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1、PWM程序 /*摘要： 功能：1. PA4\PA5指示端閃爍，指示系統處于工作狀態。 2. 上橋臂開關管PC1\PC2\PC3同時輸出占空比40%的PWM信號，即高電平占40%。 3. 下橋臂開關管PB0\PB1\PB2全部處于關斷狀態,即為低電平。*/ #include "stm8s.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal = ((u16)((STM8_FREQ_MHZ* (u32)1000000)/PWM_FREQUENCY)); //PWM信號周期 //初始化按鍵，指示燈端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按鍵配置為輸入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按鍵配置為上拉輸入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示燈配置為輸出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示燈d配置為推挽模式 GPIOA->ODR|=0x30;//點亮指示燈 } //系統時鐘配置：內部16M void Clock_init(void) { CLK->CKDIVR=0; } //換相電路開關管IO初始化 void PWM_IO_init(void) { //PB012 下橋臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置為輸出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//關閉下橋臂開關管 //PC123上橋臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置為輸出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//關閉上橋臂開關管 } //高級定時器初始化配置 void Tim1_init(void) { //計數器禁止、ARR預裝載禁止、邊沿對齊模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止從模式 TIM1->IER= 0;//禁止所有中斷 TIM1->CCER1= 0; //禁止PWM輸出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止預裝載 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期設定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比輸出均為0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定時計數器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; unsignedint outpwm; for(tem_c=0;tem_c<50000;tem_c++);//上電延時，等待系統穩定 Clock_init();//時鐘配置 GPIO_int();//指示燈端口初始化 PWM_IO_init();//開關管控制端口初始化 Tim1_init();//高級定時器配置 outpwm=hArrPwmVal*0.4;//占空比輸出設為40% TIM1->CCR1H= (uint8_t)(outpwm >> 8); TIM1->CCR1L= (uint8_t)(outpwm); TIM1->CCR2H= (uint8_t)(outpwm >> 8); TIM1->CCR2L= (uint8_t)(outpwm); TIM1->CCR3H= (uint8_t)(outpwm >> 8); TIM1->CCR3L= (uint8_t)(outpwm); TIM1->CCER1=0x11;//CH1\CH2通道輸出PWM使能，高電平有效 TIM1->CCER2=0x1;//CH3通道輸出PWM使能，高電平有效 TIM1->BKR|=TIM1_BKR_MOE;//使能PWM輸出 while(1) { for(tem_c=0;tem_c<50000;tem_c++); GPIOA->ODR^=0x30;//PA4\PA5指示燈閃爍 } } 2、運轉程序 （1）hall.h #include "stm8s.h" #define H1_PORT GPIOD->IDR #define H1_PIN BIT4 #define H2_PORT GPIOD->IDR #define H2_PIN BIT3 #define H3_PORT GPIOD->IDR #define H3_PIN BIT2 extern unsigned int OutPwmValue; extern unsigned char bHallStartStep; #define BIT0 0x01 #define BIT1 0x02 #define BIT2 0x04 #define BIT3 0x08 #define BIT4 0x10 #define BIT5 0x20 #define BIT6 0x40 #define BIT7 0x80 //下橋臂開關控制端口定義 #define MCO0_PORT GPIOB #define MCO0_PIN GPIO_PIN_0 #define MCO2_PORT GPIOB #define MCO2_PIN GPIO_PIN_1 #define MCO4_PORT GPIOB #define MCO4_PIN GPIO_PIN_2 #define PWM_A_ON