一、MM32SPIN060G简介

使用高性能的 Arm® Cortex-M0 为内核的 32 位微控制器，最高工作频率可达 48MHz，内置高速存储器，丰富的 I/O 端口和多种外设。
- 16KB Flash，2KB SRAM
- 包含 12 位的 ADC，采样速度高达 1 Msps
- 2 个通用定时器、1 个针对电机控制的 PWM 高级定时器
- 1 个 I2C 接口、 2 个 UART 接口
- 针对电机应用内置 2 个运放
- 预驱工作电压高达 36V
- 工作温度范围（环境温度）-40℃ - 105℃
- 提供 TSSOP28，QFN28 封装

 

二、简单开箱+介绍

 

    

 

 

 

板子硬件上包含有

1.直流电源输入，其范围在5.5~18V

2.UVW三相电压

3.霍尔接口

4.电位器

5.烧录调试接口

6.反电动势或者霍尔跳线接口

 

三、测评所用到的硬件

 

MM32SPIN060G、12V电源、无刷电机（DC105）

 

 

 

四、双电阻采样-无感FOC

 

1.双电阻采样电路，选择插针，采集U相、V相电流，通过三项电流之和为零的原理计算出W相电流。

 

 

 

2.无位置传感器控制

      通过矢量控制的介绍可知转子位置信息对矢量控制至关重要，PMSM 的转子位 置信息可以通过专用的位置传感器，例如光电编码器、磁编码器、测速发电机或 者开关霍尔等传感器获取。速度传感器会给电机带来额外的硬件成本和维护成本， 因此近些年无位置传感器控制应用越来越广泛。目前主流的无位置传感器算法包 括滑模观测器、反电势观测器、磁链观测器、卡尔曼滤波器、模型参考自适应观 测器等算法，本应用使用了滑模观测器法来实时观测转子位置。 滑模控制应用于转子位置估算中位置较准确，对控制对象的参数变化及扰动具有 自适应能力，而且该方案实现简单，对 MCU 资源没有太大要求。

 

五、官方代码大致介绍

 

ADC采样 ，通过定时器触发方式，

void Bsp_Adc_Init(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_StructInit(&GPIO_InitStructure);
   /* ADC Clock Enable */
   RCC_AHBPeriphClockCmd(ADC_GPIO_CLK, ENABLE);
   /*Condiv ADC pin  */
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AIN;

   GPIO_InitStructure.GPIO_Pin     = VR_PIN;//调速
   GPIO_Init(VR_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin     = VBUS_PIN;//电压
   GPIO_Init(VBUS_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin     = IR_V_PIN;//V相电流
   GPIO_Init(IR_V_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin     = IR_U_PIN;//U相电流
   GPIO_Init(IR_U_PORT, &GPIO_InitStructure);
}

void Board_ADC_Init(void)
{
   /*ADC  RANK Array*/
   ADC_Channel_TypeDef sUserAdc1Channel[4];

   /* Condiv the ADC RANK Sequence*/
   sUserAdc1Channel[0].u8Rank = IR_U_RANK;
   sUserAdc1Channel[0].sAdcChannel = IR_U_CHANNEL;
   sUserAdc1Channel[0].pNext = &sUserAdc1Channel[1];
   sUserAdc1Channel[1].u8Rank = IR_V_RANK;
   sUserAdc1Channel[1].sAdcChannel = IR_V_CHANNEL;
   sUserAdc1Channel[1].pNext = &sUserAdc1Channel[2];
   sUserAdc1Channel[2].u8Rank = VBUS_RANK;
   sUserAdc1Channel[2].sAdcChannel = VBUS_CHANNEL;
   sUserAdc1Channel[2].pNext = &sUserAdc1Channel[3];
   sUserAdc1Channel[3].u8Rank = VR_RANK;
   sUserAdc1Channel[3].sAdcChannel = VR_CHANNEL;
   sUserAdc1Channel[3].pNext = NULL;
   /* Select the ADC external trigger source of the ADC is T1_CC4*/
   Drv_Adc_Basic_Init(ADC1, ADC_ExtTrig_T1_CC4);

