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1、PWM程序 /*摘要： 功能：1. PA4\PA5指示端闪烁，指示系统处于工作状态。 2. 上桥臂开关管PC1\PC2\PC3同时输出占空比40%的PWM信号，即高电平占40%。 3. 下桥臂开关管PB0\PB1\PB2全部处于关断状态,即为低电平。*/ #include "stm8s.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal = ((u16)((STM8_FREQ_MHZ* (u32)1000000)/PWM_FREQUENCY)); //PWM信号周期 //初始化按键，指示灯端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按键配置为输入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按键配置为上拉输入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示灯配置为输出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示灯d配置为推挽模式 GPIOA->ODR|=0x30;//点亮指示灯 } //系统时钟配置：内部16M void Clock_init(void) { CLK->CKDIVR=0; } //换相电路开关管IO初始化 void PWM_IO_init(void) { //PB012 下桥臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置为输出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//关闭下桥臂开关管 //PC123上桥臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置为输出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//关闭上桥臂开关管 } //高级定时器初始化配置 void Tim1_init(void) { //计数器禁止、ARR预装载禁止、边沿对齐模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止从模式 TIM1->IER= 0;//禁止所有中断 TIM1->CCER1= 0; //禁止PWM输出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止预装载 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期设定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比输出均为0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定时计数器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; unsignedint outpwm; for(tem_c=0;tem_c<50000;tem_c++);//上电延时，等待系统稳定 Clock_init();//时钟配置 GPIO_int();//指示灯端口初始化 PWM_IO_init();//开关管控制端口初始化 Tim1_init();//高级定时器配置 outpwm=hArrPwmVal*0.4;//占空比输出设为40% TIM1->CCR1H= (uint8_t)(outpwm >> 8); TIM1->CCR1L= (uint8_t)(outpwm); TIM1->CCR2H= (uint8_t)(outpwm >> 8); TIM1->CCR2L= (uint8_t)(outpwm); TIM1->CCR3H= (uint8_t)(outpwm >> 8); TIM1->CCR3L= (uint8_t)(outpwm); TIM1->CCER1=0x11;//CH1\CH2通道输出PWM使能，高电平有效 TIM1->CCER2=0x1;//CH3通道输出PWM使能，高电平有效 TIM1->BKR|=TIM1_BKR_MOE;//使能PWM输出 while(1) { for(tem_c=0;tem_c<50000;tem_c++); GPIOA->ODR^=0x30;//PA4\PA5指示灯闪烁 } } 2、运转程序 （1）hall.h #include "stm8s.h" #define H1_PORT GPIOD->IDR #define H1_PIN BIT4 #define H2_PORT GPIOD->IDR #define H2_PIN BIT3 #define H3_PORT GPIOD->IDR #define H3_PIN BIT2 extern unsigned int OutPwmValue; extern unsigned char bHallStartStep; #define BIT0 0x01 #define BIT1 0x02 #define BIT2 0x04 #define BIT3 0x08 #define BIT4 0x10 #define BIT5 0x20 #define BIT6 0x40 #define BIT7 0x80 //下桥臂开关控制端口定义 #define MCO0_PORT GPIOB #define MCO0_PIN GPIO_PIN_0 #define MCO2_PORT GPIOB #define MCO2_PIN GPIO_PIN_1 #define MCO4_PORT GPIOB #define MCO4_PIN GPIO_PIN_2 #define PWM_A_ON MCO0_PORT->ODR |= (u8)MCO0_PIN; #define PWM_B_ON MCO2_PORT->ODR |=(u8)MCO2_PIN; #define PWM_C_ON MCO4_PORT->ODR |=(u8)MCO4_PIN; #define PWM_A_OFF MCO0_PORT->ODR &=(u8)(~MCO0_PIN); #define PWM_B_OFF MCO2_PORT->ODR &=(u8)(~MCO2_PIN); #define PWM_C_OFF MCO2_PORT->ODR &= (u8)(~MCO4_PIN); void Init_TIM2(void); void TIM2_InitCapturePolarity(void); void ComHandler(void); （2）hall.c #include "hall.h" unsigned char bHallStartStep;//换相步序变量定义 //换相步序值0-5分别对应AB\AC\BC\BA\CA\CB unsigned int OutPwmValue=0;//PWM输出值变量定义 unsigned char bHallSteps[2][8]={ {7,5,3,4,1,0,2,7},//正转 {7,2,0,1,4,3,5,7}//反转 }; const unsigned charPWM_EN1_TAB[6]={0x01,0x01,0x10,0x10,0x00,0x00}; //六步法中，CH1\CH2通道极性及使能配置 const unsigned charPWM_EN2_TAB[6]={0x0,0x00,0x00,0x0,0x1,0x1}; //六步法中，CH3通道极性及使能配置 //初始化HALL捕获输入定义器 void Init_TIM2(void) { //计数器禁止、ARR预装载禁止、向上计数、边沿对齐模式 TIM2->CR1= BIT2; //禁止TIM2所有中断 TIM2->IER= 0;//禁止中断 TIM2->CCMR1= 0x01;//TIM2的CH1\CH2\CH3通道配置为输入 TIM2->CCMR2= 0x01; TIM2->CCMR3= 0x01; #defineIC_FILTER (u8)(5 << 4) TIM2->CCMR1|= IC_FILTER; //输入捕获滤波器 TIM2->CCMR2|= IC_FILTER; TIM2->CCMR3|= IC_FILTER; //prescale= div3 @ 16MHz -> 0.5us/count * 24MHz -> 0.33us/count TIM2->PSCR= 0; TIM2->ARRH=0xff;//计数周期设为最大 TIM2->ARRL=0xff; TIM2->CCER1|= 0x01;//TIM2的CH1\CH2\CH3通道使能捕获功能 TIM2->CCER1|= 0x10; TIM2->CCER2|= 0x01; TIM2->CR1|= 0x01;//使能TIM2定时器 } //根据HALL状态换相，启动电机运行 void TIM2_InitCapturePolarity(void) { u8bHStatus = 0; GPIOD->DDR&= (u8)(~(0x1c));//HALL端口模式配置 //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } bHallStartStep= bHallSteps[0][bHStatus];//得到换相步序 if(bHallStartStep == 7)//不该出现的HALL状态 { return; } TIM2->SR1=(u8)~(TIM2_IT_CC3|TIM2_IT_CC2|TIM2_IT_CC1); TIM2->IER= 0x0e;//使能输入捕获中断 ComHandler();//输出PWM信号，启动电机 } //捕获中断，即HALL状态变化时，进入此中断 @near @interrupt @svlreg voidTIM2_CAP_COM_IRQHandler(void) { u8bHStatus = 0; //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } if(TIM2->SR1 & BIT2) { TIM2->SR1=(u8)(~TIM2_IT_CC2); } if(TIM2->SR1 & BIT1) { TIM2->SR1=(u8)(~TIM2_IT_CC1); } if(TIM2->SR1 & BIT3) { TIM2->SR1=(u8)(~TIM2_IT_CC3); } bHallStartStep= bHallSteps[0][bHStatus];//得到换相步序 if(bHallStartStep == 7) { //故障，停止输出 TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM输出 PWM_A_OFF; PWM_B_OFF; PWM_C_OFF; return; } ComHandler(); //换相 return; } //换相子函数 void ComHandler(void) { TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM输出 if(bHallStartStep!=3&&bHallStartStep!=4) PWM_A_OFF; if(bHallStartStep!=0&&bHallStartStep!=5) PWM_B_OFF; if(bHallStartStep!=1&&bHallStartStep!=2) PWM_C_OFF; //根据换相步序，打开不同的开关管，并施加正确的PWM信号 if(bHallStartStep==0)//AB { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_B_ON; } elseif(bHallStartStep==1) //AC { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==2) //BC { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==3) //BA { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==4)//CA { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==5) //CB { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_B_ON; } TIM1->CCER1=PWM_EN1_TAB[bHallStartStep]; TIM1->CCER2=PWM_EN2_TAB[bHallStartStep]; TIM1->BKR|=TIM1_BKR_MOE;//使能PWM输出 } （3）mian.c /*摘要： 功能：1. PA4\PA5指示端闪烁，指示系统处于工作状态。 2. 上桥臂开关管PC1\PC2\PC3输出占空比20%的PWM信号，即高电平占20%。 3. 上电根据HALL状态换相，并在输出PWM信号后，电机会转动，同时HALL信号不断改变，然后进入捕获中断，进行及时换相。如此实现电机的运转控制。*/ #include "stm8s.h" #include "hall.