MCO0_PORT->ODR |= (u8)MCO0_PIN; #define PWM_B_ON MCO2_PORT->ODR |=(u8)MCO2_PIN; #define PWM_C_ON MCO4_PORT->ODR |=(u8)MCO4_PIN; #define PWM_A_OFF MCO0_PORT->ODR &=(u8)(~MCO0_PIN); #define PWM_B_OFF MCO2_PORT->ODR &=(u8)(~MCO2_PIN); #define PWM_C_OFF MCO2_PORT->ODR &= (u8)(~MCO4_PIN); void Init_TIM2(void); void TIM2_InitCapturePolarity(void); void ComHandler(void); （2）hall.c #include "hall.h" unsigned char bHallStartStep;//換相步序變量定義 //換相步序值0-5分別對應AB\AC\BC\BA\CA\CB unsigned int OutPwmValue=0;//PWM輸出值變量定義 unsigned char bHallSteps[2][8]={ {7,5,3,4,1,0,2,7},//正轉 {7,2,0,1,4,3,5,7}//反轉 }; const unsigned charPWM_EN1_TAB[6]={0x01,0x01,0x10,0x10,0x00,0x00}; //六步法中，CH1\CH2通道極性及使能配置 const unsigned charPWM_EN2_TAB[6]={0x0,0x00,0x00,0x0,0x1,0x1}; //六步法中，CH3通道極性及使能配置 //初始化HALL捕獲輸入定義器 void Init_TIM2(void) { //計數器禁止、ARR預裝載禁止、向上計數、邊沿對齊模式 TIM2->CR1= BIT2; //禁止TIM2所有中斷 TIM2->IER= 0;//禁止中斷 TIM2->CCMR1= 0x01;//TIM2的CH1\CH2\CH3通道配置為輸入 TIM2->CCMR2= 0x01; TIM2->CCMR3= 0x01; #defineIC_FILTER (u8)(5 << 4) TIM2->CCMR1|= IC_FILTER; //輸入捕獲濾波器 TIM2->CCMR2|= IC_FILTER; TIM2->CCMR3|= IC_FILTER; //prescale= div3 @ 16MHz -> 0.5us/count * 24MHz -> 0.33us/count TIM2->PSCR= 0; TIM2->ARRH=0xff;//計數周期設為最大 TIM2->ARRL=0xff; TIM2->CCER1|= 0x01;//TIM2的CH1\CH2\CH3通道使能捕獲功能 TIM2->CCER1|= 0x10; TIM2->CCER2|= 0x01; TIM2->CR1|= 0x01;//使能TIM2定時器 } //根據HALL狀態換相，啟動電機運行 void TIM2_InitCapturePolarity(void) { u8bHStatus = 0; GPIOD->DDR&= (u8)(~(0x1c));//HALL端口模式配置 //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } bHallStartStep= bHallSteps[0][bHStatus];//得到換相步序 if(bHallStartStep == 7)//不該出現的HALL狀態 { return; } TIM2->SR1=(u8)~(TIM2_IT_CC3|TIM2_IT_CC2|TIM2_IT_CC1); TIM2->IER= 0x0e;//使能輸入捕獲中斷 ComHandler();//輸出PWM信號，啟動電機 } //捕獲中斷，即HALL狀態變化時，進入此中斷 @near @interrupt @svlreg voidTIM2_CAP_COM_IRQHandler(void) { u8bHStatus = 0; //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } if(TIM2->SR1 & BIT2) { TIM2->SR1=(u8)(~TIM2_IT_CC2); } if(TIM2->SR1 & BIT1) { TIM2->SR1=(u8)(~TIM2_IT_CC1); } if(TIM2->SR1 & BIT3) { TIM2->SR1=(u8)(~TIM2_IT_CC3); } bHallStartStep= bHallSteps[0][bHStatus];//得到換相步序 if(bHallStartStep == 7) { //故障，停止輸出 TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM輸出 PWM_A_OFF; PWM_B_OFF; PWM_C_OFF; return; } ComHandler(); //換相 return; } //換相子函數 void ComHandler(void) { TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM輸出 if(bHallStartStep!=3&&bHallStartStep!=4) PWM_A_OFF; if(bHallStartStep!=0&&bHallStartStep!=5) PWM_B_OFF; if(bHallStartStep!=1&&bHallStartStep!