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AT8236控制代码详解及示例

关于AT8236不得不看的一些配置说明。

motor.c配置

#include "motor.h"
#include "adc.h"
#include "stm32f0xx_tim.h"
#include "stm32f0xx_exti.h"
#include "stm32f0xx_syscfg.h"

//#include "stdlib.h"
u16 motor_curret;
//u8 couter1,couter2;
u8 flag;
//uint16_t TimerPeriod = 255;
//uint16_t Channel1Pulse = 0, Channel2Pulse = 0, Channel3Pulse = 0, Channel4Pulse = 0,Channel5Pulse = 0;
//motor的初始化
 u32 couter1=0;
void motor_Inint_PWM1(uint16_t  ChannelPulse)
{
	GPIO_InitTypeDef GPIO_InitStructure;	
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	
	GPIO_InitStructure.GPIO_Pin =PWM1;
	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_NOPULL;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_2);
	
	TIM_DeInit(TIM2);
  /* TIM1 counter enable */
  TIM_Cmd(TIM2, ENABLE);
//  
  /* Time Base configuration */
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
//  TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

  /* Channel 1, 2, 3 and 4 Configuration in PWM mode */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_OutputNState = TIM_OutputState_Disable;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//  TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
//  TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

  TIM_OCInitStructure.TIM_Pulse = (uint16_t ) ChannelPulse;
  TIM_OC3Init(TIM2, &TIM_OCInitStructure);

	  /* TIM1 Main Output Enable */
  TIM_CtrlPWMOutputs(TIM2, ENABLE);
}

void motor_Inint_PWM2(uint16_t  ChannelPulse)
{
	GPIO_InitTypeDef GPIO_InitStructure;	
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	
	GPIO_InitStructure.GPIO_Pin =PWM2;
	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_NOPULL;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_2);
	
	TIM_DeInit(TIM2);
  /* TIM1 counter enable */
  TIM_Cmd(TIM2, ENABLE);
//  
  /* Time Base configuration */
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
//  TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

  /* Channel 1, 2, 3 and 4 Configuration in PWM mode */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_OutputNState = TIM_OutputState_Disable;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
//  TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
//  TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

  TIM_OCInitStructure.TIM_Pulse = (uint16_t ) ChannelPulse;
  TIM_OC2Init(TIM2, &TIM_OCInitStructure);

	  /* TIM1 Main Output Enable */
  TIM_CtrlPWMOutputs(TIM2, ENABLE);
}

void motor_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);

		///电机电源开关
	GPIO_DeInit(GPIOA);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_PuPd   = GPIO_PuPd_NOPULL;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_SetBits(GPIOA,GPIO_Pin_7);电机电源开关
	
	//故障检测脚,故障时为低电平欠压//欠压锁定 (UVLO)、 过流保护 (OCP) 和热关断 (TSD)
	GPIO_InitStructure.GPIO_Pin = Motor_nFAULT_PIN;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_PuPd   = GPIO_PuPd_UP;//内部上拉
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_SetBits(GPIOA,GPIO_Pin_5);电机故障检测
  ///霍尔检测
//	GPIO_InitStructure.GPIO_Pin = HALL_S_PIN;
//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//	GPIO_InitStructure.GPIO_PuPd   = GPIO_PuPd_UP;//内部上拉
//	GPIO_Init(GPIOA, &GPIO_InitStructure);
//	GPIO_SetBits(GPIOA,HALL_S_PIN);hall检测
//	
}

void EXTI4_Config(void)
{
  EXTI_InitTypeDef   EXTI_InitStructure;
  GPIO_InitTypeDef   GPIO_InitStructure;
  NVIC_InitTypeDef   NVIC_InitStructure;
  
  /* Enable GPIOA clock */
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
  /* Enable SYSCFG clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
  /* Configure PA0 pin as input floating */
  GPIO_InitStructure.GPIO_Pin = HALL_S_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_Init(EXTI_HALL, &GPIO_InitStructure);
//  GPIO_PinAFConfig(GPIOA,GPIO_PinSource4,GPIO_AF_4);

//  
  /* Connect EXTI0 Line to PA0 pin */
  SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource4);

  /* Configure EXTI0 line */
  EXTI_InitStructure.EXTI_Line = EXTI_Line4;
  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  EXTI_Init(&EXTI_InitStructure);

  /* Enable and set EXTI0 Interrupt */
  NVIC_InitStructure.NVIC_IRQChannel =EXTI4_15_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPriority = 0x02;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}


//*******正转****/
void Forward_motor(uint16_t ChannelPulse)
{
	GPIO_InitTypeDef GPIO_InitStructure;	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
	GPIO_InitStructure.GPIO_Pin =PWM2;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd   = GPIO_PuPd_NOPULL;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	PWM2_LOW;
	motor_Inint_PWM1(ChannelPulse);
}

//*******反转****/
void Rev_motor(uint16_t ChannelPulse)
{
	GPIO_InitTypeDef GPIO_InitStructure;	
	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
	GPIO_InitStructure.GPIO_Pin =PWM1;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd   = GPIO_PuPd_NOPULL;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	PWM1_LOW;
	motor_Inint_PWM2(ChannelPulse);
	
