无刷电机转动问题

Debu*** · 发表于 2025-9-17 22:37:13

Debu*** 发表于 2025-9-17 22:33
任意一相对地电压和三路给比较器的电压，这应该是给比较器的电压超出范围了，减小R14、R15、R16试一下， ...

最大约2K，2K是分压到约4.12V

Debu*** · 发表于 2025-9-17 22:39:42

Debu*** 发表于 2025-9-17 22:37
最大约2K，2K是分压到约4.12V

不使用ADC，仅用比较器，1.5K就可以，上8.2K下1.5K，支持最高电源电压约30V

lyag*** · 发表于 2025-9-17 23:01:23

Debu*** 发表于 2025-9-17 22:37
最大约2K，2K是分压到约4.12V

现在R14,R15,R16用4.7K，C11,C12,C13用102。可以启动，也不会说一下子就停。但是调速会一直保持在最低启动那个PWM转速，调高电位器也是一样保持在程序设置的那个转速。但是现在不会停了

lyag*** · 发表于 2025-9-17 23:16:39

Debu*** 发表于 2025-9-17 22:39
不使用ADC，仅用比较器，1.5K就可以，上8.2K下1.5K，支持最高电源电压约30V

这个有可以参考的例子吗？

优特*** · 发表于 2025-9-18 10:21:23

lyag*** 发表于 2025-9-17 23:01
现在R14,R15,R16用4.7K，C11,C12,C13用102。可以启动，也不会说一下子就停。但是调速会一直保持在最低启 ...

贴程序出来

lyag*** · 发表于 2025-9-18 11:43:23

优特*** 发表于 2025-9-18 10:21
贴程序出来

/*---------------------------------------------------------------------*/
/* --- Web: www.STCAI.com ---------------------------------------------*/
/*---------------------------------------------------------------------*/

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******************************************/

#define FOSC 24000000L //¶¨ÒåÖ÷Ê±ÖÓ

#include "STC8Hxxx.h"

// ¸ßËÙµç»ú£¬±ÈÈç2212µç»ú
// #define STARTUP_INTERVAL 12500UL // Æô¶¯Ê±Á½´Î»»ÏòµÄ×î´ó¼ä¸ôÊ±¼ä usÎªµ¥Î»
  #define STARTUP_INTERVAL 12500UL
#define STARTUP_PWM         100 // Æô¶¯Ê±µÄÕ¼¿Õ±È 2212µç»ú
#define STOP_PWM (STARTUP_PWM-20) // Í£Ö¹PWM£¬Ð¡ÓÚ´ËPWM¾ÍÍ£»ú£¬ ¸ù¾Ýµç»úÌØÐÔÊÊµ±¸Ä±ä
//#define STARTUP_END_PhaseTime 600 // ÅÐ¶ÏÆô¶¯½áÊøµÄ»»ÏàÊ±¼äus£¬2212µç»ú
#define STARTUP_END_PhaseTime 300

//µÍËÙµç»ú£¬±ÈÈç·çÉÈµç»ú
/* #define STARTUP_INTERVAL 60000UL // Æô¶¯Ê±Á½´Î»»ÏòµÄ×î´ó¼ä¸ôÊ±¼ä usÎªµ¥Î»
#define STARTUP_PWM         300 // Æô¶¯Ê±µÄÕ¼¿Õ±È 8Ôª·çÉÈµç»ú, 12V-->300, 18V-->240, 24V-->200
// #define STARTUP_PWM         100
#define STOP_PWM 100 // Í£Ö¹PWM£¬Ð¡ÓÚ´ËPWM¾ÍÍ£»ú£¬ ¸ù¾Ýµç»úÌØÐÔÊÊµ±¸Ä±ä
#define STARTUP_END_PhaseTime 12000 // ÅÐ¶ÏÆô¶¯½áÊøµÄ»»ÏàÊ±¼äus£¬8Ôª·çÉÈµç»ú
*/

typedef enum
{
MOTOR_IDLE = 0,
MOTOR_PRE_POSITION,
MOTOR_STARTING,
MOTOR_RUNNING,
MOTOR_STOP,
MOTOR_RESTART
} runFlagType;

runFlagType run_mode;

