基于STM32F103的无刷电机驱动板（包含有霍尔，无霍尔传感器） -

#include "includes.h"
void Motor_Ctr(void);
void send_wave_data(u16 send_data)
{
usart1_send_byte(0xAA);
usart1_send_byte(send_data>>8);
usart1_send_byte(send_data);
}
void Motor_start_param_initial()
{
MotorCtr.motor_start_delay=MAX_START_DELAY; //电机启动参数初始化，30ms,相当于60000/6/2/30=166圈/分钟
MotorCtr.start_step_cn=0;
#ifdef NO_HOLZER_SENSOR //无霍尔传感器
MotorCtr.Holzer_sensor=0;
MotorCtr.No_Holzer_sensor_start_count=0;
MotorCtr.start_holl_value=2;
#else //有霍尔传感器
MotorCtr.Holzer_sensor=1;
MotorCtr.Holzer_sensor_start_count=0;
#endif
}
//电机控制初始化函数
void MotorCtr_ini(void)
{
MotorCtr.sample_ok=0; //电机采样参数初始化
MotorCtr.motor_voltage=0;
MotorCtr.motor_current=0;
MotorCtr.speed_val=0; //电机速度参数初始化设定值
MotorCtr.speed_set=0;
MotorCtr.speed_time_cnt=0;
MotorCtr.speed_time_ok=0;
MotorCtr.holl_overtime_cnt=0;
MotorCtr.holl_cnt=0;
MotorCtr.sum_holl_time=0;
MotorCtr.sample_ok_cn=0;
MotorCtr.stall_time_cn=0;
MotorCtr.motor_dir= NONE_DIR; //电机转动控制初始化，顺时钟
MotorCtr.motor_run_state = MOTOR_IDLE;
Motor_start_param_initial();
MotorCtr.motor_run_state=MOTOR_START;
MotorCtr.motor_dir= FORWARD_DIR;
//MotorCtr.motor_dir= REVERSE_DIR;
TIM_Cmd(TIM4, ENABLE); //使能TIM4，开始计时间
}
void MOTOR_CMD_process()
{
if(Usart2Data.Usart_Rx_Data_OK)
{
if(Usart2Data.Usart_Rx_Cmd_H==CMD_ORDER)
{
if(Usart2Data.Usart_Rx_Cmd_L&MOTOR_START)
{
Motor_start_param_initial();
MotorCtr.motor_run_state=MOTOR_START;
if(Usart2Data.Usart_Rx_Cmd_L&FORWARD_DIR)
{
MotorCtr.motor_dir= FORWARD_DIR;
}
if(Usart2Data.Usart_Rx_Cmd_L&REVERSE_DIR)
{
MotorCtr.motor_dir= REVERSE_DIR;
}
TIM_Cmd(TIM4, ENABLE); //使能TIM4，开始计时间
}
else if(Usart2Data.Usart_Rx_Cmd_L&MOTOR_STOP)
{
MotorCtr.motor_run_state=MOTOR_STOP;
stop_motor();
TIM_Cmd(TIM4, DISABLE); //使能TIM4，开始计时间
}
}
else if(Usart2Data.Usart_Rx_Cmd_H==CMD_DATA_SPEED)
{
MotorCtr.pwm_duty_set=Usart2Data.Usart_Rx_Cmd_L*MIN_START_PWM_DUTY/SPEED_DUTY_NUM; //速度档位1-10档
}
else if(Usart2Data.Usart_Rx_Cmd_H==CMD_DATA_ANGLE)
{
}
Usart2Data.Usart_Rx_Data_OK=0;
}
}
int main(void)
{
RCC_Configuration();
IO_Initial(); //初始化输入输出IO口及电平中断输入
Delay_Initial(); //用于精确延时
UART1_Initial(115200); //用于调试
UART2_Initial(115200); //用于调试
TIM2_Configuration(); //触发采样，用来设置ADC采样率
MYDMA_Initial(); //ADC配置为DMA传输
ADC_Initial(); //充电电流，电池电压AD输入初始化
TIM4_Configuration(); //用于启动延时
ISR_Initial(); //必须在所有任务开始运行后，开启中断初
//TIM3_Configuration(); //霍尔输入触发配置
//TIM1_Configuration(); //6路PWM产生配置,载波频率为25KHz
MotorCtr_ini();
Motor_Ctr();
}
void Motor_Ctr(void)
{
while(1)
{
MOTOR_CMD_process(); //运控板命令处理
if(MotorCtr.sample_ok)
{
LED_ON=!LED_ON;
MotorCtr.sample_ok=0;
ADC1_Sample_filter(MotorCtr.sample_ok_cn);
MotorCtr.motor_voltage+=single_motor_voltage[MotorCtr.sample_ok_cn];
MotorCtr.motor_current+=single_motor_current[MotorCtr.sample_ok_cn];
ADC1_sample(ENABLE);
MotorCtr.sample_ok_cn++;
if(MotorCtr.sample_ok_cn>=SAMPLE_OK_NUM)
{
MotorCtr.sample_ok_cn=0;
MotorCtr.motor_voltage/=SAMPLE_OK_NUM;
