三、驱动代码编写 /********************************************************************** * Description : None * Input : None * Output : None * Return : None * Attention : None **********************************************************************/ void BLDC_GPIOConfig(void) { GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10; //TIM1输出 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;//TIM1输出 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM3的霍尔输入 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //TIM3的霍尔输入 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOB, &GPIO_InitStructure); } /********************************************************************** * Description : None * Input : None * Output : None * Return : None * Attention : None **********************************************************************/ void BLDC_TIM1Config(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本结构体变量定义 TIM_OCInitTypeDef TIM_OCInitStructure; //输出结构体变量定义 TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死区刹车结构体变量定义 TIM_DeInit(TIM1); TIM_TimeBaseStructure.TIM_Prescaler = 2; //TIM基本初始化 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;//中央对齐计数模式 TIM_TimeBaseStructure.TIM_Period = 1499; //PWM 16K TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道初始化 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_Pulse =1200; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; TIM_OC1Init(TIM1,&TIM_OCInitStructure); TIM_OCInitStructure.TIM_Pulse =1200; TIM_OC2Init(TIM1,&TIM_OCInitStructure); TIM_OCInitStructure.TIM_Pulse =1200; TIM_OC3Init(TIM1,&TIM_OCInitStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化,用来触发AD注入采样 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable; TIM_OCInitStructure.TIM_Pulse =1495; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC4Init(TIM1,&TIM_OCInitStructure); TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //死区刹车初始化 TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable; TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF; TIM_BDTRInitStructure.TIM_DeadTime = 100; TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable; //如打开,开机无输出且状态紊乱???? TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low; TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable; TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure); TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载(通道1) TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载(通道2) TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载(通道3) TIM_SelectInputTrigger(TIM1, TIM_TS_ITR2); //输入触发源选择TIM3 //TIM_SelectSlaveMode(TIM1, TIM_SlaveMode_Trigger);//从模式选择 触发 TIM_CtrlPWMOutputs(TIM1,ENABLE); TIM_Cmd(TIM1,ENABLE); } /********************************************************************** * Description : None * Input : None * Output : None * Return : None * Attention : None **********************************************************************/ void BLDC_TIM3Config(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本结构体变量定义 TIM_ICInitTypeDef TIM_ICInitStructure; //定义结构体变量 TIM_OCInitTypeDef TIM_OCInitStructure; //输出结构体变量定义 TIM_DeInit(TIM3); TIM_TimeBaseStructure.TIM_Prescaler = 71; //TIM基本初始化 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_Period =65535; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure); TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //选择通道1 TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //输入上升沿捕获 TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC; //配置通道为输入,并映射到哪里 TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //输入捕获预分频值 TIM_ICInitStructure.TIM_ICFilter = 10; //输入滤波器带宽设置 TIM_ICInit(TIM3, &TIM_ICInitStructure); //输入通道配置 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道初始化 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_Pulse =1023; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC2Init(TIM3,&TIM_OCInitStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing; //TIM输出通道初始化 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable; TIM_OCInitStructure.TIM_Pulse =65535; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OC4Init(TIM3,&TIM_OCInitStructure); TIM_SelectHallSensor(TIM3,ENABLE); //使能TIMx的霍尔传感器接口 TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED); //输入触发源选择 TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset); //从模式选择 TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主从模式选择 TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref); //选择输出触发模式(TRGO端) TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE); //开定时器中断 //TIM_Cmd(TIM3,ENABLE); } /********************************************************************** * Description : None * Input : None * Output : None * Return : None * Attention : None **********************************************************************/ void huanxiang(void) { u8 irq_zhuanzi; irq_zhuanzi=(u8)((GPIOA->IDR&0x000000c0)>>6); //读转子位置 irq_zhuanzi|=(u8)((GPIOB->IDR&0x00000001)<<2); if(zheng_fan==RESET) { //正转 switch(irq_zhuanzi) //根据转子位置,决定CCER输出相位和转子字偏移量 { /* case 0x01:{ TIM1->CCER=0x3081; //1,4 };break; case 0x03:{ TIM1->CCER=0x3180; //4,5 };break; case 0x02:{ TIM1->CCER=0x3108; //2,5 };break; case 0x06:{ TIM1->CCER=0x3018; //2,3 };break; case 0x04:{ TIM1->CCER=0x3810; //3,6 };break; case 0x05:{ TIM1->CCER=0x3801; //1,6 };break; default:break; */ case 0x05:{ TIM1->CCER=0x3081; //1,4 };break; case 0x04:{ TIM1->CCER=0x3180; //4,5 };break; case 0x06:{ TIM1->CCER=0x3108; //2,5 };break; case 0x02:{ TIM1->CCER=0x3018; //2,3 };break; case 0x03:{ TIM1->CCER=0x3810; //3,6 };break; case 0x01:{ TIM1->CCER=0x3801; //1,6 };break; default:break; } } else { //反转 switch(irq_zhuanzi) //根据转子位置,决定CCER输出相位和转子字偏移量 { case 0x01:{ TIM1->CCER=0x3810; };break; case 0x05:{ TIM1->CCER=0x3018; };break; case 0x04:{ TIM1->CCER=0x3108; };break; case 0x06:{ TIM1->CCER=0x3180; };break; case 0x02:{ TIM1->CCER=0x3081; };break; case 0x03:{ TIM1->CCER=0x3801; };break; default:break; } } } /**************启动******************/ void BLDC_Start(void) { TIM1->SMCR|=0x0006; //开TIM1的输入触发 TIM1->DIER=0x0040; //开TIM1的触发中断 huanxiang(); //调用换向函数,启动 TIM3->CR1|=0x0001; //开TIM3 TIM3->DIER|=0x0050; //开TIM3中断 } void BLDC_Stop(void) { TIM1->SMCR&=0xfff8; //关闭TIM1的输入触发 TIM1->CCER=0; //关闭TIM1的六路输出 Delay_us(40); //延时(加死区) TIM1->CCER=0x0ccc; //打开三路下管,进行能耗制动 while(stalling_count<1); //等待电机停止(TIM3连续溢出10次,即认为电机已停转) TIM1->CCER=0; //关闭TIM1的六路输出,关刹车 TIM3->CR1&=0xfffe; //关闭TIM3 TIM3->CNT=0; //清TIM3的计数器 TIM3->DIER&=0xffaf; //关TIM3中断 } /** * @brief This function handles PPP interrupt request. * @param None * @retval : None */ void TIM1_TRG_COM_IRQHandler(void) { TIM1->SR&=0; //清中断标志 huanxiang(); //调用换向函数 } |