阅读本文前应先阅读上篇博客,了解相关的硬件架构。本文所列出的代码是在上篇博客的基础上进一步优化得到。
需要说明的是,由于6N137的存在,使得高电平变为低电平。故在STM32输出信号时需要注意信号的反向以使到达电机的信号是正确的。
当需要导通一个上桥臂和一个下桥臂时,如PWM_WH_OM_VL_ON;W相上桥臂以及V相下桥臂导通时,其他桥臂的输入电压需为低电平以试MOS管关断,故STM32输出的信号应为WH相PWM波以及VL相低电平。
与上篇博客不同的是,本方法是上桥臂的三个MOS管由PWM控制开关短,下桥臂由高低电平进行控制。故上桥臂的GPIO配置为复用推挽输出,下桥臂对应的GPIO配置为推挽输出。
完整的代码经MDK5自带的虚拟示波器仿真后,证实输出信号正确,且能成功进入中断,hall信号待实物焊接测试完成后与电机连接后进行下一步的测试。此处可忽略hall相关函数的配置。
代码如下:
#include "stm32f10x.h"
#include "delay.h"
#include "stm32f10x_tim.h"
void TIM1_PWM_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE,ENABLE); //使能GPIOE时钟时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE); //时钟使能
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //使能AFIO时钟
GPIO_PinRemapConfig(GPIO_FullRemap_TIM1,ENABLE);//映射为TIMx
//定时器 PE9(UH)、PE11(VH)、PE13(WH) 引脚初始化,用于控制上桥
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_11|GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
//下桥引脚初始化为GPIO PE14(WL)、PE10(UL)、PE12(VL)
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_10|GPIO_Pin_12|GPIO_Pin_14|GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP; // 推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; // IO口速度为50MHz
GPIO_Init(GPIOE, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;//互补通道关闭
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;//互补通道输出比较极性为低
// TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;//CHx 空闲状态输出低电平
// TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;//CHxN 空闲状态输出高电平
//根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //PE9
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //PE11
TIM_OC3Init(TIM1, &TIM_OCInitStructure); //PE13
TIM_OC4Init(TIM1, &TIM_OCInitStructure); //PE14
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);//使能或者失能 TIMx 在 CCR1 上的预装载寄存器
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM1, ENABLE); //使能TIMx
}
///霍尔传感器接口为TIM4完全映射的PD12、PD13、PD14(U、V、W)引脚//
#define HALL_PORT GPIOD
#define HALL_U_PIN GPIO_Pin_12
#define HALL_V_PIN GPIO_Pin_13
#define HALL_W_PIN GPIO_Pin_14
u8 HALL_Value_Now; //当前霍尔的值
u8 HALL_Value_Last; //上一次霍尔的值
u8 HALL_Value_Next; //下一次霍尔的预期值
/读取当前霍尔的值/
void Read_HALL_Value(void)
{
u8 HALL_U,HALL_V,HALL_W;
HALL_U = GPIO_ReadInputDataBit(HALL_PORT, HALL_U_PIN);//读取U相的输入
HALL_V = GPIO_ReadInputDataBit(HALL_PORT, HALL_V_PIN);//读取V相的输入
HALL_W = GPIO_ReadInputDataBit(HALL_PORT, HALL_W_PIN);//读取W相的输入
HALL_Value_Now = HALL_U*4 + HALL_V*2 + HALL_W; //当前的霍尔值计算;
}
/hall初始化/
void Hall_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);//使能GPIOD的时钟
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //使能AFIO时钟
GPIO_InitStructure.GPIO_Pin = HALL_U_PIN|HALL_V_PIN|HALL_W_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//配置GPIO为上拉输入
//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//该句为配置GPIO的输出速率, 此处为读取HALL的输入信号,可不需要。
GPIO_Init(HALL_PORT, &GPIO_InitStructure);//初始化GPIOD
Read_HALL_Value();
}
//#define PWMUVW_DIS TIM1->CCER &= ~(TIM_CCER_CC1E|TIM_CCER_CC2E|TIM_CCER_CC3E);//取消使能UVW所有的输出,所有管子均关闭
#define PWMU_ENB TIM1->CCER |= TIM_CCER_CC1E; TIM_SetCompare1(TIM1,900); TIM_SetCompare2(TIM1,0); TIM_SetCompare3(TIM1,0);
#define PWMV_ENB TIM1->CCER |= TIM_CCER_CC2E; TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,900); TIM_SetCompare3(TIM1,0);
#define PWMW_ENB TIM1->CCER |= TIM_CCER_CC3E; TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,0); TIM_SetCompare3(TIM1,900);
#define UL_ON GPIO_ResetBits(GPIOE,GPIO_Pin_10);
#define VL_ON GPIO_ResetBits(GPIOE,GPIO_Pin_12);
#define WL_ON GPIO_ResetBits(GPIOE,GPIO_Pin_14);
#define UL_OFF GPIO_SetBits(GPIOE,GPIO_Pin_10);
#define VL_OFF GPIO_SetBits(GPIOE,GPIO_Pin_12);
#define WL_OFF GPIO_SetBits(GPIOE,GPIO_Pin_14);
#define PWM_VH_ON_UL_ON VL_OFF; WL_OFF; PWMV_ENB; UL_ON;
#define PWM_UH_ON_WL_ON UL_OFF; VL_OFF; PWMU_ENB; WL_ON;
#define PWM_VH_ON_WL_ON UL_OFF; VL_OFF; PWMV_ENB; WL_ON;
#define PWM_WH_OM_VL_ON UL_OFF; WL_OFF; PWMW_ENB; VL_ON;
#define PWM_WH_ON_UL_ON VL_OFF; WL_OFF; PWMW_ENB; UL_ON;
#define PWM_UH_ON_VL_ON UL_OFF; WL_OFF; PWMU_ENB; VL_ON;
//电机换相函数//
void motor_commutation(HALL_Value_Now)
{
switch(HALL_Value_Now)
{
case 1:
PWM_VH_ON_UL_ON;
break;
case 2:
PWM_UH_ON_WL_ON;
break;
case 3:
PWM_VH_ON_WL_ON;
break;
case 4:
PWM_WH_OM_VL_ON;
break;
case 5:
PWM_WH_ON_UL_ON;
break;
case 6:
PWM_UH_ON_VL_ON;
break;
}
}
//定时器4 产生更新事件进入中断进行换相//
void TIM4_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 1; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; //TIM4中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //从优先级3级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器
TIM_ITConfig(TIM4,TIM_IT_Update,ENABLE);
TIM_Cmd(TIM4,ENABLE);
}
//中断函数
void TIM4_IRQHandler(void)
{
if(TIM_GetITStatus(TIM4,TIM_IT_Update) != RESET)
{
Read_HALL_Value();
//HALL_Value_Now = 4; //仅用于测试是否成功进入中断
//HALL_Value_Last = 2; //仅用于测试是否成功进入中断
if (HALL_Value_Now != HALL_Value_Last)
{
motor_commutation(HALL_Value_Now);
HALL_Value_Last = HALL_Value_Now;
}
TIM_ClearITPendingBit(TIM4,TIM_IT_Update);
}
}
int main()
{
TIM1_PWM_Init(1799,1);
TIM4_Int_Init(1799,1);
while(1)
{
}
}