BLDC 六步换向代码

以下是一个基于STM32的BLDC六步换向代码的例子：

#include "stm32f10x.h"

#define A_H GPIO_Pin_0
#define A_L GPIO_Pin_1
#define B_H GPIO_Pin_2
#define B_L GPIO_Pin_3
#define C_H GPIO_Pin_4
#define C_L GPIO_Pin_5

#define HALL_A GPIO_Pin_6
#define HALL_B GPIO_Pin_7
#define HALL_C GPIO_Pin_8

#define HALL_A_STATE GPIO_ReadInputDataBit(GPIOA, HALL_A))
#define HALL_B_STATE GPIO_ReadInputDataBit(GPIOA, HALL_B))
#define HALL_C_STATE GPIO_ReadInputDataBit(GPIOA, HALL_C))

#define HALL_STATE ((HALL_A_STATE << 2) | (HALL_B_STATE << 1) | HALL_C_STATE)

#define HALL_STATE_1 0x1
#define HALL_STATE_2 0x2
#define HALL_STATE_3 0x3
#define HALL_STATE_4 0x4
#define HALL_STATE_5 0x5
#define HALL_STATE_6 0x6

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = A_H | A_L | B_H | B_L | C_H | C_L;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = HALL_A | HALL_B | HALL_C;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
}

void Delay(__IO uint32_t nCount)
{
    for(; nCount != 0; nCount--);
}

int main(void)
{
    GPIO_Configuration();

    while(1)
    {
        switch(HALL_STATE)
        {
            case HALL_STATE_1:
                GPIO_SetBits(GPIOA, A_H | B_L);
                GPIO_ResetBits(GPIOA, A_L | B_H | C_H | C_L);
                break;
            case HALL_STATE_2:
                GPIO_SetBits(GPIOA, A_H | B_L | C_H);
                GPIO_ResetBits(GPIOA, A_L | B_H | C_L);
                break;
            case HALL_STATE_3:
                GPIO_SetBits(GPIOA, B_H | C_L);
                GPIO_ResetBits(GPIOA, A_H | A_L | B_L | C_H);
                break;
            case HALL_STATE_4:
                GPIO_SetBits(GPIOA, B_H | C_L | A_L);
                GPIO_ResetBits(GPIOA, A_H | B_L | C_H);
                break;
            case HALL_STATE_5:
                GPIO_SetBits(GPIOA, C_H | A_L);
                GPIO_ResetBits(GPIOA, A_H | B_H | B_L | C_L);
                break;
            case HALL_STATE_6:
                GPIO_SetBits(GPIOA, C_H | A_L | B_H);
                GPIO_ResetBits(GPIOA, A_H | B_L | C_L);
                break;
            default:
                break;
        }
        Delay(1000);
    }
}