXTI_GetITStatus(EXTI_Line15) != RESET)if(Motor.State!=STOP)PWM_T_Int(Motor.Dir,Motor.Speed);EXTI_ClearITPendingBit(EXTI_Line11); /清除标志EXTI_ClearITPendingBit(EXTI_Line12); /清除标志EXTI_ClearITPendingBit(EXTI_Line15); /清除标志/*函数： void Test_Motor(u8 dir,u8 hall)描述：电机控制.参数：返回：*/void Test_Motor(void)while(1)switch(Motor.State)case STOP :Motor_Stop();break;case RUN :Motor_Start();Motor.State=FREE;break;default :break;.