    /* Select the ADC sample time*/
   Drv_Adc_Channel_Init(ADC1, sUserAdc1Channel, ADC_SampleTime_2_5);  
   
}

比较器

void Bsp_Comp_Init(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_StructInit(&GPIO_InitStructure);
   /* COMP Clock Enable */
   RCC_AHBPeriphClockCmd((COMP_GPIO_CLK), ENABLE);

   GPIO_InitStructure.GPIO_Pin = COMP_INP_PIN;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_High;
   GPIO_Init(COMP_INP_PORT, &GPIO_InitStructure);
}

void Board_Comp_Init(void)
{
   COMP_Input_TypeDef sUserCompInput;
      /* Select the inverting input of the comparator */
   sUserCompInput.sCompInvertingInput = COMP_INVERTING;
      /* Select the non inverting input of the comparator*/
   sUserCompInput.sCompNonInvertingInput = COMP_NON_INVERTING;
      /* Select comparator external reference voltage */
   sUserCompInput.u8CompCrvSelect = COMP_CRV_VOLTAGE_SELECT;
      /* Initializes the COMP according to the specified parameters in the COMP_Input_TypeDef */
   Drv_Comp_Init(COMP_NUMBER,&sUserCompInput);
}

 

六路PWM初始化

void Bsp_Pwm_Init(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_StructInit(&GPIO_InitStructure);
   /* PWM Clock Enable */
   RCC_AHBPeriphClockCmd(BLDC1_GPIO_CLK, ENABLE);
   /*Condiv GPIO pin : PWM_Pin */
   GPIO_InitStructure.GPIO_Pin     = BLDC1_UH_PIN;
   GPIO_InitStructure.GPIO_Speed   = GPIO_Speed_High;
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AF_PP;
   GPIO_Init(BLDC1_UH_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = BLDC1_VH_PIN;
   GPIO_Init(BLDC1_VH_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = BLDC1_WH_PIN;
   GPIO_Init(BLDC1_WH_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = BLDC1_UL_PIN;

   GPIO_Init(BLDC1_UL_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = BLDC1_VL_PIN;
   GPIO_Init(BLDC1_VL_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin = BLDC1_WL_PIN;
   GPIO_Init(BLDC1_WL_PORT, &GPIO_InitStructure);
   /*selects the pin to used as Alternate function of PWM*/
        /*六个IO口，六个桥臂 UVW三个上桥 UVW三个下桥*/
   GPIO_PinAFConfig(BLDC1_UH_PORT, BLDC1_UH_PIN_SRC, BLDC1_UH_PIN_AF);
   GPIO_PinAFConfig(BLDC1_VH_PORT, BLDC1_VH_PIN_SRC, BLDC1_VH_PIN_AF);
   GPIO_PinAFConfig(BLDC1_WH_PORT, BLDC1_WH_PIN_SRC, BLDC1_WH_PIN_AF);

   GPIO_PinAFConfig(BLDC1_UL_PORT, BLDC1_UL_PIN_SRC, BLDC1_UL_PIN_AF);
   GPIO_PinAFConfig(BLDC1_VL_PORT, BLDC1_VL_PIN_SRC, BLDC1_VL_PIN_AF);
   GPIO_PinAFConfig(BLDC1_WL_PORT, BLDC1_WL_PIN_SRC, BLDC1_WL_PIN_AF);
        
    GPIO_InitStructure.GPIO_Pin  =  GPIO_Pin_3;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_High;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
   GPIO_SetBits(GPIOB, GPIO_Pin_3);

}

void Drv_Pwm_Init(TIM_TypeDef * pTim, uint16_t u16Period,uint16_t u16DeadTime)
{
   /** Define the struct of the PWM configuration */
   TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
   TIM_BDTRInitTypeDef TIM_BDTRInitStruct;
   TIM_OCInitTypeDef  TIM_OCInitStructure;

   /** Enable the TIM1 clock */
   RCC_APB1PeriphClockCmd(RCC_APB1ENR_TIM1_Msk, ENABLE);

