STM32F103BLDC程序

以下是一个基于STM32F103的无刷直流电机（BLDC）控制程序框架，使用霍尔传感器进行换相控制。程序采用标准库开发，包含PWM输出、霍尔信号检测和六步换相逻辑：

#include "stm32f10x.h"

// PWM输出引脚定义
#define PWM_A_PIN    GPIO_Pin_8   // PA8 (TIM1_CH1)
#define PWM_B_PIN    GPIO_Pin_9   // PA9 (TIM1_CH2)
#define PWM_C_PIN    GPIO_Pin_10  // PA10 (TIM1_CH3)

// 霍尔传感器引脚
#define HALL_U_PIN   GPIO_Pin_15  // PC15
#define HALL_V_PIN   GPIO_Pin_14  // PC14
#define HALL_W_PIN   GPIO_Pin_13  // PC13

// 换相表 (正转顺序)
const uint8_t commutationTable[6] = {
    // HALL:UVW 相位控制（AH-BL/AL-BH等）
    0b001010,  // 001: A+ B-
    0b001001,  // 010: A+ C-
    0b010001,  // 011: B+ C-
    0b010100,  // 100: B+ A-
    0b100100,  // 101: C+ A-
    0b100010   // 110: C+ B-
};

// 霍尔信号读取
uint8_t ReadHallSensors(void) {
    return (GPIO_ReadInputDataBit(GPIOC, HALL_U_PIN) << 2) | 
           (GPIO_ReadInputDataBit(GPIOC, HALL_V_PIN) << 1) | 
            GPIO_ReadInputDataBit(GPIOC, HALL_W_Pin);
}

// PWM初始化
void PWM_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_InitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    // 使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    // 配置PWM引脚
    GPIO_InitStructure.GPIO_Pin = PWM_A_PIN | PWM_B_PIN | PWM_C_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 定时器基础设置
    TIM_InitStructure.TIM_Period = 1000-1;  // PWM频率=72MHz/(1000*PSC)
    TIM_InitStructure.TIM_Prescaler = 72-1; // 1MHz计数器
    TIM_InitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseInit(TIM1, &TIM_InitStructure);

    // PWM输出配置
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = ENABLE;
    TIM_OCInitStructure.TIM_OutputNState = ENABLE;
    TIM_OCInitStructure.TIM_Pulse = 0;  // 初始占空比0
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;

    TIM_OC1Init(TIM1, &TIM_OCInitStructure);
    TIM_OC2Init(TIM1, &TIM_OCInitStructure);
    TIM_OC3Init(TIM1, &TIM_OCInitStructure);

    // 互补通道和死区时间配置
    TIM_BDTRInitTypeDef BDTR_InitStructure;
    BDTR_InitStructure.TIM_DeadTime = 10;  // 死区时间=72ns*10
    BDTR_InitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
    BDTR_InitStructure.TIM_OSSIState = TIM_OSSIState_Disable;
    BDTR_InitStructure.TIM_Break = TIM_Break_Disable;
    TIM_BDTRConfig(TIM1, &BDTR_InitStructure);

    // 启动定时器
    TIM_Cmd(TIM1, ENABLE);
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
}

// 霍尔传感器初始化
void HALL_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    EXTI_InitTypeDef EXTI_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    // 使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);

    // 配置霍尔引脚
    GPIO_InitStructure.GPIO_Pin = HALL_U_PIN | HALL_V_PIN | HALL_W_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOC, &GPIO_InitStructure);

    // 配置霍尔信号外部中断
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource13);
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource14);
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource15);

    EXTI_InitStructure.EXTI_Line = EXTI_Line13 | EXTI_Line14 | EXTI_Line15;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure);

    // 配置中断优先级
    NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

// 换相函数
void Commutate(uint8_t step) {
    TIM1->CCR1 = (commutationTable[step] & 0b100000) ? duty : 0;  // A高
    TIM1->CCR2 = (commutationTable[step] & 0b010000) ? duty : 0;  // B高
    TIM1->CCR3 = (commutationTable[step] & 0b001000) ? duty : 0;  // C高

    // 配置互补通道（低端驱动）
    // 注意：低端通过自动互补通道控制
}

// 霍尔中断处理
void EXTI15_10_IRQHandler(void) {
    if(EXTI_GetITStatus(EXTI_Line13 | EXTI_Line14 | EXTI_Line15) != RESET) {
        uint8_t hallState = ReadHallSensors();
        uint8_t step = 0;

        // 霍尔值转换为换相步骤 (001-6步)
        switch(hallState) {
            case 0b001: step = 0; break;
            case 0b011: step = 1; break;
            case 0b010: step = 2; break;
            case 0b110: step = 3; break;
            case 0b100: step = 4; break;
            case 0b101: step = 5; break;
            default: return; // 无效状态
        }
        Commutate(step);
        EXTI_ClearITPendingBit(EXTI_Line13 | EXTI_Line14 | EXTI_Line15);
    }
}

// 主函数
int main(void) {
    SystemInit();
    PWM_Init();
    HALL_Init();

    uint16_t duty = 500; // 50%占空比

    while(1) {
        // 主循环可添加速度控制逻辑
        // 例如：通过PID调节duty值
    }
}

关键功能说明：

换相控制：
- 使用霍尔传感器检测转子位置（6步换相）
- 换相表定义了每个霍尔状态对应的MOSFET开关组合
- 互补PWM输出配合死区时间防止短路
PWM配置：
- 使用高级定时器TIM1生成三路互补PWM
- 72MHz时钟下产生约1kHz PWM频率（可调整TIM_Period值改变）
- 10步死区时间（约720ns）保护MOSFET
霍尔信号处理：
- PC13/14/15引脚响应霍尔信号跳变
- 每次信号变化触发中断执行换相
- 滤波电路需硬件实现（软件可添加延时消抖）