STM32F030F4 无刷电机无霍尔驱动程序 BLDC

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STM32F030F4 无刷电机无霍尔驱动程序 BLDC

//==文件time1.h============================================================

#ifndef _TIME1_H_

#define _TIME1_H_

#include stm32f0xx.h

//========定义PWM的频率================================================

#define         DEF_PWMFRE          DEF_PWMFRE_16K

#define         DEF_PWMFRE_8K 8000 //计数周期值为48000000/8000=6000

#define         DEF_PWMFRE_16K      16000//计数周期值为48000000/16000=3000 0.02U/N

#define         DEF_PWMFRE_20K      20000//计数周期值为48000000/20000=2400

#define         DEF_PWMFRE_25K      25000//计数周期值为48000000/16000=1920

#define         DEF_PWMFRE_30K      30000//计数周期值为48000000/16000=1600

//========PWM1 2 3通道输出使能位操作=====================================

#define     PWMA_Enb    TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC1E))

#define     PWMA_Dis    TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC1E))

#define     PWMB_Enb    TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC2E))

#define     PWMB_Dis    TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC2E))

#define     PWMC_Enb    TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC3E))

#define     PWMC_Dis    TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC3E))

#define     PWMD_Enb    TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC4E))

#define     PWMD_Dis    TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC4E))

#define     PWMABC_Dis TIM1->CCER &= (uint16_t)(~((uint16_t)(TIM_CCER_CC1E|TIM_CCER_CC2E|TIM_CCER_CC3E)))

//========PWM1 2 3通道互补输出使能位操作=====================================

#define     PWMAN_Enb   TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC1NE))

#define     PWMAN_Dis   TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC1NE))

#define     PWMBN_Enb   TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC2NE))

#define     PWMBN_Dis   TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC2NE))

#define     PWMCN_Enb   TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC3NE))

#define     PWMCN_Dis   TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC3NE))

#define     PWMDN_Enb   TIM1->CCER |= (uint16_t)(((uint16_t)TIM_CCER_CC4NE))

#define     PWMDN_Dis   TIM1->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC4NE))

#define     PWMABCN_Enb TIM1->CCER |= (uint16_t)(((uint16_t)(TIM_CCER_CC1NE|TIM_CCER_CC2NE|TIM_CCER_CC3NE)))

#define     PWMABCN_Dis TIM1->CCER &= (uint16_t)(~((uint16_t)(TIM_CCER_CC1NE|TIM_CCER_CC2NE|TIM_CCER_CC3NE)))

//========使能CC4 比较中断=====================================

#define     TIM1_CMP4IEN_ENB            TIM1->DIER |= TIM_IT_CC4 //((uint16_t)0x0010)

#define     TIM1_CMP4IEN_DIS            TIM1->DIER &= ~TIM_IT_CC4

////========使能CC4 更新中断=====================================

//#define       TIM1_UpdateIEN_ENB          TIM1->DIER |= TIM_IT_Update //((uint16_t)0x0010)

//#define       TIM1_UpdateIEN_DIS          TIM1->DIER &= ~TIM_IT_Update

//=========比较4中断进入的时间点=================================

#define     V_CCP4PW                150 //

//===================================================

extern void TIM1_GPIO_Init(void) ;

extern void TIM1_PWM_Config(void);

extern void ToPwmValue(uint16 Tcon) ;

extern void BLDC_Bak(uint16_t PwmDuty) ;

extern void BLDC_Bak_End(void) ;

extern void TIM1_CCP4NVIC_Config(void) ;

extern void ToCCP4PwmValue(uint16 PwmDuty) ;

#endif /* _TIME1_H_ */

//==文件time1.c============================================================

#include global.h

#include time1.h

TIM_TimeBaseInitTypeDef TIM_Time1BaseStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;

uint16_t TimerPeriod = 0;

//#define       DEF_PWM_NCP_ENB             1       //PWM互补使能定义

/*******************************************************************************

* 函数名称: TIM1_GPIO_Init

* 功能描述: TIM1--GPIO引脚配置---在此可以设置6路PWM输出

* 输入参数: void

* 返回参数: 无

********************************************************************************/

void TIM1_GPIO_Init(void)