MotorCtr.motor_current/=SAMPLE_OK_NUM;
if(MotorCtr.motor_voltage<BATTERY_MIN_V) //mA，最大可测1.2A
{
}
if(MotorCtr.motor_current>MOTOR_STALL_A) //A
{
}
printf("MotorCtr.motor_run_state %d\n",MotorCtr.motor_run_state);
printf("MotorCtr.motor_voltage %d\n",MotorCtr.motor_voltage); //mV
printf("MotorCtr.motor_current %d\n",MotorCtr.motor_current); //mA
}
}
if(MotorCtr.motor_run_state==MOTOR_START) //无感启动,或有霍尔传感器启动
{
MotorCtr.pwm_duty_set=FIXED_PHASE_PWM_DUTY; //max 1800
Ctr_Process(MotorCtr.start_holl_value,MotorCtr.motor_dir); //转子预定位
delay_ms(100);
MotorCtr.start_holl_value=Manu_Ctr_Process(MotorCtr.start_holl_value,MotorCtr.motor_dir);
Ctr_Process(MotorCtr.start_holl_value,MotorCtr.motor_dir); //二次定位
delay_ms(100);
MotorCtr.pwm_duty_set=MIN_START_PWM_DUTY; //max 1800
MotorCtr.fixed_start_speed_cn=0;
while(1)
{
MotorCtr.start_step_cn++;
Ctr_Process(MotorCtr.start_holl_value,MotorCtr.motor_dir); //控制与换相
if(MotorCtr.start_step_cn<=MAX_START_STEP_NUM) //启动完毕速度，24步后，换向时间2.6ms,相当于60000/6/2/2.6=1923圈/分钟
{
MotorCtr.motor_start_delay=MotorCtr.motor_start_delay*STEP_PWM_DELAY;
}
else
{
if(MotorCtr.fixed_start_speed_cn<FIXED_SPEED_START_NUM) //加速启动后再，固定速度启动几步
MotorCtr.fixed_start_speed_cn++;
else
{
#ifdef IO_INT_SENORLESS
TIM_SetCounter(TIM3,0);
#endif
MotorCtr.motor_run_state = MOTOR_RUN;
ADC1_sample(ENABLE); //理论上在启动中就要检测电流大小，进行保护，调试时跳过
TIM_Cmd(TIM3, ENABLE);
MotorCtr.start_step_cn=0;
break;
}
}
if(MotorCtr.Holzer_sensor) //有感启动，固定霍尔输入
{
MotorCtr.start_holl_value =0;
MotorCtr.start_holl_value = FHASE_C_IN<<2 | FHASE_B_IN<<1 | FHASE_A_IN<<0;
if(MotorCtr.Holzer_sensor_start_count<MAX_MOTOR_START_NUM)
MotorCtr.Holzer_sensor_start_count++;
else
{
MotorCtr.motor_run_state =MOTOR_STALL;
motor_brake();
}
}
else //无感启动，实时读取霍尔输入
{
MotorCtr.start_holl_value=Manu_Ctr_Process(MotorCtr.start_holl_value,MotorCtr.motor_dir);
/*
if(MotorCtr.No_Holzer_sensor_start_count<MAX_MOTOR_START_NUM)
MotorCtr.No_Holzer_sensor_start_count++;
else
{
MotorCtr.motor_run_state =MOTOR_STALL;
motor_brake();
}*/
}
delay_us(MotorCtr.motor_start_delay);
}
}
else if(MotorCtr.motor_run_state == MOTOR_RUN)
{
if(MotorCtr.speed_time_ok)
{
MotorCtr.speed_time_ok=0;
MotorCtr.speed_val=MotorCtr.holl_cnt*SPEED_K; //(MotorCtr.holl_cnt/6步/2对磁极对数)*60=转/min,换向延时 1000ms*60/转/2对磁极对数/6步,4000转时，每换向一次1.25ms
MotorCtr.ave_holl_time=HOLL_SPEED_K/(MotorCtr.sum_holl_time/MotorCtr.holl_cnt);
send_wave_data(MotorCtr.speed_val);
printf("MotorCtr.speed_val %d\n",MotorCtr.speed_val); //转/min
printf("MotorCtr.ave_holl_time %d\n",MotorCtr.ave_holl_time);
//printf("MotorCtr.holl_overtime_cnt %d\n",MotorCtr.holl_overtime_cnt);
printf("MotorCtr.pwm_duty_set %d\n",MotorCtr.pwm_duty_set);
MotorCtr.sum_holl_time=0;
MotorCtr.holl_cnt=0;
}
}
else //MOTOR_STOP
{
MotorCtr.speed_val=0;
MotorCtr.holl_overtime_cnt = 0;
MotorCtr.sum_holl_time=0;
MotorCtr.holl_cnt=0;
}
}
}

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