心血來潮買了幾個(gè)BLDC電機(jī)，準(zhǔn)備這次就使用蘋果派這塊板子試一下BLDC電機(jī)的控制。

蘋果派這塊板子的書籍和例程很多，要驅(qū)動(dòng)電機(jī)首先要配置定時(shí)器，產(chǎn)生可控的PWM脈沖。

趁快遞還沒到，先學(xué)習(xí)一下PWM的生成方式：

按照例程和書籍配置寄存器TIMER2：

static  void ConfigTimer2(unsigned short arr, unsigned short psc)
{
  timer_parameter_struct timer_initpara;               //timer_initpara用于存放定時(shí)器的參數(shù)

  //使能RCU相關(guān)時(shí)鐘 
  rcu_periph_clock_enable(RCU_TIMER2);                 //使能TIMER2的時(shí)鐘

  timer_deinit(TIMER2);                                //設(shè)置TIMER2參數(shù)恢復(fù)默認(rèn)值
  timer_struct_para_init(&timer_initpara);             //初始化timer_initpara

  //配置TIMER2
  timer_initpara.prescaler         = psc;              //設(shè)置預(yù)分頻器值
  timer_initpara.counterdirection  = TIMER_COUNTER_UP; //設(shè)置向上計(jì)數(shù)模式
  timer_initpara.period            = arr;              //設(shè)置自動(dòng)重裝載值
  timer_initpara.clockdivision     = TIMER_CKDIV_DIV1; //設(shè)置時(shí)鐘分割
  timer_init(TIMER2, &timer_initpara);                 //根據(jù)參數(shù)初始化定時(shí)器

  timer_interrupt_enable(TIMER2, TIMER_INT_UP);        //使能定時(shí)器的更新中斷
  nvic_irq_enable(TIMER2_IRQn, 1, 0);                  //配置NVIC設(shè)置優(yōu)先級(jí)
  timer_enable(TIMER2);                                //使能定時(shí)器
}

配置PWM輸出模式：

static void ConfigTIMER1ForPWMPB10(unsigned short arr, unsigned short psc)
{
  //定義初始化結(jié)構(gòu)體變量
  timer_oc_parameter_struct timer_ocinitpara;
  timer_parameter_struct timer_initpara;
  
  rcu_periph_clock_enable(RCU_GPIOB);    //使能GPIOB時(shí)鐘
  rcu_periph_clock_enable(RCU_TIMER1);   //使能TIMER1時(shí)鐘
  rcu_periph_clock_enable(RCU_AF);       //使能TIMER1時(shí)鐘
  
  gpio_pin_remap_config(GPIO_TIMER1_PARTIAL_REMAP1, ENABLE);  //TIMER1部分重映射TIMER1_CH2- >PB10
  gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10);  //設(shè)置GPIO輸出模式及速度

  timer_deinit(TIMER1);                                  //將TIMER1配置為默認(rèn)值
  timer_struct_para_init(&timer_initpara);               //timer_initpara配置為默認(rèn)值
    
  timer_initpara.prescaler         = psc;                //設(shè)置預(yù)分頻值
  timer_initpara.alignedmode       = TIMER_COUNTER_EDGE; //設(shè)置對(duì)齊模式
  timer_initpara.counterdirection  = TIMER_COUNTER_UP;   //設(shè)置向上計(jì)數(shù)
  timer_initpara.period            = arr;                //設(shè)置重裝載值
  timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;   //設(shè)置時(shí)鐘分頻因子
  timer_initpara.repetitioncounter = 0;                  //設(shè)置重復(fù)計(jì)數(shù)值
  timer_init(TIMER1, &timer_initpara);                   //初始化定時(shí)器
    
  //將結(jié)構(gòu)體參數(shù)初始化為默認(rèn)值
  timer_channel_output_struct_para_init(&timer_ocinitpara);  
    
  timer_ocinitpara.outputstate  = TIMER_CCX_ENABLE;                    //設(shè)置通道輸出狀態(tài)
  timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;                  //設(shè)置互補(bǔ)通道輸出狀態(tài)
  timer_ocinitpara.ocpolarity   = TIMER_OC_POLARITY_HIGH;              //設(shè)置通道輸出極性
  timer_ocinitpara.ocnpolarity  = TIMER_OCN_POLARITY_HIGH;             //設(shè)置互補(bǔ)通道輸出極性
  timer_ocinitpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;             //設(shè)置空閑狀態(tài)下通道輸出極性
  timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;            //設(shè)置空閑狀態(tài)下互補(bǔ)通道輸出極性
  timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);  //初始化結(jié)構(gòu)體
     
  timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, 0);                   //設(shè)置占空比
  timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);         //設(shè)置通道比較模式
  timer_channel_output_shadow_config(TIMER1, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);  //失能比較影子寄存器
  timer_auto_reload_shadow_enable(TIMER1);                                          //自動(dòng)重載影子使能 

  timer_enable(TIMER1);  //使能定時(shí)器
}

void  InitPWM(void)
{
  ConfigTIMER1ForPWMPB10(599, 999);  //配置TIMER1，120000000/(999+1)/(599+1)=200Hz
}

void SetPWM(signed short val)
{
  s_iDutyCycle = val;                   //獲取占空比的值
  
  timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, s_iDutyCycle);  //設(shè)置占空比
}

設(shè)置主函數(shù)：

#include "Main.h"
#include "gd32f30x_conf.h"
#include "SysTick.h"
#include "RCU.h"
#include "NVIC.h"
#include "Timer.h"
#include "PWM.h"

int main(void)
{
  SystemInit();      
  InitRCU();          
  InitNVIC();           
  InitTimer();         
  InitSysTick();       
  InitPWM();          
  
  SetPWM(100);
  
  while(1)
  {  
     
  }
}

在KEIL中編寫好代碼后，連接板子上的GD-LINK接口
由于使用GDlink燒錄，故在"Target"標(biāo)簽頁選擇"DEBUG"為“CMSIS-DAP Debugger”
經(jīng)實(shí)測GDLINK的燒錄速度較慢，這里可以把時(shí)鐘頻率調(diào)整為10MHZ以增快燒錄速度

燒錄完成后用示波器的探頭連接PB10引腳，如圖，可以看到清晰的PWM波型

有了PWM之后,控制電機(jī)就顯得極其簡單了。