=2) PWM_C_OFF; //根據換相步序，打開不同的開關管，并施加正確的PWM信號 if(bHallStartStep==0)//AB { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_B_ON; } elseif(bHallStartStep==1) //AC { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==2) //BC { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==3) //BA { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==4)//CA { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==5) //CB { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_B_ON; } TIM1->CCER1=PWM_EN1_TAB[bHallStartStep]; TIM1->CCER2=PWM_EN2_TAB[bHallStartStep]; TIM1->BKR|=TIM1_BKR_MOE;//使能PWM輸出 } （3）mian.c /*摘要： 功能：1. PA4\PA5指示端閃爍，指示系統處于工作狀態。 2. 上橋臂開關管PC1\PC2\PC3輸出占空比20%的PWM信號，即高電平占20%。 3. 上電根據HALL狀態換相，并在輸出PWM信號后，電機會轉動，同時HALL信號不斷改變，然后進入捕獲中斷，進行及時換相。如此實現電機的運轉控制。*/ #include "stm8s.h" #include "hall.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal =((u16)((STM8_FREQ_MHZ * (u32)1000000)/PWM_FREQUENCY)); //PWM信號周期 //初始化按鍵，指示燈端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按鍵配置為輸入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按鍵配置為上拉輸入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示燈配置為輸出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示燈d配置為推挽模式 GPIOA->ODR|=0x30;//點亮指示燈 } //系統時鐘配置：內部16M void Clock_init(void) { CLK->CKDIVR=0; } //換相電路開關管IO初始化 void PWM_IO_init(void) { //PB012 下橋臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置為輸出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//關閉下橋臂開關管 //PC123上橋臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置為輸出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//關閉上橋臂開關管 } //高級定時器初始化配置 void Tim1_init(void) { //計數器禁止、ARR預裝載禁止、邊沿對齊模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止從模式 TIM1->IER= 0;//禁止所有中斷 TIM1->CCER1= 0; //禁止PWM輸出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止預裝載 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期設定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比輸出均為0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定時計數器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; for(tem_c=0;tem_c<50000;tem_c++);//上電延時，等待系統穩定 Clock_init();//時鐘配置 GPIO_int();//指示燈端口初始化 PWM_IO_init();//開關管控制端口初始化 Tim1_init();//高級定時器配置 Init_TIM2();//捕獲輸入定時器初始化配置 enableInterrupts(); OutPwmValue=hArrPwmVal*0.2;//固定20%占空比的PWM值 TIM2_InitCapturePolarity();//根據HALL狀態輸出PWM狀態，啟動電機運行 while(1) { for(tem_c=0;tem_c<50000;tem_c++); GPIOA->ODR^=0x30;//PA4\PA5指示燈閃爍 } } 3、啟停和調速 （1）hall.h #include "stm8s.h" #define H1_PORT GPIOD->IDR #define H1_PIN BIT4 #define H2_PORT GPIOD->IDR #define H2_PIN BIT3 #define H3_PORT GPIOD->IDR #define H3_PIN BIT2 extern unsigned char St_F;//啟停變量 extern unsigned char FaultF;//故障標志 extern unsigned char Run_dir;//運轉標志 extern unsigned int OutPwmValue; extern unsigned char