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal =((u16)((STM8_FREQ_MHZ * (u32)1000000)/PWM_FREQUENCY)); //PWM信号周期 //初始化按键，指示灯端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按键配置为输入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按键配置为上拉输入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示灯配置为输出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示灯d配置为推挽模式 GPIOA->ODR|=0x30;//点亮指示灯 } //系统时钟配置：内部16M void Clock_init(void) { CLK->CKDIVR=0; } //换相电路开关管IO初始化 void PWM_IO_init(void) { //PB012 下桥臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置为输出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//关闭下桥臂开关管 //PC123上桥臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置为输出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//关闭上桥臂开关管 } //高级定时器初始化配置 void Tim1_init(void) { //计数器禁止、ARR预装载禁止、边沿对齐模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止从模式 TIM1->IER= 0;//禁止所有中断 TIM1->CCER1= 0; //禁止PWM输出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止预装载 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期设定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比输出均为0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定时计数器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; for(tem_c=0;tem_c<50000;tem_c++);//上电延时，等待系统稳定 Clock_init();//时钟配置 GPIO_int();//指示灯端口初始化 PWM_IO_init();//开关管控制端口初始化 Tim1_init();//高级定时器配置 Init_TIM2();//捕获输入定时器初始化配置 enableInterrupts(); OutPwmValue=hArrPwmVal*0.2;//固定20%占空比的PWM值 TIM2_InitCapturePolarity();//根据HALL状态输出PWM状态，启动电机运行 while(1) { for(tem_c=0;tem_c<50000;tem_c++); GPIOA->ODR^=0x30;//PA4\PA5指示灯闪烁 } } 3、启停和调速 （1）hall.h #include "stm8s.h" #define H1_PORT GPIOD->IDR #define H1_PIN BIT4 #define H2_PORT GPIOD->IDR #define H2_PIN BIT3 #define H3_PORT GPIOD->IDR #define H3_PIN BIT2 extern unsigned char St_F;//启停变量 extern unsigned char FaultF;//故障标志 extern unsigned char Run_dir;//运转标志 extern unsigned int OutPwmValue; extern unsigned char bHallStartStep; #define BIT0 0x01 #define BIT1 0x02 #define BIT2 0x04 #define BIT3 0x08 #define BIT4 0x10 #define BIT5 0x20 #define BIT6 0x40 #define BIT7 0x80 //下桥臂开关控制端口定义 #define MCO0_PORT GPIOB #define MCO0_PIN GPIO_PIN_0 #define MCO2_PORT GPIOB #define MCO2_PIN GPIO_PIN_1 #define MCO4_PORT GPIOB #define MCO4_PIN GPIO_PIN_2 #define PWM_A_ON MCO0_PORT->ODR |=(u8)MCO0_PIN; #define PWM_B_ON MCO2_PORT->ODR |=(u8)MCO2_PIN; #define PWM_C_ON MCO4_PORT->ODR |=(u8)MCO4_PIN; #define PWM_A_OFF MCO0_PORT->ODR &=(u8)(~MCO0_PIN); #define PWM_B_OFF MCO2_PORT->ODR &=(u8)(~MCO2_PIN); #define PWM_C_OFF MCO2_PORT->ODR &=(u8)(~MCO4_PIN); void Init_TIM2(void); void TIM2_InitCapturePolarity(void); void ComHandler(void); （2）hall.c #include "hall.h" unsigned char bHallStartStep;//换相步序变量定义 //换相步序值0-5分别对应AB\AC\BC\BA\CA\CB unsigned int OutPwmValue=0;//PWM输出值变量定义 unsigned char St_F=0;//启停标志，0时为停止，1时为启动 unsigned char FaultF=0;//故障标志 unsigned char Run_dir=0;//运转方向，0-1对立 unsigned char bHallSteps[2][8]={ {7,5,3,4,1,0,2,7},//正转 {7,2,0,1,4,3,5,7}//反转 }; const unsigned charPWM_EN1_TAB[6]={0x01,0x01,0x10,0x10,0x00,0x00}; //六步法中，CH1\CH2通道极性及使能配置 