STM32方波霍爾按鍵調速控制無刷電機源碼與原理圖

ID:411433 · 發表于 2018-10-17 22:41

STM32無刷電機源碼幾資料 STM32方波霍爾按鍵調速電路原理圖如下：

單片機源程序如下:

/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : main.c
* Author : MCD Application Team
* Version : V2.0.1
* Date : 06/13/2008
* Description : Main program body
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
#include "main.h"
#include "CAN\can.h"
#define ADC1_DR_Address ((u32)0x4001244C)
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static vu32 TimingDelay = 0;
volatile struct {
unsigned Key : 1;
unsigned CalSpeed : 1;
unsigned Sec : 1;
unsigned Fault : 1;
}Flags;
unsigned int DesiredSpeed=500;//目標速度
unsigned int ActualSpeed;//實際速度
unsigned int pwm=500;//pwm值
unsigned int T3Count;
unsigned int ActualSpeed5[3];
vu16 ADC_DMABUF;
unsigned int AveActualSpeed;
unsigned char AveNum;
unsigned char j;
float kp=2,ki=1,kd=0.0;//pid參數
int ek=0,ek1=0,ek2=0;
float duk;
int du;
int ekSpeed=0;
u16 motor_statue=0;
u16 startcnt=0;
extern u16 My_PWM;//pwm值
extern u16 Hall,time; //霍爾，計時時間
extern bool Direction; //電機旋轉方向
extern u32 timer3value,timer3avg;
extern void TIM1_Configuration1(void);
int state,state1,state2,state3,counter1,counter2,counter3,speed_1,aim_speed,check_run,set_speed;
short ADC_ConvertedValue[5]={0,0,0,0,0};
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
ErrorStatus HSEStartUpStatus;
/* Private function prototypes -----------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
void CalculateDC(int u,int y);
void TIM3_Configuration1(void);
void TIM2_Configuration1(void);
void TIM4_Configuration1(void);
void SysTick_Configuration(void);
void DMA_Configuration1(void);
void ADC_Configuration1(void);
int pid(int nonce,int aim);
u8 key_con(void);
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif
int i;
u8 keytemp=0;//按鍵臨時值
u8 flagccw=0;
NVIC_InitTypeDef NVIC_InitStructure;
/* System Clocks Configuration */
RCC_Configuration();//系統時鐘配置
/* NVIC configuration */
NVIC_Configuration();//中斷配置
DMA_Configuration1();//DMA
ADC_Configuration1();//ADC配置
TIM1_Configuration1();//TIM1配置
TIM2_Configuration1(); //TIM2配置
TIM4_Configuration1();//TIM4配置
GPIO_Configuration(); //GPIO配置
SysTick_Configuration();//滴答時鐘配置
SysTick_CounterCmd(SysTick_Counter_Enable);//使能配置
aim_speed=1000; //pwm值
set_speed=1000;//設置速度值
timer3avg=0;
Hall=5;
while (1)
{
keytemp= key_con(); //按鍵讀取
if(keytemp==1) //啟動
{
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
startcnt=0;
}
if(keytemp==2)//停止
{
TIM_Cmd(TIM1, DISABLE);
TIM_CtrlPWMOutputs(TIM1, DISABLE);
}
if(keytemp==3) //速度加
{
if(time >100)
{
if(set_speed <5000)
set_speed+=10;
time =0;
}
}
else if(keytemp==4)//速度減
{
if(time >100)
{
if(set_speed >200 )
set_speed-=10;
time =0;
}
}
if(keytemp==5) //換方向
{
if(time >1800)
{
time=0;
if(flagccw==0)
{
Direction=1;
}
else
{
Direction=0;
}
flagccw=~flagccw;
}
}
if(startcnt<36) //換相6次后啟動
{
My_PWM = aim_speed;
if(time>2)
{
Hall_SW();
if(Hall==5) Hall=1;
else if(Hall==1) Hall=3;
else if (Hall==3) Hall=2;
else if (Hall==2) Hall=6;
else if (Hall==6) Hall=4;
else if (Hall==4) Hall=5;
time=0;
startcnt++;
}
}
else
{
startcnt=37;
My_PWM = aim_speed;
}
}
}
int pid(int nonce,int aim) //PID運算
{
static int ek_2=0;
static int ek_1=0;
static int ek=0;
int uk;
ek=aim-nonce; //aim 設置值 nonce 實際值
uk=kp*(ek-ek_1)+ki*ek+kd*(ek-2*ek_1+ek_2);
ek_2=ek_1;
ek_1=ek;
if(uk<100) //限幅度
{
uk=100;
}
if(uk>3000)
{
uk=3000;
}
return (uk);
}
/*******************************************************************************
* Function Name : RCC_Configuration
* Description : Configures the different system clocks.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus;
// RCC system reset(for debug purpose)
RCC_DeInit();
// Enable HSE
RCC_HSEConfig(RCC_HSE_ON);
// Wait till HSE is ready
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
// Enable Prefetch Buffer
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
// Flash 2 wait state
FLASH_SetLatency(FLASH_Latency_2);
// HCLK = SYSCLK
RCC_HCLKConfig(RCC_SYSCLK_Div1);
// PCLK2 = HCLK
RCC_PCLK2Config(RCC_HCLK_Div1);
// PCLK1 = HCLK/2
RCC_PCLK1Config(RCC_HCLK_Div2);
// PLLCLK = 8MHz * 9 = 72 MHz
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
// Enable PLL
RCC_PLLCmd(ENABLE);
// Wait till PLL is ready
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
// Select PLL as system clock source
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
// Wait till PLL is used as system clock source
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
else
{
// If HSE fails to start-up, the application will have wrong clock configuration.
// User can add here some code to deal with this error
// Go to infinite loop
while (1)
{
}
}
}
