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bldc/firmware/src/Driver/motor.c

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/*******************************************************************************
* @file motor.c
* @author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2020.10.20
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "motor.h"
/* Definition ----------------------------------------------------------------*/
motor_t motor_info;
/* Functions -----------------------------------------------------------------*/
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/*******************************************************************************
* @brief 启动电机
* @param None
* @retval None
* @note 开启霍尔捕捉中断，提供启动力
*******************************************************************************/
void motor_start()
{
motor_info.state = 1;
TIM1->CCR1 = 0;
TIM1->CCR2 = 0;
TIM1->CCR3 = 0;
//TODO:开启霍尔捕捉中断
motor_step(motor_info.hall_position);
}
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/*******************************************************************************
* @brief 停止电机
* @param None
* @retval None
* @note None
*******************************************************************************/
void motor_stop()
{
motor_info.state = MOTOR_STATE_STOP;
TIM1->CCR1 = 0;
TIM1->CCR2 = 0;
TIM1->CCR3 = 0;
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
}
/*******************************************************************************
* @brief 电机6步驱动法
* @param None
* @retval None
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* @note H-PWM, L-ON
* 电流始终由正极流向负极，所以PWM总是出现在A+、B+、C+,负极保持导通
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*******************************************************************************/
void motor_step()
{
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u8 step = 0;
switch (step)
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{
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case 0x00: //第一步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
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break;
case 0x01: //第二步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
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TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
case 0x02: //第三步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
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break;
case 0x03: //第四步 A+ B-
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TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
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TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
case 0x04: //第五步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
case 0x05: //第六步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
default:
motor_stop();
break;
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}
}
/*********************************END OF FILE**********************************/
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