const unsigned charPWM_EN2_TAB[6]={0x0,0x00,0x00,0x0,0x1,0x1}; //六步法中，CH3通道极性及使能配置 //初始化HALL捕获输入定义器 void Init_TIM2(void) { //计数器禁止、ARR预装载禁止、向上计数、边沿对齐模式 TIM2->CR1= BIT2; //禁止TIM2所有中断 TIM2->IER= 0;//禁止中断 TIM2->CCMR1= 0x01;//TIM2的CH1\CH2\CH3通道配置为输入 TIM2->CCMR2= 0x01; TIM2->CCMR3= 0x01; #defineIC_FILTER (u8)(5 << 4) TIM2->CCMR1|= IC_FILTER; //输入捕获滤波器 TIM2->CCMR2|= IC_FILTER; TIM2->CCMR3|= IC_FILTER; //prescale= div3 @ 16MHz -> 0.5us/count * 24MHz -> 0.33us/count TIM2->PSCR= 0; TIM2->ARRH=0xff;//计数周期设为最大 TIM2->ARRL=0xff; TIM2->CCER1|= 0x01;//TIM2的CH1\CH2\CH3通道使能捕获功能 TIM2->CCER1|= 0x10; TIM2->CCER2|= 0x01; TIM2->CR1|= 0x01;//使能TIM2定时器 } //根据HALL状态换相，启动电机运行 void TIM2_InitCapturePolarity(void) { u8bHStatus = 0; GPIOD->DDR&= (u8)(~(0x1c));//HALL端口模式配置 //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } bHallStartStep= bHallSteps[Run_dir][bHStatus];//得到换相步序 if(bHallStartStep == 7)//不该出现的HALL状态 { return; } TIM2->SR1=(u8)~(TIM2_IT_CC3|TIM2_IT_CC2|TIM2_IT_CC1); TIM2->IER= 0x0e;//使能输入捕获中断 ComHandler();//输出PWM信号，启动电机 } //捕获中断，即HALL状态变化时，进入此中断 @near @interrupt @svlreg voidTIM2_CAP_COM_IRQHandler(void) { u8bHStatus = 0; //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } if(TIM2->SR1 & BIT2) { TIM2->SR1=(u8)(~TIM2_IT_CC2); } if(TIM2->SR1 & BIT1) { TIM2->SR1=(u8)(~TIM2_IT_CC1); } if(TIM2->SR1 & BIT3) { TIM2->SR1=(u8)(~TIM2_IT_CC3); } bHallStartStep= bHallSteps[Run_dir][bHStatus];//得到换相步序 if(bHallStartStep == 7) { //故障，停止输出 TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM输出 PWM_A_OFF; PWM_B_OFF; PWM_C_OFF; return; } ComHandler(); //换相 return; } //换相子函数 void ComHandler(void) { TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM输出 if(FaultF!=0||St_F==0) {PWM_A_OFF;PWM_B_OFF;PWM_C_OFF;return;} if(bHallStartStep!=3&&bHallStartStep!=4) PWM_A_OFF; if(bHallStartStep!=0&&bHallStartStep!=5) PWM_B_OFF; if(bHallStartStep!=1&&bHallStartStep!=2) PWM_C_OFF; //根据换相步序，打开不同的开关管，并施加正确的PWM信号 if(bHallStartStep==0)//AB { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_B_ON; } elseif(bHallStartStep==1) //AC { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==2) //BC { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==3) //BA { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==4)//CA { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==5) //CB { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_B_ON; } TIM1->CCER1=PWM_EN1_TAB[bHallStartStep]; TIM1->CCER2=PWM_EN2_TAB[bHallStartStep]; TIM1->BKR|=TIM1_BKR_MOE;//使能PWM输出 } （3）mian.c /*功能： 1. PD5指示灯，上电亮，指示系统处于工作状态。 2.PA4指示灯，指示电机启停与否。 3.PA5指示灯，指示电机运行方向 4.上桥臂开关管PC1\PC2\PC3输出可变PWM信号，以完成调速功能。 5.PG7按键为电机启停控制键，PG6为电机方向切换键。 6.PF5电位器，旋转时实现PWM开环调速功能。*/ #include "stm8s.h" #include "hall.