stm32无刷电机换相代码

// 换相表定义（根据霍尔信号排列）
const uint8_t commutation_table[6][3] = {
    // A   B   C   (PWM通道使能状态)
    {1, 0, 0},  // 霍尔状态001
    {1, 0, 1},  // 霍尔状态010
    {0, 0, 1},  // 霍尔状态011
    {0, 1, 1},  // 霍尔状态100
    {0, 1, 0},  // 霍尔状态101
    {1, 1, 0}   // 霍尔状态110
};

// 定时器PWM配置（以TIM1为例）
void PWM_Init() {
    TIM_HandleTypeDef htim1;
    TIM_OC_InitTypeDef sConfigOC = {0};
    TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

    htim1.Instance = TIM1;
    htim1.Init.Prescaler = 0;
    htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
    htim1.Init.Period = 1000;  // PWM频率设置
    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    HAL_TIM_PWM_Init(&htim1);

    // 配置死区时间（防止上下桥臂直通）
    sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
    sBreakDeadTimeConfig.DeadTime = 100;  // 死区时间设置（单位：ns）
    sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
    HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);

    // 通道配置
    sConfigOC.OCMode = TIM_OCMODE_PWM1;
    sConfigOC.Pulse = 500;  // 初始占空比50%
    sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
    sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
    sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
    sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;

    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);
    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);
    HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);

    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
}

// 霍尔传感器中断处理
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
    if(GPIO_Pin == HALL_U_PIN || GPIO_Pin == HALL_V_PIN || GPIO_Pin == HALL_W_PIN) {
        uint8_t hall_state = (HAL_GPIO_ReadPin(HALL_U_GPIO_Port, HALL_U_PIN) << 2) |
                            (HAL_GPIO_ReadPin(HALL_V_GPIO_Port, HALL_V_PIN) << 1) |
                            HAL_GPIO_ReadPin(HALL_W_GPIO_Port, HALL_W_PIN);

        uint8_t step = (hall_state - 1) % 6;  // 转换为0-5索引
        Commutate(step);
    }
}

// 换相执行函数
void Commutate(uint8_t step) {
    // 禁用所有PWM输出
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);

    // 根据换相表设置新的PWM状态
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, commutation_table[step][0] ? duty_cycle : 0);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, commutation_table[step][1] ? duty_cycle : 0);
    __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, commutation_table[step][2] ? duty_cycle : 0);
}

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