gd32通过高级定时器中断控制bldc
时间: 2023-06-14 21:06:24 浏览: 303
GD32通过高级定时器中断可以实现BLDC电机控制,具体步骤如下:
1. 配置高级定时器的工作模式为相位和频率正确模式(PWM输出模式)。
2. 配置高级定时器的时钟源和分频器,设置定时器的计数周期为一个电机周期的时间。
3. 配置定时器的输出比较通道,将三相电机的PWM波形输出到对应的引脚。
4. 在定时器中断中更新输出比较通道的比较值,实现电机的转速控制和转向控制。
需要注意的是,在BLDC电机控制中,需要使用电机的霍尔传感器来检测电机转子的位置,并根据转子位置的变化来确定输出PWM波形的相位和频率。因此,在实现BLDC电机控制时,还需要配置和使用外部中断来读取霍尔传感器的信号。
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gd32通过高级定时器中断控制bldc的代码
以下是使用GD32高级定时器中断控制BLDC的基本代码框架。在这个例子中,我们使用了TIM1来控制BLDC的三相电机。
首先,需要在初始化函数中配置TIM1高级定时器,将它配置为PWM模式,并且设置计数器自动重载值。然后,配置TIM1的三个通道,使它们输出PWM波形。
然后,我们需要定义一个中断处理函数,在中断处理函数中,我们将更新三个PWM通道的占空比,以控制BLDC电机的转速。同时,我们还需要处理BLDC电机的正反转和停止操作。
最后,在主函数中,我们可以调用一个函数,使BLDC电机开始旋转。在这个例子中,我们使用了无定时器的方式来控制BLDC电机的转速,因此可以通过改变PWM占空比来改变电机的转速。
```
#include "gd32f30x.h"
#define PWM_FREQ 20000 // PWM频率
#define PWM_DUTY_CYCLE 50 // PWM占空比
// BLDC电机状态
enum {
STOP,
CW,
CCW
} bldc_state = STOP;
// BLDC电机相序表
const uint8_t bldc_phases[6] = {1, 5, 4, 6, 2, 3};
// BLDC电机相序
uint8_t bldc_phase = 0;
// 中断处理函数
void TIMER1_IRQHandler(void)
{
// 清除中断标志位
timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_CH0 | TIMER_INT_FLAG_CH1 | TIMER_INT_FLAG_CH2);
// 更新PWM占空比
if (bldc_state == CW) {
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, PWM_DUTY_CYCLE * 10);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, 0);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, 0);
} else if (bldc_state == CCW) {
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, 0);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, PWM_DUTY_CYCLE * 10);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, 0);
} else {
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, 0);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, 0);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, 0);
}
// 更新BLDC电机相序
if (bldc_phase < 6) {
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3, PWM_DUTY_CYCLE * bldc_phases[bldc_phase]);
} else {
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3, 0);
}
bldc_phase++;
if (bldc_phase > 11) {
bldc_phase = 0;
}
}
// 初始化函数
void init(void)
{
// 使能GPIO和TIMER1时钟
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_TIMER1);
// 配置GPIO
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11);
// 配置TIMER1
timer_deinit(TIMER1);
timer_oc_parameter_struct timer_ocinitpara;
timer_parameter_struct timer_initpara;
timer_struct_para_init(&timer_initpara);
timer_initpara.prescaler = SystemCoreClock / (PWM_FREQ * 1000) - 1;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE_ALIGNED_PWM_MODE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 100 - 1;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_init(TIMER1, &timer_initpara);
timer_struct_para_init(&timer_ocinitpara);
timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, 0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_shadow_config(TIMER1, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, 0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_shadow_config(TIMER1, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, 0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_channel_output_shadow_config(TIMER1, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);
timer_channel_output_config(TIMER1, TIMER_CH_3, &timer_ocinitpara);
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3, 0);
timer_channel_output_mode_config(TIMER1, TIMER_CH_3, TIMER_OC_MODE_PWM0);
timer_channel_output_shadow_config(TIMER1, TIMER_CH_3, TIMER_OC_SHADOW_DISABLE);
// 配置中断
nvic_irq_enable(TIMER1_IRQn, 0, 0);
timer_interrupt_enable(TIMER1, TIMER_INT_CH0 | TIMER_INT_CH1 | TIMER_INT_CH2);
// 启动TIMER1
timer_enable(TIMER1);
}
// BLDC电机启动函数
void bldc_start(void)
{
bldc_state = CW;
}
// BLDC电机停止函数
void bldc_stop(void)
{
bldc_state = STOP;
bldc_phase = 0;
timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_3, 0);
}
// BLDC电机反转函数
void bldc_reverse(void)
{
if (bldc_state == CW) {
bldc_state = CCW;
} else if (bldc_state == CCW) {
bldc_state = CW;
}
}
int main(void)
{
init();
bldc_start();
while (1) {
// 等待中断
}
}
```
stm32通过高级定时器中断控制bldc
BLDC(无刷直流电机)通常使用定时器中断来控制其电子调速器。STM32F系列微控制器具有多个高级定时器,可以用于BLDC控制。
在使用高级定时器控制BLDC之前,需要先选择适当的电子调速器,例如L6234或L6235。然后,您需要编写适当的代码来初始化和配置PWM输出和定时器中断。
以下是一个简单的代码示例用于控制BLDC:
1. 初始化PWM输出和定时器中断:
```
void init_pwm_timer(void)
{
// 初始化PWM输出引脚
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
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(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource4, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM3);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM3);
// 初始化定时器
TIM_TimeBaseStructure.TIM_Period = 1999;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC2Init(TIM3, &TIM_OCInitStructure);
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM3, ENABLE);
}
```
2. 在定时器中断中更新PWM输出:
```
void TIM3_IRQHandler(void)
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
{
// 更新PWM输出
TIM_SetCompare1(TIM3, motor_pwm1);
TIM_SetCompare2(TIM3, motor_pwm2);
TIM_SetCompare3(TIM3, motor_pwm3);
TIM_SetCompare4(TIM3, 0);
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
}
}
```
在上面的代码中,TIM3被用作PWM定时器,并且在定时器中断中更新PWM输出。
请注意,上述代码仅适用于使用L6234或L6235电子调速器的BLDC。如果您使用其他电子调速器,则需要相应地修改代码。