   /**
    * Sets the value of the automatic reload register Period for the next update event load activity  
    * Set the Prescaler value used as the divisor of the TIMx clock frequency
    * Set clock split :TDTS = TIM_CKD_DIV1
    * TIM center aligned mode1  
    */
   TIM_TimeBaseStructure.TIM_Period        = u16Period;
   TIM_TimeBaseStructure.TIM_Prescaler     = 0;
   TIM_TimeBaseStructure.TIM_ClockDivision = 0;
   TIM_TimeBaseStructure.TIM_CounterMode   = TIM_CounterMode_CenterAligned2;
   TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
   
   TIM_TimeBaseInit(pTim, &TIM_TimeBaseStructure);

   /**
    * Enable state selection in running mode  
    * Enable state selection in idle mode  
    * Software error lock configuration: lock closed without protection
    * DTG[7:0] dead zone generator configuration (dead zone time DT)  
    */
    /**
    * TDTS = 125nS(8MHz)
    * DTG[7: 5] = 0xx => DT = DTG[7: 0] * Tdtg, Tdtg = TDTS;
    * DTG[7: 5] = 10x => DT =(64+DTG[5: 0]) * Tdtg, Tdtg = 2 * TDTS;
    * DTG[7: 5] = 110 => DT =(32+DTG[4: 0]) * Tdtg, Tdtg = 8 * TDTS;
    * DTG[7: 5] = 111=> DT =(32 + DTG[4: 0]) *  Tdtg, Tdtg = 16 * TDTS;
    */
   TIM_BDTRInitStruct.TIM_OSSRState    = TIM_OSSRState_Enable;
   TIM_BDTRInitStruct.TIM_OSSIState    = TIM_OSSIState_Enable;
   TIM_BDTRInitStruct.TIM_LOCKLevel    = TIM_LOCKLevel_OFF;
   TIM_BDTRInitStruct.TIM_DeadTime     = u16DeadTime;

   /**
    * Brake configuration: enable brake
    * Brake input polarity: active in low level   
    * Auto output enable configuration: Disable MOE bit hardware control
    */
   TIM_BDTRInitStruct.TIM_Break            = TIM_Break_Enable;
   TIM_BDTRInitStruct.TIM_BreakPolarity    = TIM_BreakPolarity_High;
   TIM_BDTRInitStruct.TIM_AutomaticOutput  = TIM_AutomaticOutput_Disable;
   TIM_BDTRConfig(pTim, &TIM_BDTRInitStruct);
   TIM_BreakInputFilterConfig(pTim,TIM_COMPBKIN_COMP2,TIM_BKINF_2);
   TIM_BreakInputFilterCmd(pTim, ENABLE);
   /**
    * Mode configuration: PWM mode 1  
    * Output status setting: enabl0Ce output  
    * Complementary channel output status setting: enable output
    * Sets the pulse value to be loaded into the capture comparison register
    * Output polarity is high
    * N Output polarity is high
    */

   TIM_OCInitStructure.TIM_OCMode          = TIM_OCMode_PWM2;
   TIM_OCInitStructure.TIM_OutputState     = TIM_OutputState_Enable;
   TIM_OCInitStructure.TIM_OutputNState    = TIM_OutputNState_Enable;
   TIM_OCInitStructure.TIM_Pulse           = 0;
   TIM_OCInitStructure.TIM_OCPolarity      = TIM_OCPolarity_High;
   TIM_OCInitStructure.TIM_OCNPolarity     = TIM_OCNPolarity_High;
   TIM_OCInitStructure.TIM_OCIdleState     = TIM_OCIdleState_Reset;
   TIM_OCInitStructure.TIM_OCNIdleState    = TIM_OCNIdleState_Reset;

   TIM_OC1Init(pTim, &TIM_OCInitStructure);
   TIM_OC2Init(pTim, &TIM_OCInitStructure);
   TIM_OC3Init(pTim, &TIM_OCInitStructure);

   /** Initialize the CCR4 trigger point */
   TIM_OCInitStructure.TIM_Pulse           = 10;
   TIM_OCInitStructure.TIM_OutputState     = TIM_OutputState_Disable;
   TIM_OCInitStructure.TIM_OutputNState    = TIM_OutputNState_Disable;

