使用stm32写一个无刷电机驱动程序

好的，下面是一个简单的无刷电机驱动程序的示例代码，基于STM32的HAL库实现：

#include "main.h"
#include "stm32f4xx_hal.h"

// 定义电机相序表
uint8_t bldc_table[6][3] = {
  {0, 1, 3},
  {1, 0, 3},
  {1, 3, 0},
  {3, 1, 0},
  {3, 0, 1},
  {0, 3, 1},
};

// 定义电机当前相序
uint8_t bldc_phase = 0;

// 初始化电机PWM输出
void bldc_pwm_init(void)
{
  TIM_HandleTypeDef htim2;

  // 初始化定时器
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 4095;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim2);

  // 初始化PWM输出
  TIM_OC_InitTypeDef sConfigOC;
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 0;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);
  HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
}

// 更新电机相序
void bldc_update_phase(void)
{
  // 更新相序
  bldc_phase++;
  if (bldc_phase >= 6) {
    bldc_phase = 0;
  }

  // 更新PWM输出
  TIM_HandleTypeDef htim2;
  htim2.Instance = TIM2;
  TIM_OC_InitTypeDef sConfigOC;
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 4095;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.Pulse = 0;
  for (uint8_t i = 0; i < 3; i++) {
    uint8_t chan = bldc_table[bldc_phase][i];
    switch (chan) {
      case 0:
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
        HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1);
        HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
        break;
      case 1:
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_2);
        HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2);
        HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
        break;
      case 2:
        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
        HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3);
        HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
        break;
    }
  }
}

int main(void)
{
  // 初始化硬件
  HAL_Init();
  bldc_pwm_init();

  // 循环更新电机相序
  while (1) {
    bldc_update_phase();
    HAL_Delay(1000);
  }
}

请注意，这只是一个简单的示例代码，实际情况可能会更加复杂。如果您需要更详细的信息，请参考STM32的官方文档和HAL库文档。