51 MCU,BLDC有感无感全开源，轻松实践直流无刷电机控制(程序+电路详解) -

#include "main.h"
/*****************************************************************************
函数名 : main
功能描述 : 主函数
输入参数 : 无
输出参数 : void
*****************************************************************************/
void main()
{
StartParaInit();
WDT_Init();
Crpm_Init();
Port_Init();
UART_Init();
Interrupt_Init();
ADC_Init();
CMP_Init();
Pss("V0.1", NONE);
PWM_Init();
#if(SENSORMODE)
PWM1_Init();
#else
Timer0_Init();
#endif
while(1)
{
switch(MasterState)
{
case Startup:
Ps("Start", NONE);
Fault_InitOverUnderVoltage(); // 电源电压判断
UserSpeedControlInit(); //滑阻判断
MasterState = Operation;
mcState = mcInit;
break;
case Operation:
MotorControl();
if(ADCIntProtectCnt >= 5) // 250us
{
Fault_OverCurrent();
Fault_OverUnderVoltage();
UserSpeedControl();
ADCIntProtectCnt = 0;
}
break;
default:
MotorStop();
break;
}
}
}

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#include "common.h"
MasterState_T MasterState;
MotorState_T mcState;
volatile u8 xdata Phase = 0; // 相位
volatile u8 xdata NextPhase = 0;
volatile u8 xdata MotorRotation = CW; // 电机转动方向
volatile u8 xdata TuneDutyRatioCnt = 0; // 调整转速占空比的周期计数
volatile u16 xdata PWMDutyCycle = 0; // PWM占空比
volatile u16 xdata CurrentPgaSample = 0;
volatile u16 xdata CurrentSample = 0; // 电流采样值
volatile u16 xdata VoltageSample = 0; // 电压采样值
volatile u16 xdata UserSpeedSample = 0; // 用户调速采样值
volatile u8 xdata ADCIntProtectCnt = 0; // ADC中断计数保护
volatile u8 xdata flag_ADCSample = 0; // AD采样时的通道切换标志
volatile u8 xdata flag_ErrorException = 0; // BIT0:Timer2计数超时 BIT1:比较器中断异常 BIT2:长短波启动超时 BIT3:长短波电流采样过流 BIT4:ADC采样换相异常 BIT5:CMP换相异常
volatile u8 xdata LastPhase = 0;
volatile u8 xdata SamePhaseCnt = 0;
// 电转速60度时间
volatile bit flag_SpeedTime = 0;
volatile u8 xdata SpeedTimeCnt = 0;
volatile u16 xdata SpeedTime = 0;
volatile u16 xdata SpeedTimeTemp = 0;
volatile u32 xdata SpeedTimeSum = 0;
volatile u16 xdata MotorSpeed = 0;
volatile u16 xdata UserRequireSpeed = 0; // 用户请求转速
volatile u8 xdata RheostatCnt = 0; // 调速信号
// 保护计数
volatile u8 xdata VoltageProCnt = 0;
volatile u8 xdata CurrentPgaProCnt = 0;
volatile u8 xdata CurrentProCnt = 0;
#if(SENSORMODE)
volatile u8 xdata NowHallState = 0; // HALL当前位置
volatile u8 xdata PreHallState = 0; // 前次HALL位置
volatile bit flag_HallStateRight = 0;
volatile u16 xdata OverflowCnt = 0; // PWM1捕获上溢中断计数
#else
volatile u16 xdata NeutralPoint = 0;
volatile u16 xdata UBemf = 0;
volatile u16 xdata VBemf = 0;
volatile u16 xdata WBemf = 0;
volatile u8 xdata BlankingCnt = 0;
volatile u8 xdata CheckZeroCrossState = 0;
volatile u8 xdata Timer0OutCnt = 0; // 换相超时
volatile u16 xdata ADCTimeCnt = 0; // ADC中断计数
volatile u16 xdata DragTime = 0;
#endif
/*****************************************************************************
函数名 : Common_Init
功能描述 : 全局变量初始化
输入参数 : 无
输出参数 : void
*****************************************************************************/
void Common_Init()
{
Phase = 0;
NextPhase = 0;
TuneDutyRatioCnt = 0;
PWMDutyCycle = PWM_DUTYCYCLE_05;
CurrentPgaSample = 0;
CurrentSample = 0; // 电流采样值
VoltageSample = 0; // 电压采样值
UserSpeedSample = 0;
ADCIntProtectCnt = 0;
flag_ADCSample = 0;
flag_ErrorException = 0;
LastPhase = 0;
SamePhaseCnt = 0;
flag_SpeedTime = 0;
SpeedTimeCnt = 0;
SpeedTime = 0;
SpeedTimeTemp = 0;
SpeedTimeSum = 0;
MotorSpeed = 0;
UserRequireSpeed = 0; // 用户请求转速
RheostatCnt = 0;
VoltageProCnt = 0;
CurrentPgaProCnt = 0;
CurrentProCnt = 0;
#if(SENSORMODE)
NowHallState = 0;
PreHallState = 0;
flag_HallStateRight = 0;
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