bHallStartStep; #define BIT0 0x01 #define BIT1 0x02 #define BIT2 0x04 #define BIT3 0x08 #define BIT4 0x10 #define BIT5 0x20 #define BIT6 0x40 #define BIT7 0x80 //下橋臂開關控制端口定義 #define MCO0_PORT GPIOB #define MCO0_PIN GPIO_PIN_0 #define MCO2_PORT GPIOB #define MCO2_PIN GPIO_PIN_1 #define MCO4_PORT GPIOB #define MCO4_PIN GPIO_PIN_2 #define PWM_A_ON MCO0_PORT->ODR |=(u8)MCO0_PIN; #define PWM_B_ON MCO2_PORT->ODR |=(u8)MCO2_PIN; #define PWM_C_ON MCO4_PORT->ODR |=(u8)MCO4_PIN; #define PWM_A_OFF MCO0_PORT->ODR &=(u8)(~MCO0_PIN); #define PWM_B_OFF MCO2_PORT->ODR &=(u8)(~MCO2_PIN); #define PWM_C_OFF MCO2_PORT->ODR &=(u8)(~MCO4_PIN); void Init_TIM2(void); void TIM2_InitCapturePolarity(void); void ComHandler(void); （2）hall.c #include "hall.h" unsigned char bHallStartStep;//換相步序變量定義 //換相步序值0-5分別對應AB\AC\BC\BA\CA\CB unsigned int OutPwmValue=0;//PWM輸出值變量定義 unsigned char St_F=0;//啟停標志，0時為停止，1時為啟動 unsigned char FaultF=0;//故障標志 unsigned char Run_dir=0;//運轉方向，0-1對立 unsigned char bHallSteps[2][8]={ {7,5,3,4,1,0,2,7},//正轉 {7,2,0,1,4,3,5,7}//反轉 }; const unsigned charPWM_EN1_TAB[6]={0x01,0x01,0x10,0x10,0x00,0x00}; //六步法中，CH1\CH2通道極性及使能配置 const unsigned charPWM_EN2_TAB[6]={0x0,0x00,0x00,0x0,0x1,0x1}; //六步法中，CH3通道極性及使能配置 //初始化HALL捕獲輸入定義器 void Init_TIM2(void) { //計數器禁止、ARR預裝載禁止、向上計數、邊沿對齊模式 TIM2->CR1= BIT2; //禁止TIM2所有中斷 TIM2->IER= 0;//禁止中斷 TIM2->CCMR1= 0x01;//TIM2的CH1\CH2\CH3通道配置為輸入 TIM2->CCMR2= 0x01; TIM2->CCMR3= 0x01; #defineIC_FILTER (u8)(5 << 4) TIM2->CCMR1|= IC_FILTER; //輸入捕獲濾波器 TIM2->CCMR2|= IC_FILTER; TIM2->CCMR3|= IC_FILTER; //prescale= div3 @ 16MHz -> 0.5us/count * 24MHz -> 0.33us/count TIM2->PSCR= 0; TIM2->ARRH=0xff;//計數周期設為最大 TIM2->ARRL=0xff; TIM2->CCER1|= 0x01;//TIM2的CH1\CH2\CH3通道使能捕獲功能 TIM2->CCER1|= 0x10; TIM2->CCER2|= 0x01; TIM2->CR1|= 0x01;//使能TIM2定時器 } //根據HALL狀態換相，啟動電機運行 void TIM2_InitCapturePolarity(void) { u8bHStatus = 0; GPIOD->DDR&= (u8)(~(0x1c));//HALL端口模式配置 //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } bHallStartStep= bHallSteps[Run_dir][bHStatus];//得到換相步序 if(bHallStartStep == 7)//不該出現的HALL狀態 { return; } TIM2->SR1=(u8)~(TIM2_IT_CC3|TIM2_IT_CC2|TIM2_IT_CC1); TIM2->IER= 0x0e;//使能輸入捕獲中斷 ComHandler();//輸出PWM信號，啟動電機 } //捕獲中斷，即HALL狀態變化時，進入此中斷 @near @interrupt @svlreg voidTIM2_CAP_COM_IRQHandler(void) { u8bHStatus = 0; //Read status of H1 and set the expected polarity if(H1_PORT & H1_PIN) { TIM2->CCER1|= BIT1; bHStatus|= BIT2; } else { TIM2->CCER1&= (u8)(~(BIT1)); } //Read status of H2 and set the expected polarity if(H2_PORT & H2_PIN) { TIM2->CCER1|= BIT5; bHStatus|= BIT1; } else { TIM2->CCER1&= (u8)(~(BIT5)); } //Read status of H3 and set the