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal =((u16)((STM8_FREQ_MHZ * (u32)1000000)/PWM_FREQUENCY)); //PWM信号周期 //hArrPwmVal=1000 #define MINPWMPERCENT 10 #define MAXPWMPERCENT 90 #define MINVALUE MINPWMPERCENT*10 //hArrPwmVal=1000 //MINPWMPERCENT*hArrPwmVal/100简化为MINPWMPERCENT*10 #define MAXVALUE MAXPWMPERCENT*10 //MAXPWMPERCENT*hArrPwmVal/100简化MAXPWMPERCENT*10 //初始化按键，指示灯端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按键配置为输入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按键配置为上拉输入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示灯配置为输出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示灯d配置为推挽模式 GPIOA->ODR|=0x30;//关闭指示灯 GPIOD->DDR=GPIOD->DDR|0x20;//PD5指示灯配置为输出模式 GPIOD->CR1=GPIOD->CR1|0x20;//PD5指示灯d配置为推挽模式 GPIOD->ODR&=~0x20;//点亮指示灯，指示系统工作 } //系统时钟配置：内部16M void Clock_init(void) { CLK->CKDIVR=0; } //电位器调速AD初始 PF5 初始化 AIN13 void AD_int(void) { u8value; u16ADC_TDR_tmp; ADC2->CSR= 13; //AIN13通道选择 //select4MHz clock based on 16MHz fMaster (div4), single mode ADC2->CR1= 0x20; ADC2->CR2= 0x08;//数据右对齐 ADC2->TDRH=0x20;//AIN13禁止施密特触发 ADC2->CR1|= 0X01;//使能ADC value=30; while(value--);//等待ADC稳定 ADC2->CSR&= 0x7f;//清EOC标志 ADC2->CR1|= 0x01;//启动AD } //换相电路开关管IO初始化 void PWM_IO_init(void) { //PB012 下桥臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置为输出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//关闭下桥臂开关管 //PC123上桥臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置为输出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//关闭上桥臂开关管 } //高级定时器初始化配置 void Tim1_init(void) { //计数器禁止、ARR预装载禁止、边沿对齐模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止从模式 TIM1->IER= 0;//禁止所有中断 TIM1->CCER1= 0; //禁止PWM输出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止预装载 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期设定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比输出均为0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定时计数器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; unsignedchar B_k1=0,B_k2=0; unsignedint ADConverValue=0; for(tem_c=0;tem_c<50000;tem_c++);//上电延时，等待系统稳定 Clock_init();//时钟配置 GPIO_int();//指示灯端口初始化 PWM_IO_init();//开关管控制端口初始化 Tim1_init();//高级定时器配置 Init_TIM2();//捕获输入定时器初始化配置 enableInterrupts(); AD_int(); OutPwmValue=MINVALUE; while(1) {if((GPIOG->IDR&0x80)==0x80)B_k1=0;//PG7为启停键 elseif(B_k1==0)//PG7按下时，指示灯亮 { for(tem_c=0;tem_c<500;tem_c++); if((GPIOG->IDR&0x80)==0x00) { B_k1=1; if(FaultF!=0)FaultF=0;//当前处于故障状态 St_F=1-St_F;//启停标志变量改变 if(St_F==1)//启动 { TIM2_InitCapturePolarity(); //根据HALL状态输出PWM状态，启动电机运行 GPIOA->ODR&=~(0x10); //PA4指示灯亮，表示启动电机 } else { ComHandler();//根据启停标志变量关闭PWM输出。 GPIOA->ODR|=0x10;//电机停止运行指示灯指示 } } } if((GPIOG->IDR&0x40)==0x40)B_k2=0;//PG6为方向键 elseif(B_k2==0)//PG7按下时，指示灯灭 { for(tem_c=0;tem_c<500;tem_c++); if((GPIOG->IDR&0x40)==0x00) { B_k2=1; if(St_F==0)//电机处于停止状态 { Run_dir=1-Run_dir;//方向切换 GPIOA->ODR^=0x20;//PA5指示灯变换 } } } if(ADC2->CSR&0x80) { ADC2->CSR&= (u8)(~0x80);//清除EOC标志 ADConverValue=ADC2->DRH*256+ADC2->DRL;//读取AD转换值 ADC2->CR1|= 0x01;//启动AD if(ADConverValue<MINVALUE) ADConverValue=MINVALUE; elseif(ADConverValue>MAXVALUE) ADConverValue=MAXVALUE; OutPwmValue=ADConverValue;//赋值PWM输出变量值 } if(FaultF==1) { ComHandler();//故障时，关闭PWM输出 FaultF=2; } } }
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