   TIM_OC4Init(pTim, &TIM_OCInitStructure);

   /** Enable CH1, 2, and 3 to be preloaded */
   TIM_OC1PreloadConfig(pTim, TIM_OCPreload_Enable);
   TIM_OC2PreloadConfig(pTim, TIM_OCPreload_Enable);
   TIM_OC3PreloadConfig(pTim, TIM_OCPreload_Enable);

   /** Enable TIMx's preloaded register on ARR */
   TIM_ARRPreloadConfig(pTim, ENABLE);

   /** Enable the TIM1 */
   TIM_Cmd(pTim, ENABLE);
   /** Main Output Enable:Disable the MOE bit */
   TIM_CtrlPWMOutputs(pTim, DISABLE);
}
 

运算放大器初始化

void Bsp_Op_Init(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   GPIO_StructInit(&GPIO_InitStructure);
   /* GPIO Ports Clock Enable */
   RCC_AHBPeriphClockCmd(OPAMP_GPIO_CLK, ENABLE);

   /*Condiv GPIO pin : OPAMP1_Pin */
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AIN;

   GPIO_InitStructure.GPIO_Pin     = OPAMP1_INM_PIN;
   GPIO_Init(OPAMP1_INM_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin     = OPAMP1_INP_PIN;
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AIN;

   GPIO_Init(OPAMP1_INP_PORT, &GPIO_InitStructure);
 
      /*Condiv GPIO pin : OPAMP2_Pin */
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AIN;

   GPIO_InitStructure.GPIO_Pin     = OPAMP2_INM_PIN;
   GPIO_Init(OPAMP2_INM_PORT, &GPIO_InitStructure);

   GPIO_InitStructure.GPIO_Pin     = OPAMP2_INP_PIN;
   GPIO_InitStructure.GPIO_Mode    = GPIO_Mode_AIN;

   GPIO_Init(OPAMP2_INP_PORT, &GPIO_InitStructure);
}

 

void Board_Opamp_Init(void)
{
     /* op-amp Clock Enable */
   RCC_APB1PeriphClockCmd(RCC_APB1ENR_OPA1_Msk, ENABLE);
   RCC_APB1PeriphClockCmd(RCC_APB1ENR_OPA2_Msk, ENABLE);
   /*Enable the specified OPAMP peripheral*/
   OPAMP_Cmd(OPAMP1,ENABLE);
   OPAMP_Cmd(OPAMP2,ENABLE);

}

 

主函数

int main(void)
{
     /* Condiv the system clock */
   Systick_Init(SystemCoreClock / 1000);
   Systick_Delay(200);
     /* 初始化电机控制参数 */
   Init_Parameter(&Motor_1st);
     /* 初始化所有GPIO */
   Bsp_Gpio_Init();
     /* 初始化所有已配置的外围设备 */
   Peripheral_Init();
     /* 初始化中断*/
   Interrupt_Init();

   while(1)
   {
             /*IWDG_ReloadCounter*/
       IWDG_RELOAD_COUNT();
       if(Motor_1st.USER.bSlowLoopFlag)
       {
           /* Slow Loop Statemachine */
           s_STATE_SLOW[eM1_MainState]();
           Motor_1st.USER.bSlowLoopFlag =  0;
       }
   }
}

 

这里看门狗防止系统出现问题跑飞，下面的if是通过状态机进行电机的控制。

      大致解释一下，状态机的执行过程。首先Motor_1st.USER.bSlowLoopFlag 为真（此历程提供了低速循环和高速循环，这里使用的是低速循环），则通过 s_STATE_SLOW[eM1_MainState]() 调用执行当前状态对应的函数。其中s_STATE_SLOW 是一个包含四个函数指针的数组，这些函数指针分别指向 M1_Fault_Slow、M1_Init_Slow、M1_Stop_Slow 和 M1_Run_Slow 四个函数。eM1_MainState 是一个枚举变量（ MainState_Fault = 0, MainState_Init  = 1,MainState_Stop  = 2, MainState_Run   = 3,），它决定了从 s_STATE_SLOW 数组中选择哪个函数指针进行调用。进而完成电机的启动过程。

 

六、事物演示