135 lines
5.9 KiB
C
135 lines
5.9 KiB
C
/*******************************************************************************
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* @file motor.c
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* @author: MQjehovah mail:MQjehovah@hotmail.com
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* @version 1.0.0
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* @date 2020.10.20
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* @brief
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******************************************************************************
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* @attention
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*******************************************************************************/
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/* Includes ------------------------------------------------------------------*/
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#include "motor.h"
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#include "GPIO.h"
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/* Definition ----------------------------------------------------------------*/
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motor_t motor_info;
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/* Functions -----------------------------------------------------------------*/
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/*******************************************************************************
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* @brief 启动电机
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* @param None
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* @retval None
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* @note 开启霍尔捕捉中断，提供启动力
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*******************************************************************************/
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void motor_start(void)
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{
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motor_info.state = 1;
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//TODO:开启霍尔捕捉中断
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motor_info.hall_position = get_hall_position();
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motor_step();
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}
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/*******************************************************************************
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* @brief 停止电机
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* @param None
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* @retval None
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* @note None
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*******************************************************************************/
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void motor_stop(void)
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{
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motor_info.state = MOTOR_STATE_STOP;
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TIM1->CCR1 = 0;
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TIM1->CCR2 = 0;
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TIM1->CCR3 = 0;
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
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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_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
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}
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/*******************************************************************************
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* @brief 电机6步驱动法
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* @param None
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* @retval None
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* @note H-PWM, L-ON
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* 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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*******************************************************************************/
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void motor_step(void)
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{
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u8 step = motor_info.hall_position;
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switch (step)
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{
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case 0x03: //第二步 C+ B-
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TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
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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);
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break;
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case 0x01: //第三步 C+ A-
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TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
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TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
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TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
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TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
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break;
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case 0x05: //第四步 B+ A-
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
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TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
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TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
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break;
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case 0x04: //第五步 B+ C-
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TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
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TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
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TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
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TIM_SelectOCxM(TIM1, TIM_Channel_3, 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_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
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break;
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case 0x06: //第六步 A+ C-
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TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
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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_3, 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_Disable);
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TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
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break;
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case 0x02: //第一步 A+ B-
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// GPIO_WritePin(&PB5, HIGH);
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TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
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TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
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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);
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break;
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default:
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// GPIO_WritePin(&PB5, HIGH);
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GPIO_WritePin(&PB5, LOW);
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//motor_stop();
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break;
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}
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TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
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}
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/*********************************END OF FILE**********************************/
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