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標題: STM32 HALL驅(qū)動 [打印本頁]

作者: chenpeng8848 時間: 2018-2-7 10:50
標題: STM32 HALL驅(qū)動
兩種方案：第一種就時STM32每個IO口都用按鍵中斷，你可以犧牲一個定時器，當一個中斷過來就計數(shù)，等待下一個中斷進來后兩者的差就得出了一個與速度相關(guān)的值，說句實話編碼器沒用過，我用的是HALL接口。這種方法是比較簡單的，
第二種方法就是樓主所說的，定時器里面有hall接口，同時可以捕獲定時器的值，還是以HALL為例，配置好后會每60度（電角度）進入中斷一次，同事進入后捕獲開始，也就是定時器開始計數(shù)。計數(shù)出來的值就是電機轉(zhuǎn)過60度的時間（電角度）。配置我會截圖給你，其實還可以計數(shù)跑了多少個PWM周期。在PWM中斷里計數(shù)。通常他們是這莫做的，應為在FOC中可以簡化運算。不知道你的編碼器是咋樣回事了，但是都應該通用的。
配置如下：
  //GPIO
  GPIO_InitTypeDef  GPIO_InitStructure;
  //Interrupt
  NVIC_InitTypeDef NVIC_InitStructure;
  //Tmer
  TIM_BDTRInitTypeDef  TIM_BDTRInitStructure;          //死區(qū)剎車結(jié)構(gòu)體變量定義
  TIM_OCInitTypeDef TIM_OCInitStructure;
  TIM_ICInitTypeDef TIM_ICInitStructure;          //定義結(jié)構(gòu)體變量
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;

  //---------------------------------TMER3 HALL------------------------------
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_0);
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_0);
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_0);

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
  TIM_DeInit(TIM3);
  TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
  TIM_OCStructInit(&TIM_OCInitStructure);

  TIM_TimeBaseStructure.TIM_Prescaler = 47;                                                                         //TIM基本初始化
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period =65535;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

  TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);

  TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;          //選擇通道1
  TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //輸入上升沿捕獲
  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC ; //配置通道為輸入，并映射到哪里
  TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;    //輸入捕獲預分頻值
  TIM_ICInitStructure.TIM_ICFilter = 10;                   //輸入濾波器帶寬設(shè)置

  TIM_ICInit(TIM3, &TIM_ICInitStructure);                   //輸入通道配置

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;       //TIM輸出通道初始化
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
  TIM_OCInitStructure.TIM_Pulse =65535;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC4Init(TIM3,&TIM_OCInitStructure);

  TIM_SelectHallSensor(TIM3,ENABLE);                         //使能TIMx的霍爾傳感器接口

  TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED);             //輸入觸發(fā)源選擇

  TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);          //從模式選擇

  TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主從模式選擇

  //       TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref );//選擇輸出觸發(fā)模式(TRGO端)
  NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;             //開TIM3中斷
  NVIC_InitStructure.NVIC_IRQChannelPriority = 2;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE); //開定時器中斷
  TIM_ClearFlag(TIM3, TIM_FLAG_Trigger);
  TIM_ClearFlag(TIM3, TIM_FLAG_CC4);

  TIM_Cmd(TIM3,ENABLE);

//中斷入口。
void TIM3_IRQHandler(void)
{
  if((TIM_GetFlagStatus(TIM3,TIM_FLAG_Trigger)) != RESET )
  {
TIM_ClearITPendingBit(TIM3, TIM_FLAG_Trigger);
HallPLLCtrl();

  }

}

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