u16 Degree30_time; //30¶È½ÇÊ±¼ä
u16 SampleTime; //Æô¶¯º¯Êý-²ÉÑùÊ±¼ä PWMÖÜÆÚµÄ¸öÊý
bit B_zcFound; //Æô¶¯º¯Êý-¼ì²âµ½¹ý0ÊÂ¼þ
u8 cmpo_state; //PWMAÖÐ¶Ï-±È½ÏÆ÷Á¬Ðø8¸öÊä³ö×´Ì¬
bit B_cmpo; //±È½ÏÆ÷ÓÐÐ§Êä³ö×´Ì¬£¨CMPO 8Á¬1ÔòÎª£¬8Á¬0ÔòÎª0£©
bit B_CmpoTmp;
u8 commutation_num; //Æô¶¯±Õ»·»»Ïà¼ÆÊý
bit B_startDone;

bit B_TX1_Busy; // ·¢ËÍÃ¦±êÖ¾
#define TxLength 128
u8 xdata TxTmp[TxLength]; //ÓÃÓÚµ÷ÊÔ·¢ËÍ
u8 Txwrite, TxRead;//ÓÃÓÚµ÷ÊÔ·¢ËÍ

//===========================================

sbit PWM1P = P1^0;
sbit PWM1N = P1^1;
sbit PWM2P = P1^2;
sbit PWM2N = P1^3;
sbit PWM3P = P1^4;
sbit PWM3N = P1^5;

sbit P_LED  = P2^3;

u8 step; //ÇÐ»»²½Öè
u16 PWM_Value; // ¾ö¶¨PWMÕ¼¿Õ±ÈµÄÖµ
bit B_RUN; //ÔËÐÐ±êÖ¾
u16 PWW_Set; //Ä¿±êPWMÉèÖÃ
u16 adc11;
bit B_1ms; //1ms¶¨Ê±±êÖ¾
bit B_4ms; //4ms¶¨Ê±±êÖ¾
bit B_500ms;
u8 cnt_4ms;
u8 cnt_500ms;

u8 TimeOut; //¶Â×ª³¬Ê±
bit B_start; //Æô¶¯Ä£Ê½
bit B_Timer3_OverFlow;

u8 TimeIndex; //»»ÏàÊ±¼ä±£´æË÷Òý
u16 PhaseTime8sum; //8´Î»»ÏàÊ±¼ä, ÓÃÓÚ¼ÆËãÊµÊ±×ªËÙ = 1/(M*PhaseTime8sum*3/4) ×ª/Ãë = 60/(M*PhaseTime8sum*3/4) ×ª/·Ö£¬PhaseTime8sum*3/4Îª»»Ïà6´ÎµÄÊ±¼ä£¬MÎª´Å¼«¶Ô¡£
u16 PhaseTimeTmp[8];//8¸ö»»ÏàÊ±¼ä, Æä sum/16 ¾ÍÊÇ30¶Èµç½Ç¶È
u16 PhaseTime; //»»ÏàÊ±¼ä¼ÆÊý
u8 XiaoCiCnt; //1:ÐèÒªÏû´Å, 2:ÕýÔÚÏû´Å, 0ÒÑ¾Ïû´Å

/*************************/

void Delay_n_ms(u8 dly) // N msÑÓÊ±º¯Êý
{
u16 j;
do
{
j = FOSC / 10000;
while(--j) ;
}while(--dly);
}

void delay_us(u8 us) //N usÑÓÊ±º¯Êý
{
do
{
NOP(20); //@24MHz
}
while(--us);
}

#define ADC_START (1<<6) /* ×Ô¶¯Çå0 */
#define ADC_FLAG (1<<5) /* Èí¼þÇå0 */

#define ADC_SPEED 3 /* 0~15, ADCÊ±ÖÓ = SYSclk/2/(n+1) */
#define RES_FMT (1<<5) /* ADC½á¹û¸ñÊ½ 0: ×ó¶ÔÆë, ADC_RES: D9 D8 D7 D6 D5 D4 D3 D2, ADC_RESL: D1 D0 0  0  0  0  0  0 */
/*          1: ÓÒ¶ÔÆë, ADC_RES: 0  0  0  0  0  0  D9 D8, ADC_RESL: D7 D6 D5 D4 D3 D2 D1 D0 */

