STM32F030F4 無刷電機無霍爾驅動程序 BLDC

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

#ifndef _TIME1_H_

#define _TIME1_H_

 

#include stm32f0xx.h

 

//========定義PWM的頻率================================================

#define         DEF_PWMFRE          DEF_PWMFRE_16K

#define         DEF_PWMFRE_8K        8000 //計數周期值為48000000/8000=6000

#define         DEF_PWMFRE_16K      16000 //計數周期值為48000000/16000=3000 0.02U/N

#define         DEF_PWMFRE_20K      20000 //計數周期值為48000000/20000=2400

#define         DEF_PWMFRE_25K      25000 //計數周期值為48000000/16000=1920

#define         DEF_PWMFRE_30K      30000 //計數周期值為48000000/16000=1600

 

 

//========PWM1 2 3通道輸出使能位操作=====================================

#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通道互補輸出使能位操作=====================================

#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 比較中斷=====================================

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

#define     TIM1_CMP4IEN_DIS            TIM1->DIER &= ~TIM_IT_CC4

 

////========使能CC4 更新中斷=====================================

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

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

 

//=========比較4中斷進入的時間點=================================

#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互補使能定義

 

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

* 函數名稱: TIM1_GPIO_Init

* 功能描述: TIM1--GPIO引腳配置---在此可以設置6路PWM輸出

* 輸入參數: void

* 返回參數: 無

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

void TIM1_GPIO_Init( void )

{

   GPIO_InitTypeDef GPIO_InitStructure;

 

   /* 使能GPIO時鍾 */

   RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA, ENABLE);

   

   /* 配置GPIO管腳復用  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); //開啟PA8復用功能

   GPIO_PinAFConfig(GPIOA, GPIO_PinSource9, GPIO_AF_2); //開啟PA9復用功能

   GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_2); //開啟PA10復用功能

//  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管腳  PWM2 PWM3 互補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);     

 

}

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

* 函數名稱: GPIO_DOWNPIN_ConfigRst

* 功能描述: BLDC下管IO 配置為正常模式

* 輸入參數: void

* 返回參數: 無

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

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);   

         

}

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

* 函數名稱: GPIO_DOWNPIN_AFConfig

* 功能描述: BLDC下管IO 配置為AF 模式

* 輸入參數: void

* 返回參數: 無

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

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) ;

}

 

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

* 函數名稱: TIM1_PWM_Config

* 功能描述: TIM1-PWM配置

* 輸入參數: void

* 返回參數: 無

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

void TIM1_PWM_Config( void )

{

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

    TIM1 輸入時鍾(TIM1CLK) 設置為 APB2 時鍾 (PCLK2)   

     => TIM1CLK = PCLK2 = SystemCoreClock

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

    SystemCoreClock 為48 MHz

    

    我們的目標產生 4 路PWM 信號在17.57 KHz:

      - TIM1_Period = (SystemCoreClock / 17570) - 1

    信道1設置的占空比為 50%

    信道2設置的占空比為 37.5%

    信道3設置的占空比為 25%

    信道4設置的占空比為 12.5%

    定時器脈沖的計算方式如下:

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

     */ 

     /*計算預定表的值，也就是多少個時鍾計數為一個周期*/

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

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

   TimerPeriod = (SystemCoreClock / DEF_PWMFRE);

   /* TIM1 時鍾使能 */

   RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);

   

   /* Time 定時基礎設置*/

   TIM_Time1BaseStructure.TIM_Prescaler = 0 ;

   TIM_Time1BaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  /* Time 定時設置為上升沿計算模式*/

   TIM_Time1BaseStructure.TIM_Period = TimerPeriod;

   TIM_Time1BaseStructure.TIM_ClockDivision = 0 ;

   TIM_Time1BaseStructure.TIM_RepetitionCounter = 0 ;

 

   TIM_TimeBaseInit(TIM1, &TIM_Time1BaseStructure);

 

   /* 頻道1，2，3，4的PWM 模式設置 */

   TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;

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

   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable ; //TIM_OutputNState_Enable; //互補PWM輸出使能位

   TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  //PWM 1為有效電平

   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //PWM互補 0為有效電平

   TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;

   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

 

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

   TIM_OC1Init(TIM1, &TIM_OCInitStructure); //使能頻道1配置

 

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

   TIM_OC2Init(TIM1, &TIM_OCInitStructure); //使能頻道2配置

 

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

   TIM_OC3Init(TIM1, &TIM_OCInitStructure); //使能頻道3配置

//------使能比較四通道------------------------------------

   

   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 比較四中斷

     

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

   /* TIM1 計算器使能*/

   TIM_Cmd(TIM1, ENABLE);

     

   /* TIM1 主輸出使能 */

   TIM_CtrlPWMOutputs(TIM1, ENABLE);

}

 

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

* 函數名稱: ToPwmValue

* 功能描述: 賦各通道占空比值

* 輸入參數: 占空比值

* 返回參數: 無

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

void ToPwmValue(uint16 PwmDuty)

{

     TIM1->CCR1 = PwmDuty ;

     TIM1->CCR2 = PwmDuty ;

     TIM1->CCR3 = PwmDuty ;

//  TIM1->CCR4 = PwmDuty ;

}

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

* 函數名稱: BLDC_Bak

* 功能描述: 剎車

* 輸入參數: 剎車占空比

* 返回參數: 無

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

void BLDC_Bak(uint16_t PwmDuty)

{

         GPIO_DOWNPIN_AFConfig() ;

         

         PWMABC_Dis ; //關PWM輸出

         PWMABCN_Enb ; //使能互補PWM輸出

       

         TIM1->CCR1 = PwmDuty ; //賦剎車PWM值

         TIM1->CCR2 = PwmDuty ;

         TIM1->CCR3 = PwmDuty ;

}

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

* 函數名稱: BLDC_Bak_End

* 功能描述: 剎車結束時 初始化化下管配置為正常IO模式

* 輸入參數: 剎車占空比

* 返回參數: 無

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

void BLDC_Bak_End( void )

{

     PWMABCN_Dis ; //禁止互補輸出

     GPIO_DOWNPIN_AFConfigRst() ; //

}

 

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

* 函數名稱: TIM1_CCP4NVIC_Config

* 功能描述: TIM1 CCR4 中斷配置

* 輸入參數: 無

* 返回參數: 無

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

void TIM1_CCP4NVIC_Config( void )

{

    NVIC_InitTypeDef NVIC_InitStructure;

 

   /* TIM1 時鍾使能 */

   RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE);

 

   /*  TIM1 中斷嵌套設計*/

   NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn ; //TIM3_IRQn;

   NVIC_InitStructure.NVIC_IRQChannelPriority = 0 ;

   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

   NVIC_Init(&NVIC_InitStructure);

   

}

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

* 函數名稱: ToCCP4PwmValue

* 功能描述: 賦比較4中斷時間值

* 輸入參數: 占空比值

* 返回參數: 無

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

void ToCCP4PwmValue(uint16 PwmDuty)

{

     TIM1->CCR4 = PwmDuty ;