开源用于机器人的STM32F407双电机（BLDC）自主原创算法 正弦波驱动源码

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if(MotorR.Angle > MotorR.SinePoint)
        {
            MotorR.Angle = MotorR.Angle + 1 - MotorR.SinePoint ;    //0->383, 383.1 = 0.1
        }            
        AngleHarWave = (AngleTemp<<1) + AngleTemp;
        if(AngleHarWave > MotorR.SinePoint-1)
        {
            AngleHarWave = AngleHarWave % MotorR.SinePoint ;
        }
        //A相采点        
        MotorR.PhaseA = SineTable[AngleTemp] ;
        
        if(AngleHarWave > MotorR.SinePoint-1)
        {
            AngleHarWave = AngleHarWave + 1 - MotorR.SinePoint ;
        }
        MotorR.PhaseA += SineTable[AngleHarWave]/6;
        
        //B相采点
        AngleTemp += 128  ;                     
        if(AngleTemp > MotorR.SinePoint-1) 
        {
            AngleTemp =  AngleTemp + 1 - MotorR.SinePoint ;
        } 
        MotorR.PhaseB = SineTable[AngleTemp] ;

        AngleHarWave = (AngleTemp<<1) + AngleTemp;
        if(AngleHarWave > MotorR.SinePoint-1)
        {
            AngleHarWave = AngleHarWave % MotorR.SinePoint ;
        }
        MotorR.PhaseB += SineTable[AngleHarWave]/6;
        
        //C相采点
        AngleTemp += 128 ;  
        if(AngleTemp > MotorR.SinePoint-1) 
        {
            AngleTemp =  AngleTemp + 1 - MotorR.SinePoint ;
        } 
        MotorR.PhaseC = SineTable[AngleTemp] ;       
        
        AngleHarWave = (AngleTemp<<1) + AngleTemp;
        if(AngleHarWave > MotorR.SinePoint-1)
        {
            AngleHarWave = AngleHarWave % MotorR.SinePoint ;
        }

void BLDC_TIM18Config(void)  //TIM1 & TIM8 
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_BDTRInitTypeDef      TIM_BDTRInitStructure;
TIM_OCInitTypeDef   TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
MotorR.Pwm_Period = 5600 ;  //15K
        MotorL.Pwm_Period = 5600 ;
/* TIM1,2 clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
#ifdef VERSIONS_6_2
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
#endif

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 ; //配置TIM8互补引脚输出

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  
GPIO_Init(GPIOC, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 ; //配置TIM8互补引脚输出

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 ; //配置TIM8互补引脚输出

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  
GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource7,  GPIO_AF_TIM8); 
GPIO_PinAFConfig(GPIOC, GPIO_PinSource8,  GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0,  GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1,  GPIO_AF_TIM8);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7,  GPIO_AF_TIM8);


GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | //配置TIM1互补引脚输出
GPIO_Pin_11| GPIO_Pin_12| GPIO_Pin_13 ;    

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  
GPIO_Init(GPIOE, &GPIO_InitStructure);

GPIO_PinAFConfig(GPIOE, GPIO_PinSource8, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9,  GPIO_AF_TIM1); 
GPIO_PinAFConfig(GPIOE, GPIO_PinSource10, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource12, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);


/* Time base configuration */

TIM_TimeBaseStructure.TIM_Prescaler = 0; //预分频值,
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;//TIM_CounterMode_CenterAligned1;  
TIM_TimeBaseStructure.TIM_Period = MotorR.Pwm_Period-1 ;  
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

/* Compute the prescaler value */

TIM_TimeBaseStructure.TIM_Prescaler = 0; //预分频值,
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;  
TIM_TimeBaseStructure.TIM_Period = MotorL.Pwm_Period-1 ;  
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);



TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = A_pulse; //pwm宽度
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;   //IR2103    HIN  0   1   X
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;   //     LIN   0   1  ~X
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;      //          HO    0   1   0
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;    // LO    1   0   0

TIM_OC1Init(TIM1, &TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse = B_pulse;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse = C_pulse;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);

TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);

/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 0x7e; //750ns
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;

TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);

TIM_CCPreloadControl(TIM1, ENABLE);

TIM_UpdateRequestConfig(TIM1,TIM_UpdateSource_Global);

TIM_ITConfig(TIM1, TIM_IT_Update, DISABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, DISABLE);    //在main函数里设置

/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM1, DISABLE) ;



TIM_Cmd(TIM1,ENABLE);

TIM_CtrlPWMOutputs(TIM1, ENABLE) ;


TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = A_pulse; //pwm宽度
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;   //IR2103    HIN  0   1   X
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;   //     LIN   0   1  ~X
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;      //          HO    0   1   0
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;    // LO    1   0   0

TIM_OC1Init(TIM8, &TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse = B_pulse;
TIM_OC2Init(TIM8, &TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse = C_pulse;
TIM_OC3Init(TIM8, &TIM_OCInitStructure);

TIM_OC1PreloadConfig(TIM8,TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM8,TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM8,TIM_OCPreload_Enable);

/* Automatic Output enable, Break, dead time and lock configuration*/
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 0x7e; //750ns
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;

TIM_BDTRConfig(TIM8, &TIM_BDTRInitStructure);

TIM_CCPreloadControl(TIM8, ENABLE);

TIM_UpdateRequestConfig(TIM8,TIM_UpdateSource_Global);

TIM_ITConfig(TIM8, TIM_IT_Update, DISABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM8, DISABLE);    //在main函数里设置

/* Main Output Enable */
TIM_CtrlPWMOutputs(TIM8, DISABLE) ;



TIM_Cmd(TIM8,ENABLE);

TIM_CtrlPWMOutputs(TIM8, ENABLE) ;


TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);   //使能捕获比较寄存器预装载（通道1）
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道2）
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道3）

TIM_OC1PreloadConfig(TIM8,TIM_OCPreload_Enable);   //使能捕获比较寄存器预装载（通道1）
TIM_OC2PreloadConfig(TIM8,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道2）
TIM_OC3PreloadConfig(TIM8,TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道3）

BLDC_Stop();
}