GD32103系列电机驱动项目总结

最新推荐文章于 2024-07-05 17:30:12 发布

索托飞人

最新推荐文章于 2024-07-05 17:30:12 发布

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本文链接：https://blog.csdn.net/weixin_36101480/article/details/109605881

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本文介绍了使用GD32芯片进行电机驱动的实践经验，包括PWM配置、485通信、电机驱动原理及软硬刹车策略。通过线性递增函数实现电机的平滑启动和停止，详细讲解了电机正转、软刹车和硬刹车的实现过程，并涉及电流采集和按键、Flash读写的注意事项。

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这次使用的GD系列的芯片来做电机的驱动。然后对使用GD芯片做个总结。这次做的是一个光伏机器人项目。主要用在光伏板上的机器人，通过驱动电机来清理光伏板。

1.PWM配置

电机驱动使用的是PWM波来驱动。所以我们首先先用GD芯片来产生PWM波。首先下面是PWM的定时器配置。

void PWM_Timer_Config(uint32_t psr, uint32_t arr, uint32_t duty)
{
    timer_oc_parameter_struct timer_ocintpara;
    timer_parameter_struct timer_initpara;
	timer_break_parameter_struct timer_breakpara;

    rcu_periph_clock_enable(RCU_TIMER0);
		
    timer_deinit(TIMER0);

    /* TIMER0 configuration */
    timer_initpara.prescaler         = psr;
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;
    timer_initpara.period            = arr;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;
    timer_initpara.repetitioncounter = 0;
    timer_init(TIMER0,&timer_initpara);

     /* CH0 configuration in PWM mode */
    timer_ocintpara.outputstate  = TIMER_CCX_ENABLE;
    timer_ocintpara.outputnstate = TIMER_CCXN_ENABLE;
    timer_ocintpara.ocpolarity   = TIMER_OC_POLARITY_HIGH;
    timer_ocintpara.ocnpolarity  = TIMER_OCN_POLARITY_HIGH;
    timer_ocintpara.ocidlestate  = TIMER_OC_IDLE_STATE_HIGH;
    timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_HIGH;
    timer_channel_output_config(TIMER0,TIMER_CH_0,&timer_ocintpara);

    timer_channel_output_pulse_value_config(TIMER0,TIMER_CH_0,duty);
    timer_channel_output_mode_config(TIMER0,TIMER_CH_0,TIMER_OC_MODE_PWM0);
    timer_channel_output_shadow_config(TIMER0,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
		
		
    timer_breakpara.runoffstate      = TIMER_ROS_STATE_DISABLE;
    timer_breakpara.ideloffstate     = TIMER_IOS_STATE_DISABLE ;
    timer_breakpara.deadtime         = 5;
    timer_breakpara.breakpolarity    = TIMER_BREAK_POLARITY_HIGH;
    timer_breakpara.outputautostate  = TIMER_OUTAUTO_ENABLE;
    timer_breakpara.protectmode      = TIMER_CCHP_PROT_0;
    timer_breakpara.breakstate       = TIMER_BREAK_ENABLE;
    timer_break_config(TIMER0,&timer_breakpara);
		//timer_break_enable(TIMER0);
		

    time