本帖最后由 好久啊 于 2015-7-14 11:15 编辑 那就地方iv 发表于 2015-7-14 11:02 电调就是控制无刷电机的，你现在做的控制板跟电调的功能是一样的#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 char PWM_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 char PWM_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; #define IC_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->SCR = 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) { u8 bHStatus = 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 void TIM2_CAP_COM_IRQHandler(void) { u8 bHStatus = 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) WM_A_OFF; if(bHallStartStep!=0&&bHallStartStep!=5) WM_B_OFF; if(bHallStartStep!=1&&bHallStartStep!=2) WM_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; } else if(bHallStartStep==1) //AC { TIM1->CCR1H = (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_C_ON; } else if(bHallStartStep==2) //BC { TIM1->CCR2H = (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_C_ON; } else if(bHallStartStep==3) //BA { TIM1->CCR2H = (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_A_ON; } else if(bHallStartStep==4)//CA { TIM1->CCR3H = (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_A_ON; } else if(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 } 复制代码 这一段是用tim2定时器捕获的霍尔信号模块，可以正常运行，然而我用外部中断，却不可以正常工作