#define CSSETUP (1<<7) /* 0~1,  ADCÍ¨µÀÑ¡ÔñÊ±¼ä    0: 1¸öADCÊ±ÖÓ, 1: 2¸öADCÊ±ÖÓ,  Ä¬ÈÏ0(Ä¬ÈÏ1¸öADCÊ±ÖÓ) */
#define CSHOLD (1<<5) /* 0~3,  ADCÍ¨µÀÑ¡Ôñ±£³ÖÊ±¼ä  (n+1)¸öADCÊ±ÖÓ, Ä¬ÈÏ1(Ä¬ÈÏ2¸öADCÊ±ÖÓ)             */
#define SMPDUTY 11 /* 10~31, ADCÄ£ÄâÐÅºÅ²ÉÑùÊ±¼ä  (n+1)¸öADCÊ±ÖÓ, Ä¬ÈÏ10(Ä¬ÈÏ11¸öADCÊ±ÖÓ) */
/* ADC×ª»»Ê±¼ä: 10Î»ADC¹Ì¶¨Îª10¸öADCÊ±ÖÓ, 12Î»ADC¹Ì¶¨Îª12¸öADCÊ±ÖÓ. */

void ADC_config(void) //ADC³õÊ¼»¯º¯Êý(ÎªÁËÊ¹ÓÃADCÊäÈë¶Ë×ö±È½ÏÆ÷ÐÅºÅ, Êµ¼ÊÃ»ÓÐÆô¶¯ADC×ª»»)
{
P_SW2 |=  0x80; //·ÃÎÊXSFR
//P3n_pure_input(0x3c); //ÉèÖÃÎª¸ß×èÊäÈë
P3n_pure_input(0x3f);
ADC_CONTR = 0x80 + 10; //ADC on + channel
ADCCFG = RES_FMT + ADC_SPEED;
ADCTIM = CSSETUP + CSHOLD + SMPDUTY;
EADC = 0; //½ûÖ¹ADCÖÐ¶Ï
}

//========================================================================
// º¯Êý: u16 Get_ADC10bitResult(u8 channel)) //channel = 0~15
//========================================================================
u16 Get_ADC10bitResult(u8 channel) //channel = 0~15
{
u8 i;
ADC_RES = 0;
ADC_RESL = 0;
ADC_CONTR = 0x80 | ADC_START | channel;
NOP(5); //
// while((ADC_CONTR & ADC_FLAG) == 0) ; //µÈ´ýADC½áÊø
i = 255;
while(i != 0)
{
i--;
if((ADC_CONTR & ADC_FLAG) != 0) break; //µÈ´ýADC½áÊø
}
ADC_CONTR &= ~ADC_FLAG;
return ((u16)ADC_RES * 256 + (u16)ADC_RESL);
}

void Delay_500ns(void)
{
NOP(6);
}

//#define CONTEMPRATY 1 //  1:Ê¹ÓÃ»¥²¹PWM£¬ 0:Ê¹ÓÃµ¥¶ËPWM
#define CONTEMPRATY 0
#define BMF_A 13    // Ô±¾Í¨µÀ8
#define BMF_B 12    // Í¨µÀ9
#define BMF_C 11    // Í¨µÀ10

void StepMotor(void) // »»ÏàÐòÁÐº¯Êý
{
if(++step >= 6) step = 0;
// if(--step >= 0) step = 6;