}

//*******刹车****/
void Break_motor(void)
{
	PWM2_HIGHT;
	PWM1_HIGHT;
}
//故障检测
void Motor_nFAULT(void)
{
	//if()
		Motor_power_OFF;
}

void EXTI4_15_IRQHandler(void)
{
			
//		 flag=0;
    if (EXTI_GetITStatus(EXTI_Line4) != RESET) {    
			 
//			 flag++;
        EXTI_ClearITPendingBit(EXTI_Line4);// Clear the EXTI line pending bit
			  couter1++;
    }   

}

motor.h配置

#ifndef __motor_H
#define __motor_H

#include "stm32f0xx.h"

//-----------------电机端口定义---------------- 

#define PWM1_LOW          GPIO_ResetBits(GPIOA,GPIO_Pin_2)
#define PWM1_HIGHT        GPIO_SetBits(GPIOA,GPIO_Pin_2)


#define PWM2_LOW          GPIO_ResetBits(GPIOA,GPIO_Pin_1)
#define PWM2_HIGHT        GPIO_SetBits(GPIOA,GPIO_Pin_1)

#define Motor_power_ON    GPIO_SetBits(GPIOA,GPIO_Pin_10)
#define Motor_power_OFF   GPIO_ResetBits(GPIOA,GPIO_Pin_10)

#define Motor_nFAULT_PIN   GPIO_Pin_5

#define PWM1 							 GPIO_Pin_2 
#define PWM2  						 GPIO_Pin_1 
#define HALL_S_PIN				 GPIO_Pin_4
#define  EXTI_HALL   	   	GPIOA

#define   Hall_Read      	GPIO_ReadInputDataBit(GPIOA,HALL_S_PIN)

//#define TimerPeriod  255;



#define	 TimerPeriod  		((SystemCoreClock / 100 ) - 1)

#define ChannelONEPulse  (uint32_t) 5 * (TimerPeriod - 1)
  /* Compute CCR1 value to generate a duty cycle at 50% for channel 1 */
#define  Channel1Pulse  (uint16_t) (((uint32_t) 5 * (TimerPeriod - 1)) / 10)
  /* Compute CCR2 value to generate a duty cycle at 37.5%  for channel 2 */
#define  Channel2Pulse  (uint16_t) (((uint32_t) 375 * (TimerPeriod - 1)) / 1000)
  /* Compute CCR3 value to generate a duty cycle at 25%  for channel 3 */
#define  Channel3Pulse  (uint16_t) (((uint32_t) 25 * (TimerPeriod - 1)) / 100)
  /* Compute CCR4 value to generate a duty cycle at 12.5%  for channel 4 */
#define  Channel4Pulse  (uint16_t) (((uint32_t) 125 * (TimerPeriod- 1)) / 1000)

#define	 Channel5Pulse  (uint16_t) (((uint32_t) 75 * (TimerPeriod- 1)) / 1000)

void motor_Inint_PWM1(uint16_t  ChannelPulse);
void motor_Inint_PWM2(uint16_t  ChannelPulse);
void Rev_motor(uint16_t ChannelPulse);
void Forward_motor(uint16_t ChannelPulse);
//void Rev_motor(void);
void Break_motor(void);
//void Forward_motor(void);
void motor_Init(void);
void MotoStop(void);
void EXTI4_Config(void);
void Hall_Couter(void);
//void motor_Inint_PWM1(void);
//void motor_Inint_PWM2(void);
#endif

main.c 主测试函数

//	 
//2020-10-10生成
//2020-10-20 CAN HALL CAN 波形有尖峰输出波形不美丽
/*驱动测试完毕 **/

//******************************************************************************/
#include "stm32f0xx.h"
#include "stm32f0xx_dma.h"
#include "stm32f0xx_exti.h"
#include "can.h"
#include "stm32f0xx_can.h"
#include "delay.h"
#include "motor.h"
#include "GPIO_con.h"

#include "adc.h"
#include "timer.h"

__IO uint32_t ADC_12V = 0, ADC_ACCV = 0;
__IO uint16_t ADC_12_Votg[4];
//#include "oled.h"
//#include "bmp.h"
u16  *ADC_12V_Votg;
u16  *ADC_Votg;
u16 ADCValue[] = {0};
extern u32 couter1;
 u32 revcouter=0;
 u32 Forwardcouter=0;
u8 number;
extern u8 BAT_Vlt_flag;
extern u16 ADCConvertedValue_AVG[4];
//extern u8 flag;
//uint32_t  ADC_12_Votg;
//***开始标志***///
u8 begin_flag=0;
int main(void)
{
	int i=0;
	SystemInit();
	gpio_con_Init();
  delay_init();
  motor_Init();
	CAN_init();
	EXTI4_Config();
	EXTI_GenerateSWInterrupt(EXTI_Line4);
//  Rev_motor(ChannelONEPulse);
	ADC1_CH_DMA_Config();	
	ADC_DATA_AVG();
	can_tx(0X55,0X77); 
	Break_motor();
//	}
	/**工作原理先自检，电压，电流，判断hall位置开始正转，直到转到底，卡住**测试：命令控制*/

//时间上需要460S	
  while (1)
  {

//				   Rev_motor(ChannelONEPulse);
		//test
		Forward_motor(ChannelONEPulse);
//			Forward_motor(ChannelONEPulse);
			delay_ms(460);
			Break_motor();
			delay_ms(460);

   Rev_motor(ChannelONEPulse);
	    delay_ms(460);
		  Break_motor();
		  delay_ms(460);
				//test
	}
}

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

说明：霍尔传感器部分的设置可忽略，这个是判断电机转动圈数的参数。均测试已通过。电机可以正常转动

电机转动

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