{

  GPIO_InitTypeDef GPIO_InitStructure;

  /* 使能GPIO时钟 */

  RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA, ENABLE);



  /* 配置GPIO管脚复用 PWM1 PWM2 PWM3 */

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;//|GPIO_Pin_11

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN ;//GPIO_PuPd_UP ;

  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_2); //开启PA8复用功能

  GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_2); //开启PA9复用功能

  GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_2); //开启PA10复用功能

// GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_2);

//----------下管 PA7 PB0 PB1 配置---------------------------------------------------

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 ;//

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;

  GPIO_Init(GPIOA, &GPIO_InitStructure);



//-----------------------------------------------------------------------------------

  /* 配置GPIO管脚 PWM2 PWM3 互补GPIO   PB0 PB1 */

  RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOB, ENABLE);



  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 ;//||GPIO_Pin_11

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;

  GPIO_Init(GPIOB, &GPIO_InitStructure);

}

/*******************************************************************************

* 函数名称: GPIO_DOWNPIN_ConfigRst

* 功能描述: BLDC下管IO 配置为正常模式

* 输入参数: void

* 返回参数: 无

********************************************************************************/

void GPIO_DOWNPIN_AFConfigRst(void)

{

    GPIO_InitTypeDef GPIO_InitStructure;



  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 ;//

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;

  GPIO_Init(GPIOA, &GPIO_InitStructure);



  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 ;//||GPIO_Pin_11

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;

  GPIO_Init(GPIOB, &GPIO_InitStructure);



}

/*******************************************************************************

* 函数名称: GPIO_DOWNPIN_AFConfig

* 功能描述: BLDC下管IO 配置为AF 模式

* 输入参数: void

* 返回参数: 无

********************************************************************************/

void GPIO_DOWNPIN_AFConfig(void)

{

    GPIO_InitTypeDef GPIO_InitStructure;



  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 ;//

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;

  GPIO_Init(GPIOA, &GPIO_InitStructure);



    GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_2); //



    //----------------------------------------------------------

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 ;//||GPIO_Pin_11

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;

  GPIO_Init(GPIOB, &GPIO_InitStructure);



  GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2); //

  GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_2) ;

}

/*******************************************************************************

* 函数名称: TIM1_PWM_Config

* 功能描述: TIM1-PWM配置

* 输入参数: void

* 返回参数: 无

********************************************************************************/

void TIM1_PWM_Config(void)

{

    /* TIM1 的配置 ---------------------------------------------------

   TIM1 输入时钟(TIM1CLK) 设置为 APB2 时钟 (PCLK2)

    => TIM1CLK = PCLK2 = SystemCoreClock

   TIM1CLK = SystemCoreClock, Prescaler = 0, TIM1 counter clock = SystemCoreClock

   SystemCoreClock 为48 MHz



   我们的目标产生 4 路PWM 信号在17.57 KHz:

     - TIM1_Period = (SystemCoreClock / 17570) - 1

   信道1设置的占空比为 50%

   信道2设置的占空比为 37.5%

   信道3设置的占空比为 25%

   信道4设置的占空比为 12.5%

   定时器脉冲的计算方式如下:

     - ChannelxPulse = DutyCycle * (TIM1_Period - 1) / 100

    */

    /*计算预定表的值，也就是多少个时钟计数为一个周期*/

  //TimerPeriod = (SystemCoreClock / 17570 ) - 1;

  //TimerPeriod = (SystemCoreClock / DEF_PWMFRE ) - 1;

  TimerPeriod = (SystemCoreClock / DEF_PWMFRE);

  /* TIM1 时钟使能 */

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);



  /* Time 定时基础设置*/

  TIM_Time1BaseStructure.TIM_Prescaler = 0;

  TIM_Time1BaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /* Time 定时设置为上升沿计算模式*/

  TIM_Time1BaseStructure.TIM_Period = TimerPeriod;

  TIM_Time1BaseStructure.TIM_ClockDivision = 0;

  TIM_Time1BaseStructure.TIM_RepetitionCounter = 0;

