收到阿呆寄的F3套件有些时间了，不过最近忙得一踏糊涂，没有时间研究，不过阿呆交待的作业还是得完成。所以今天就。。。。。
好了，申请的时候就说是用于数控系统的，数控系统中当然得控制电机了，今天玩个用F3控制BLDC吧，跟以前的F1系统比下速度
时间不多，这里只例出两个关键的东西：1、增量式PID控制。   2、BLDC换向控制
有兴趣的同志自己移植一下，肯定可以用哈，比方说自己做个电动车什么之类的哈木有问题的啊。
1、增量式PID控制：
int IncPIDCalc(int NextPoint)
{
  int iError, iIncpid;    //int32_t
 //当前误差 
 iError = sptr->SetPoint - NextPoint;
 //增量计算
 iIncpid = sptr-&gtroportion * iError //E[k]项  比例项
 - sptr->Integral * sptr->LastError //E[k－1]项  积分项
 + sptr->Derivative * sptr-&gtrevError; //E[k－2]项 微分项
 //存储误差，用于下次计算
 sptr-&gtrevError = sptr->LastError;
 sptr->LastError = iError;
 //返回增量值  
 return(iIncpid);
}
 
 
2、
switch(irq_zhuanzi)
   {
    
    //=================================================
   case 0x05:   //W->V    5(正确)
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);  //
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);  //V6
     
     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);  //V5
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);   
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件    
    };
    break;
    
   case 0x01:  //U->V  3  1
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);  //V1
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
     
     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);  //V6
     
     /* Channel3 configuration */   
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);  
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x03: //U->W  2   3
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);  //V1
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
     
     /* Channel2 configuration */      
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable); 
     
     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );   
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);   //V2
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);  
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件 
    };
    break;
   case 0x02: //V->W 6    2
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */   
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
     
     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );     
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);  //V3
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); 
     
     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );   
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);   //V2
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);  
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x06:   //V->U 4  6
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );   
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); //V4
     
     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );     
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);  //V3
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); 
     
     /* Channel3 configuration */        
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);  
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x04:    //W->U  5  4
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );   
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); //V4
     
     /* Channel2 configuration */       
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); 
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable); 
     
     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );   
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);  //V5
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);  
     
     //PutChar(40,230,irq_zhuanzi+48,White,Black);  
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
    //================================================
     }
好了，关键代码完毕，像接霍尔啊，控制板硬件设计啊网上查吧。希望大家都可以玩转啊
据本人测试，F3比F1要流畅很多啊，当然就控制电机的话不太明显，在系统中多跑些个任务，比方说给他多整点乘除运算，再加个LCD刷就直观了

在换向case语句里面，分别设置当前六个通道的使能关系以后，为什么还要加上
“TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件   ”
，有人直接把这句加在TIM2_IRQHandler霍尔中断里面。

zhubaicheng 发表于 2013-5-15 17:06
在换向case语句里面，分别设置当前六个通道的使能关系以后，为什么还要加上
“TIM_GenerateEvent(TIM1, TIM ...

因为已经是同时配置了6路通道，再产生com中断是不是多此一举了了呢？