SMTH743的FOC代码移植
学长，我看了您的FOC一步步代码，请问从STMF4移植到STMH7需要注意什么问题呢？我按您说的移植了开环电机不转。
- 这篇博客: 基于STM32F4实现FOC（磁场定向控制）一：电流采样和波形产生中的 二．定时器的配置问题 部分也许能够解决你的问题, 你可以仔细阅读以下内容或跳转源博客中阅读:
配置能够产生6路pwm波的定时器，改变定时器的占空比即可控制电机转速或转矩。
1.GPIO初始化配置
需要一个能够产生6路PWM波的高级定时器，定时器1或定时器8，对应6个GPIO口，同时需要一个刹车GPIO，共计需要7个GPIO。配置为复用推挽模式。
代码如下：GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = RHEOSTAT_TIM1_GPIO_PIN1 | RHEOSTAT_TIM1_GPIO_PIN2 | RHEOSTAT_TIM1_GPIO_PIN3 ; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(RHEOSTAT_TIM1_GPIO_PORT, &GPIO_InitStructure); //TIM1N GPIO_InitStructure.GPIO_Pin = RHEOSTAT_TIM1N_GPIO_PIN1 | RHEOSTAT_TIM1N_GPIO_PIN2 | RHEOSTAT_TIM1N_GPIO_PIN3; GPIO_Init(RHEOSTAT_TIM1N_GPIO_PORT, &GPIO_InitStructure);2.定时器的初始化配置
定时器的初始化代码如下：//定时器初始化 TIM_DeInit(TIM1); TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure); TIM1_TimeBaseStructure.TIM_Prescaler = PWM_PRSC; //1 TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1; TIM1_TimeBaseStructure.TIM_Period = PWM_PERIOD; //PWM_PERIOD ARR 顶点值 2500 TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV2; //和死区时间计算有关 TIM1_TimeBaseStructure.TIM_RepetitionCounter = REP_RATE; //溢出2次触发中断 TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);3.输出捕获模式的配置
定时器的四个通道都配置为中央对齐模式
代码如下：//配置TIM的PWM输出 TIM_OCStructInit(&TIM1_OCInitStructure); TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM1 向上计数时cnt<crr有效 TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; TIM1_OCInitStructure.TIM_Pulse = 0x505; //crr TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //通道低电平有效 TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //互补通道低电平有效 TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //设置输出空闲状态 TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY; //reset TIM_OC1Init(TIM1, &TIM1_OCInitStructure); //配置通道1 TIM_OC2Init(TIM1, &TIM1_OCInitStructure); //配置通道2 TIM_OC3Init(TIM1, &TIM1_OCInitStructure); //配置通道3 GPIO_StructInit(&GPIO_InitStructure); TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); //TIM1通道4的PWM配置 TIM_OCStructInit(&TIM1_OCInitStructure); TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能主通道 TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM1_OCInitStructure.TIM_Pulse = PWM_PERIOD-1; // // 在PWM波的正中间采样 TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //主通道高电平有效 TIM1_OCInitStructure.TIM_OCNPolarity =TIM_OCNPolarity_Low; //互补通道低电平有效 没有用 互补通道关闭 TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //主通道输出空闲状态 TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY; //互补通道输出空闲状态 TIM_OC4Init(TIM1, &TIM1_OCInitStructure); TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);4.刹车和死区配置
刹车可以通俗的理解为停止产生PWM波，当改变刹车位的电平时，会启动或停止PWM的产生。
死区是为了保证mos开关电路不在同一时刻导通，烧毁电路。
代码如下：//刹车和死区配置 TIM1_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //当定时器不工作时，一旦CCxE=1或CCxNE = 1（即主通道捕获比较或互补捕获比较通道使能），首次开启OC/OCN并输出无效电平，然后置OC/OCN使能输出信号=1 TIM1_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable; //当定时器不工作时，一旦主通道或互补通道使能，OC/OCN首先输出其空闲电平，然后OC/OCN使能输出信号=1 TIM1_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1; //锁定级别1，不能写入TIMx_BDTR寄存器的DTG、BKE、BKP、AOE、和TIMx_CR2寄存器的OISx/OISxN位 TIM1_BDTRInitStructure.TIM_DeadTime = DEADTIME; //死区 4 TIM1_BDTRInitStructure.TIM_Break = TIM_Break_Disable; //刹车功能使能 TIM1_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low; //刹车输入低电平有效 TIM1_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable; //关闭自动输出 只能由软件置1 TIM_BDTRConfig(TIM1, &TIM1_BDTRInitStructure); //设置更新事件为TIM1的TRGO 设置ADC触发为TIM1的TRGO时，即使用TIM1的更新作为触发 TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update); //选择定时器1的更新事件被选为触发输入（TRGO） 定时器1位主模式 TIM_ClearITPendingBit(TIM1, TIM_IT_Break); //清除刹车中断标记位 TIM_ITConfig(TIM1, TIM_IT_Break,ENABLE); //使能刹车中断 TIM_Cmd(TIM1, ENABLE); //使能定时器1 // Resynch to have the Update evend during Undeflow TIM_GenerateEvent(TIM1, TIM_EventSource_Update); //重新初始化计数器，并产生一个更新事件，注意预分频器的计数器也被清0（但是预分频系数不变！若在中心对称模式下 //或向上计数则计数器被清0，若向下计数则取TIMx_ARR的值。 //Clear Update Flag TIM_ClearFlag(TIM1, TIM_FLAG_Update); //清除中断标志位 TIM_ITConfig(TIM1, TIM_IT_Update, DISABLE); //关闭更新中断 TIM_ITConfig(TIM1, TIM_IT_CC4,DISABLE); //关闭捕获/比较中断