1.检测霍尔传感器的值可以判断出转子的位置，再使能相应的上下桥臂，则能驱动电机运动；若要让电机持续转动，则必须再次检测传感器值及使能相应的上下桥臂。

这里采用的是将霍尔传感器输出的三根线相边的IO口配置成外部中断，并且为边沿触发，在中断函数中加入传感器检测与上下桥臂切换程序，如此电机就能持续运转了。

2.上桥臂的控制采用IO口置高低电平来控制上桥臂的通断，下桥臂则使用单片机内部集成的三路PWM波来控制，通过控制PWM波的占空比，可以实现对电机的调速了。

实际测得，占空比与电机的速度成正比例关系，在PWM波频率为20KHz时，占空比增加1%，速度增加60rpm，并在占空比为53%时达到额定转速3000rpm（空载）。

3.速度测量则采用如下公式：电机每转一圈，霍尔值改变6次x5个周期=30次，记录边沿触发的中断次数N/30=电机转过的圈数,设运转时间为t(s)则电机转速v=N/30/t*60 rpm。

即动转时间为2s时，霍尔值改变次数即为速度值，单位rpm。

4.调速：给定速度，由电机驱动板自动由当前速度平滑过渡到给定速度。

实际测试发现，速度变化量很大时，电机会有突然加速或减速时的冲击；因此，调速应有一个缓冲的过程。

即加速或减速应以小步进缓慢增加或减少占空比来让速度渐渐达到最终值。

#include "stm32f10x.h"#include "driver_motor.h"#define PWM_PERIOD_T 400#define U_Up_On GPIOB->BSRR = GPIO_Pin_13#define U_Up_Off GPIOB->BRR = GPIO_Pin_13#define U_Dn_On GPIOA->BSRR = GPIO_Pin_8#define U_Dn_Off GPIOA->BRR = GPIO_Pin_8#define V_Up_On GPIOB->BSRR = GPIO_Pin_14#define V_Up_Off GPIOB->BRR = GPIO_Pin_14#define V_Dn_On GPIOA->BSRR = GPIO_Pin_9#define V_Dn_Off GPIOA->BRR = GPIO_Pin_9#define W_Up_On GPIOB->BSRR = GPIO_Pin_15#define W_Up_Off GPIOB->BRR = GPIO_Pin_15#define W_Dn_On GPIOA->BSRR = GPIO_Pin_10#define W_Dn_Off GPIOA->BRR = GPIO_Pin_10#define SU_HOR GPIOA->IDR & GPIO_Pin_15#define SV_HOR GPIOA->IDR & GPIO_Pin_12#define SW_HOR GPIOA->IDR & GPIO_Pin_11//u8 Motor_Dir=0;//u8 Motor_EN=0;//u8 Hor_Value=7;//u16 TIM2_Conter=0;u16 Hall_Conter=0;MotorStruct Motor={CLOCK,40,STOP};/****************************************************************************** ** 函数：void IO_Init(void)* 描述：IO* 参数：* 返回：* 其它：******************************************************************************* /void IO_Init(void){GPIO_InitTypeDef GPIO_InitStruct;EXTI_InitTypeDef EXTI_InitStructure;//GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); /*使能SWD 禁用JTAG*//**********************LED Light***********/GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12;GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOB, &GPIO_InitStruct);/***********************霍尔传感器中断**********/GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15;GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOA, &GPIO_InitStruct);//HarlGPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15);EXTI_InitStructure.EXTI_Line = EXTI_Line11 | EXTI_Line12|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);}/***************************************************************************函数：void PWM_Init(void)描述：配置PWM定时器TIM1参数：返回：无***************************************************************************/ void PWM_Init(void){GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;TIM_OCInitTypeDef TIM_OCInitStructure;//TIM_BDTRInitTypeDef TIM_BDTRInitStructure;TIM_Cmd(TIM1 , DISABLE);TIM_CtrlPWMOutputs(TIM1, DISABLE);//禁止OC输出//IO口设置GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); //PWM口GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);//普通IO口GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;GPIO_Init(GPIOB, &GPIO_InitStructure);//定时器设置TIM_TimeBaseInitStruct.TIM_Period = PWM_PERIOD_T;//5极电机，3000RPM，每个Step 有10个脉冲，载波15KHZTIM_TimeBaseInitStruct.TIM_Prescaler = 2;TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM1 , &TIM_TimeBaseInitStruct);//TIM_ClearITPendingBit(TIM1, TIM_IT_Update);//TIM_ARRPreloadConfig(TIM1, ENABLE);//TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);//配置PWM输出TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;TIM_OCInitStructure.TIM_Pulse = 1;TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;TIM_OC1Init(TIM1, &TIM_OCInitStructure);TIM_OC2Init(TIM1, &TIM_OCInitStructure);TIM_OC3Init(TIM1, &TIM_OCInitStructure);TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR 上的预装载寄存器 TIM_Cmd(TIM1 , ENABLE);TIM_Cmd(TIM1 , ENABLE);TIM_CtrlPWMOutputs(TIM1, ENABLE);}/****************************************************************************** ***********函数：void Motor_Init(void)描述：参数：返回：******************************************************************************* **********/void Motor_Init(void){IO_Init();PWM_Init();}/****************************************************************************** ***********函数：void Flash_Led(u8 n)描述：参数：返回：******************************************************************************* **********/void Flash_Led(u8 n){u8 i=0;for(i=0;i<n;i++){Led_On;DelayMs(100*n);Led_Off;DelayMs(100*n);}}/****************************************************************************** ***********函数：void SetPWMduty(u8 PWMChanel,u16 pulse)描述：设置pwm波占空比参数：返回：******************************************************************************* **********/void SetPWMduty(u8 PWMChanel,u16 pulse){switch(PWMChanel){case 1 :TIM1->CCR1=pulse;break;case 2 :TIM1->CCR2=pulse;break;case 3 :TIM1->CCR3=pulse;break;default :break;}}/****************************************************************************** *函数：PWM_T_Output描述：设置相应的PWM梯形波输出参数：pName上桥臂名称，nName下桥臂名称返回：无*******************************************************************************void PWM_T_Output(u8 pName , u8 nName , u8 mRate){switch(pName){case 1:GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_Pin_14 );GPIO_ResetBits(GPIOB , GPIO_Pin_13);break;case 2:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 );GPIO_ResetBits(GPIOB , GPIO_Pin_14);break;case 3:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 );GPIO_ResetBits(GPIOB , GPIO_Pin_15);break;default:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); }switch(nName){case 1:TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100));break;case 2:TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100));break;case 3:TIM_SetCompare2(TIM1,0);TIM_SetCompare1(TIM1,0);TIM_SetCompare3(TIM1,(u16)(PWM_PERIOD_T * mRate / 100));break;default:TIM_SetCompare1(TIM1,0);TIM_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetAutoreload(TIM1, PWM_PERIOD_T);}/****************************************************************************** ***********函数：PWM_T_Calculation描述：梯形波计算参数：HallValue霍尔值，mRate调制百分比，direction方向返回：无******************************************************************************* **********/void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction){if(direction == 1){switch(hallValue){case 5:PWM_T_Output(1 , 3 , mRate);break;case 1:PWM_T_Output(1 , 2 , mRate);break;case 3:PWM_T_Output(3 , 2 , mRate);break;case 2:PWM_T_Output(3 , 1 , mRate);break;case 6:PWM_T_Output(2 , 1 , mRate);break;case 4:PWM_T_Output(2 , 3 , mRate);break;default:PWM_T_Output(4 , 4 , 0);break;}}else{switch(hallValue){case 5:PWM_T_Output(3 , 1 , mRate);break;case 1:PWM_T_Output(2 , 1 , mRate);break;case 3:PWM_T_Output(2 , 3 , mRate);break;case 2:PWM_T_Output(1 , 3 , mRate);break;case 6:PWM_T_Output(1 , 2 , mRate);break;case 4:PWM_T_Output(3 , 2 , mRate);break;default:PWM_T_Output(4 , 4 , 0);break;}}}/****************************************************************************** *函数：PWM_T_Int描述：定时器中断程序，根据霍尔位置设置输出梯形波参数：direction=顺时针/逆时针,mRate调制率返回：无******************************************************************************* */void PWM_T_Int(u8 direction , u8 mRate){u8 hallValueTemp;u8 hallValue;hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) << 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) << 2);hallValue = hallValueTemp;PWM_T_Calculation(hallValue , mRate , direction);}/************************************************************************函数：PWM_Stop描述：PWM控制信号使能输出,禁止TIM1中断，使能TIM1中断参数：pwmflag=DISABLE,PWM信号使能输出，pwmflag=ENABLE,禁止 PWM输出返回：无*************************************************************************/ void PWM_Stop(u8 pwmflag){NVIC_InitTypeDef NVIC_InitStructure;GPIO_InitTypeDef GPIO_InitStructure;if(pwmflag == ENABLE)//禁止 PWM输出{TIM_Cmd(TIM1 , DISABLE);//TIM_Cmd(TIM2 , DISABLE);NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;NVIC_Init(&NVIC_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); //PWM口//PWM_T_Output(4 , 4 , 0);}if(pwmflag == DISABLE)//使能PWM输出{NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);// TIM_Cmd(TIM2 , ENABLE);}}/****************************************************************************** ***********函数：void Motor_Start(void)描述：启动电机参数：返回：******************************************************************************* **********/void Motor_Start(void){PWM_T_Int(Motor.Dir,Motor.Speed);}/****************************************************************************** ***********函数：void Motor_Stop(void)描述：停止参数：返回：******************************************************************************* **********/void Motor_Stop(void){//U_Up_On;V_Up_On;W_Up_On;//U_Dn_On;V_Dn_On;W_Dn_On;PWM_T_Output(4,4,0);}/****************************************************************************** ***********函数：void EXTI15_10_IRQHandler(u8 dir,u8 hall)描述：霍尔传感器中断参数：返回：******************************************************************************* **********/void EXTI15_10_IRQHandler(void){Hall_Conter++;if ((EXTI_GetITStatus(EXTI_Line11) != RESET)||(EXTI_GetITStatus(EXTI_Line12) != RESET)||(EXTI_GetITStatus(EXTI_Line15) != RESET)){if(Motor.State!=STOP)PWM_T_Int(Motor.Dir,Motor.Speed);}EXTI_ClearITPendingBit(EXTI_Line11); //清除标志EXTI_ClearITPendingBit(EXTI_Line12); //清除标志EXTI_ClearITPendingBit(EXTI_Line15); //清除标志}/****************************************************************************** ***********函数：void Test_Motor(u8 dir,u8 hall)描述：电机控制参数：返回：******************************************************************************* **********/void Test_Motor(void){while(1){switch(Motor.State){case STOP :Motor_Stop();break;case RUN :Motor_Start();Motor.State=FREE;break;default :break;}}}。