/*******************************************************************************
* Function Name : key_con
* Description : Configures the Motor operation mode
* Input : None
* Output : None
* Return : None
*******************************************************************************/
u8 key_con(void)//讀取按鍵參數
{
static u8 key;
key=0;
if(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_0))
{
key=2;
}
if(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_13))
{
key=1;
}
if(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_14))
{
key=3;
}
if(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_15))
{
key=4;
}
if(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_7))
{
key=5;
}
return key;
}
/*******************************************************************************
* Function Name : GPIO_Configuration
* Description : Configures the different GPIO ports.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO|RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC|RCC_APB2Periph_GPIOD ,ENABLE);
//按鍵輸入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 |GPIO_Pin_7|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//IO口上拉
GPIO_Init(GPIOC, &GPIO_InitStructure);
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 ;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//IO口
// GPIO_Init(GPIOB, &GPIO_InitStructure);
//led輸出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_OD;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* 配置Hall接口IO */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/*霍爾信號線中斷配置*/
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB,GPIO_PinSource6);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB,GPIO_PinSource7);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB,GPIO_PinSource8);
EXTI_InitStructure.EXTI_Line = EXTI_Line6|EXTI_Line7|EXTI_Line8;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/*PA8,PA9,PA10 為上半橋臂*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8| GPIO_Pin_9 | GPIO_Pin_10 ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*PB13,PB14,PB15 為下半橋臂*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configure the nested vectored interrupt controller.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
/* Configure one bit for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
#ifdef DEBUG
/*******************************************************************************
* Function Name : assert_failed
* Description : Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* Input : - file: pointer to the source file name
* - line: assert_param error line source number
* Output : None
* Return : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/*******************************************************************************
* Function Name : SysTick_Config
* Description : Configure a SysTick Base time to 10 ms.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SysTick_Configuration(void)
{
/* Select AHB clock(HCLK) as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
/* Set SysTick Priority to 3 */
NVIC_SystemHandlerPriorityConfig(SystemHandler_SysTick, 5, 0);
/* SysTick interrupt each 1ms with HCLK equal to 72MHz */
SysTick_SetReload(900000);
/* Enable the SysTick Interrupt */
SysTick_ITConfig(ENABLE);
}
/*******************************************************************************
* Function Name : Delay
* Description : Inserts a delay time.
* Input : nCount: specifies the delay time length (time base 10 ms).
* Output : None
* Return : None
*******************************************************************************/
void Delay(u32 nCount)
{
TimingDelay = nCount;
/* Enable the SysTick Counter */
//SysTick_CounterCmd(SysTick_Counter_Enable);
while(TimingDelay != 0)
{
}
/* Disable the SysTick Counter */
//SysTick_CounterCmd(SysTick_Counter_Disable);
/* Clear the SysTick Counter */
SysTick_CounterCmd(SysTick_Counter_Clear);
}
/*******************************************************************************
* Function Name : Decrement_TimingDelay
* Description : Decrements the TimingDelay variable.
* Input : None
* Output : TimingDelay
* Return : None
*******************************************************************************/
void Decrement_TimingDelay(void)
{
if (TimingDelay != 0x00)
{
TimingDelay--;
}
}
/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/

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所有資料51hei提供下載:

LKZN_STM32方波霍爾按鍵調速 -PID.rar (1.72 MB, 下載次數: 92)

ID:407876 · 發表于 2018-10-18 08:28

樓主，好貼。

ID:341045 · 發表于 2018-10-25 15:48

謝謝樓主分享。

ID:165979 · 發表于 2020-1-3 09:01

想下來看看

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STM32方波霍爾按鍵調速控制無刷電機源碼與原理圖