expected polarity if(H3_PORT & H3_PIN) { TIM2->CCER2|= BIT1; bHStatus|= BIT0; } else { TIM2->CCER2&= (u8)(~(BIT1)); } if(TIM2->SR1 & BIT2) { TIM2->SR1=(u8)(~TIM2_IT_CC2); } if(TIM2->SR1 & BIT1) { TIM2->SR1=(u8)(~TIM2_IT_CC1); } if(TIM2->SR1 & BIT3) { TIM2->SR1=(u8)(~TIM2_IT_CC3); } bHallStartStep= bHallSteps[Run_dir][bHStatus];//得到換相步序 if(bHallStartStep == 7) { //故障，停止輸出 TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM輸出 PWM_A_OFF; PWM_B_OFF; PWM_C_OFF; return; } ComHandler(); //換相 return; } //換相子函數 void ComHandler(void) { TIM1->BKR&= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM輸出 if(FaultF!=0||St_F==0) {PWM_A_OFF;PWM_B_OFF;PWM_C_OFF;return;} if(bHallStartStep!=3&&bHallStartStep!=4) PWM_A_OFF; if(bHallStartStep!=0&&bHallStartStep!=5) PWM_B_OFF; if(bHallStartStep!=1&&bHallStartStep!=2) PWM_C_OFF; //根據換相步序，打開不同的開關管，并施加正確的PWM信號 if(bHallStartStep==0)//AB { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_B_ON; } elseif(bHallStartStep==1) //AC { TIM1->CCR1H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR1L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==2) //BC { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_C_ON; } elseif(bHallStartStep==3) //BA { TIM1->CCR2H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR2L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==4)//CA { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_A_ON; } elseif(bHallStartStep==5) //CB { TIM1->CCR3H= (uint8_t)(OutPwmValue >> 8); TIM1->CCR3L = (uint8_t)(OutPwmValue); PWM_B_ON; } TIM1->CCER1=PWM_EN1_TAB[bHallStartStep]; TIM1->CCER2=PWM_EN2_TAB[bHallStartStep]; TIM1->BKR|=TIM1_BKR_MOE;//使能PWM輸出 } （3）mian.c /*功能： 1. PD5指示燈，上電亮，指示系統處于工作狀態。 2.PA4指示燈，指示電機啟停與否。 3.PA5指示燈，指示電機運行方向 4.上橋臂開關管PC1\PC2\PC3輸出可變PWM信號，以完成調速功能。 5.PG7按鍵為電機啟停控制鍵，PG6為電機方向切換鍵。 6.PF5電位器，旋轉時實現PWM開環調速功能。*/ #include "stm8s.h" #include "hall.h" #define STM8_FREQ_MHZ 16 #define PWM_FREQUENCY 16000 static const u16 hArrPwmVal =((u16)((STM8_FREQ_MHZ * (u32)1000000)/PWM_FREQUENCY)); //PWM信號周期 //hArrPwmVal=1000 #define MINPWMPERCENT 10 #define MAXPWMPERCENT 90 #define MINVALUE MINPWMPERCENT*10 //hArrPwmVal=1000 //MINPWMPERCENT*hArrPwmVal/100簡化為MINPWMPERCENT*10 #define MAXVALUE MAXPWMPERCENT*10 //MAXPWMPERCENT*hArrPwmVal/100簡化MAXPWMPERCENT*10 //初始化按鍵，指示燈端口 void GPIO_int(void) { GPIOG->DDR=GPIOG->DDR&0x3f;//PG6,PG7按鍵配置為輸入模式 GPIOG->CR1=GPIOG->CR1|0xC0;//PG6,PG7按鍵配置為上拉輸入 GPIOA->DDR=GPIOA->DDR|0x30;//PA4,PA5指示燈配置為輸出模式 GPIOA->CR1=GPIOA->CR1|0x30;//PA4,PA5指示燈d配置為推挽模式 GPIOA->ODR|=0x30;//關閉指示燈 GPIOD->DDR=GPIOD->DDR|0x20;//PD5指示燈配置為輸出模式 GPIOD->CR1=GPIOD->CR1|0x20;//PD5指示燈d配置為推挽模式 