  TIM_TimeBaseInit(TIM1, &TIM_Time1BaseStructure);

  /* 频道1，2，3，4的PWM 模式设置 */

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;

  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable ;//TIM_OutputState_Enable; //PWM输出使能位

  TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable ;//TIM_OutputNState_Enable; //互补PWM输出使能位

  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //PWM 1为有效电平

  TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //PWM互补 0为有效电平

  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;

  TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

  TIM_OCInitStructure.TIM_Pulse = 0; //赋占空比值

  TIM_OC1Init(TIM1, &TIM_OCInitStructure);//使能频道1配置

  TIM_OCInitStructure.TIM_Pulse = 0; //赋占空比值

  TIM_OC2Init(TIM1, &TIM_OCInitStructure);//使能频道2配置

  TIM_OCInitStructure.TIM_Pulse = 0; //赋占空比值

  TIM_OC3Init(TIM1, &TIM_OCInitStructure);//使能频道3配置

//------使能比较四通道------------------------------------



  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable ;//TIM_OutputState_Enable; //

  TIM_OCInitStructure.TIM_Pulse = V_CCP4PW;

  TIM_OC4Init(TIM1, &TIM_OCInitStructure);



    TIM_ITConfig(TIM1,TIM_IT_CC4, ENABLE); //TIM1 比较四中断



//--------------------------------------------------------

  /* TIM1 计算器使能*/

  TIM_Cmd(TIM1, ENABLE);



  /* TIM1 主输出使能 */

  TIM_CtrlPWMOutputs(TIM1, ENABLE);

}

/*******************************************************************************

* 函数名称: ToPwmValue

* 功能描述: 赋各通道占空比值

* 输入参数: 占空比值

* 返回参数: 无

********************************************************************************/

void ToPwmValue(uint16 PwmDuty)

{

    TIM1->CCR1 = PwmDuty ;

    TIM1->CCR2 = PwmDuty ;

    TIM1->CCR3 = PwmDuty ;

// TIM1->CCR4 = PwmDuty ;

}

/*******************************************************************************

* 函数名称: BLDC_Bak

* 功能描述: 刹车

* 输入参数: 刹车占空比

* 返回参数: 无

********************************************************************************/

void BLDC_Bak(uint16_t PwmDuty)

{

        GPIO_DOWNPIN_AFConfig() ;



        PWMABC_Dis ; //关PWM输出

        PWMABCN_Enb ; //使能互补PWM输出



        TIM1->CCR1 = PwmDuty ; //赋刹车PWM值

        TIM1->CCR2 = PwmDuty ;

        TIM1->CCR3 = PwmDuty ;

}

/*******************************************************************************

* 函数名称: BLDC_Bak_End

* 功能描述: 刹车结束时初始化化下管配置为正常IO模式

* 输入参数: 刹车占空比

* 返回参数: 无

********************************************************************************/

void BLDC_Bak_End(void)

{

    PWMABCN_Dis ; //禁止互补输出

    GPIO_DOWNPIN_AFConfigRst() ; //

}

/*******************************************************************************

* 函数名称: TIM1_CCP4NVIC_Config

* 功能描述: TIM1 CCR4 中断配置

* 输入参数: 无

* 返回参数: 无

********************************************************************************/

void TIM1_CCP4NVIC_Config(void)

{

   NVIC_InitTypeDef NVIC_InitStructure;

  /* TIM1 时钟使能 */

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);

  /* TIM1 中断嵌套设计*/

  NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn ;//TIM3_IRQn;

  NVIC_InitStructure.NVIC_IRQChannelPriority = 0;

  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

  NVIC_Init(&NVIC_InitStructure);



}

/*******************************************************************************

* 函数名称: ToCCP4PwmValue

* 功能描述: 赋比较4中断时间值

* 输入参数: 占空比值

* 返回参数: 无

********************************************************************************/

void ToCCP4PwmValue(uint16 PwmDuty)

{

    TIM1->CCR4 = PwmDuty ;

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原文地址：https://www.cnblogs.com/beiyhs/p/11412253.html