GPIOD->ODR&=~0x20;//點亮指示燈，指示系統工作 } //系統時鐘配置：內部16M void Clock_init(void) { CLK->CKDIVR=0; } //電位器調速AD初始 PF5 初始化 AIN13 void AD_int(void) { u8value; u16ADC_TDR_tmp; ADC2->CSR= 13; //AIN13通道選擇 //select4MHz clock based on 16MHz fMaster (div4), single mode ADC2->CR1= 0x20; ADC2->CR2= 0x08;//數據右對齊 ADC2->TDRH=0x20;//AIN13禁止施密特觸發 ADC2->CR1|= 0X01;//使能ADC value=30; while(value--);//等待ADC穩定 ADC2->CSR&= 0x7f;//清EOC標志 ADC2->CR1|= 0x01;//啟動AD } //換相電路開關管IO初始化 void PWM_IO_init(void) { //PB012 下橋臂1有效 GPIOB->DDR=GPIOB->DDR|0x7;//PB012配置為輸出模式 GPIOB->CR1=GPIOB->CR1|0x7;//PB012推挽模式 GPIOB->ODR&=0xf8;//關閉下橋臂開關管 //PC123上橋臂1有效 GPIOC->DDR=GPIOC->DDR|0x0E;//PC123配置為輸出模式 GPIOC->CR1=GPIOC->CR1|0x0E;//PC123推挽模式 GPIOC->ODR&=~(0x0E);//關閉上橋臂開關管 } //高級定時器初始化配置 void Tim1_init(void) { //計數器禁止、ARR預裝載禁止、邊沿對齊模式 TIM1->CR1= 0x04; TIM1->SMCR= 0;//禁止從模式 TIM1->IER= 0;//禁止所有中斷 TIM1->CCER1= 0; //禁止PWM輸出 TIM1->CCER2= 0; TIM1->CCMR1= 0x60; //PWM1模式，禁止預裝載 TIM1->CCMR2= 0x60; TIM1->CCMR3= 0x60; //prescale= div1 @ 16MHz -> 62.5ns/count, Full scale = 4.09ms TIM1->PSCRH= 0; TIM1->PSCRL= 0; TIM1->ARRH=hArrPwmVal/256;//PWM周期設定 TIM1->ARRL=hArrPwmVal%256; //disablerepetition counter TIM1->RCR= 0; TIM1->CCR1H=0;TIM1->CCR1L=0;//占空比輸出均為0 TIM1->CCR2H=0;TIM1->CCR1L=0; TIM1->CCR3H=0;TIM1->CCR1L=0; //使能定時計數器 TIM1->CR1|= 0x01; } main() { unsignedint tem_c=0; unsignedchar B_k1=0,B_k2=0; unsignedint ADConverValue=0; for(tem_c=0;tem_c<50000;tem_c++);//上電延時，等待系統穩定 Clock_init();//時鐘配置 GPIO_int();//指示燈端口初始化 PWM_IO_init();//開關管控制端口初始化 Tim1_init();//高級定時器配置 Init_TIM2();//捕獲輸入定時器初始化配置 enableInterrupts(); AD_int(); OutPwmValue=MINVALUE; while(1) {if((GPIOG->IDR&0x80)==0x80)B_k1=0;//PG7為啟停鍵 elseif(B_k1==0)//PG7按下時，指示燈亮 { for(tem_c=0;tem_c<500;tem_c++); if((GPIOG->IDR&0x80)==0x00) { B_k1=1; if(FaultF!=0)FaultF=0;//當前處于故障狀態 St_F=1-St_F;//啟停標志變量改變 if(St_F==1)//啟動 { TIM2_InitCapturePolarity(); //根據HALL狀態輸出PWM狀態，啟動電機運行 GPIOA->ODR&=~(0x10); //PA4指示燈亮，表示啟動電機 } else { ComHandler();//根據啟停標志變量關閉PWM輸出。 GPIOA->ODR|=0x10;//電機停止運行指示燈指示 } } } if((GPIOG->IDR&0x40)==0x40)B_k2=0;//PG6為方向鍵 elseif(B_k2==0)//PG7按下時，指示燈滅 { for(tem_c=0;tem_c<500;tem_c++); if((GPIOG->IDR&0x40)==0x00) { B_k2=1; if(St_F==0)//電機處于停止狀態 { Run_dir=1-Run_dir;//方向切換 GPIOA->ODR^=0x20;//PA5指示燈變換 } } } if(ADC2->CSR&0x80) { ADC2->CSR&= (u8)(~0x80);//清除EOC標志 ADConverValue=ADC2->DRH*256+ADC2->DRL;//讀取AD轉換值 ADC2->CR1|= 0x01;//啟動AD if(ADConverValue<MINVALUE) ADConverValue=MINVALUE; elseif(ADConverValue>MAXVALUE) ADConverValue=MAXVALUE; OutPwmValue=ADConverValue;//賦值PWM輸出變量值 } if(FaultF==1) { ComHandler();//故障時，關閉PWM輸出 FaultF=2; } } }
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