switch(step)
{
case 0:  // AB  PWM1P, PWM2N=1
PWMA_ENO = 0x10; PWM1N=0; PWM3N=0; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x10+0x20*CONTEMPRATY; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
PWM2N = 1; // ´ò¿ªBÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_A; // Ñ¡ÔñP0.0×÷ÎªADCÊäÈë ¼´AÏàµçÑ¹
break;
case 1:  // AC  PWM1P, PWM3N=1
PWMA_ENO = 0x00; PWM2N=0; PWM3N=0;
Delay_500ns();
PWMA_ENO = 0x10+0x20*CONTEMPRATY; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
PWM1N = 1; // ´ò¿ªAÏàµÄµÍ¶Ë
// adc11 = ((adc11 *7)>>3) + Get_ADC10bitResult(10);
ADC_CONTR = 0x80+BMF_B; // Ñ¡ÔñP0.1×÷ÎªADCÊäÈë ¼´BÏàµçÑ¹
break;
case 2:  // BC  PWM2, PWM3N=1
PWMA_ENO = 0x00; PWM2N=0; PWM3N=0; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x04+0x08*CONTEMPRATY; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
PWM1N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_C; // Ñ¡ÔñP0.2×÷ÎªADCÊäÈë ¼´CÏàµçÑ¹
break;
case 3:  // BA  PWM2, PWM1N=1
PWMA_ENO = 0x00; PWM1N=0; PWM2N=0;
Delay_500ns();
PWMA_ENO = 0x04+0x08*CONTEMPRATY; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
PWM3N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_A; // Ñ¡ÔñP0.0×÷ÎªADCÊäÈë ¼´AÏàµçÑ¹
break;
case 4:  // CA  PWM3, PWM1N=1
PWMA_ENO = 0x00; PWM1N=0; PWM2N=0; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x01+0x02*CONTEMPRATY; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
PWM3N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
adc11 = ((adc11 *7)>>3) + Get_ADC10bitResult(10);
ADC_CONTR = 0x80+BMF_B; // Ñ¡ÔñP0.1×÷ÎªADCÊäÈë ¼´BÏàµçÑ¹
break;
case 5:  // CB  PWM3, PWM2N=1
PWMA_ENO = 0x00; PWM1N=0; PWM3N=0;
Delay_500ns();
PWMA_ENO = 0x01+0x02*CONTEMPRATY; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
PWM2N = 1; // ´ò¿ªBÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_C; // Ñ¡ÔñP0.2×÷ÎªADCÊäÈë ¼´CÏàµçÑ¹
break;
/*case 0:  // AB  PWM1P, PWM2N=1
PWMA_ENO = 0x00; PWM1N=0; PWM3N=0;
Delay_500ns();
PWMA_ENO = 0x01+0x02*CONTEMPRATY; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
PWM2N = 1; // ´ò¿ªBÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_C; // Ñ¡ÔñP0.2×÷ÎªADCÊäÈë ¼´CÏàµçÑ¹
break;
case 1:  // AC  PWM1P, PWM3N=1
PWMA_ENO = 0x00; PWM1N=0; PWM2N=0; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x01+0x02*CONTEMPRATY; // ´ò¿ªAÏàµÄ¸ß¶ËPWM
PWM3N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_B; // Ñ¡ÔñP0.1×÷ÎªADCÊäÈë ¼´BÏàµçÑ¹
break;
case 2:  // BC  PWM2, PWM3N=1
PWMA_ENO = 0x00; PWM1N=0; PWM2N=0;
Delay_500ns();
PWMA_ENO = 0x04+0x08*CONTEMPRATY; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
PWM3N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_A; // Ñ¡ÔñP0.0×÷ÎªADCÊäÈë ¼´AÏàµçÑ¹
break;
case 3:  // BA  PWM2, PWM1N=1
PWMA_ENO = 0x00; PWM2N=0; PWM3N=0; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x04+0x08*CONTEMPRATY; // ´ò¿ªBÏàµÄ¸ß¶ËPWM
PWM1N = 1; // ´ò¿ªCÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_C; // Ñ¡ÔñP0.2×÷ÎªADCÊäÈë ¼´CÏàµçÑ¹
break;
case 4:  // CA  PWM3, PWM1N=1
PWMA_ENO = 0x00; PWM2N=0; PWM3N=0;
Delay_500ns();
PWMA_ENO = 0x10+0x20*CONTEMPRATY; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
PWM1N = 1; // ´ò¿ªAÏàµÄµÍ¶Ë
adc11 = ((adc11 *7)>>3) + Get_ADC10bitResult(10);
ADC_CONTR = 0x80+BMF_B; // Ñ¡ÔñP0.1×÷ÎªADCÊäÈë ¼´BÏàµçÑ¹
break;
case 5:  // CB  PWM3, PWM2N=1
PWMA_ENO = 0x10; PWM1N=0; PWM3N=0; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
Delay_500ns();
PWMA_ENO = 0x10+0x20*CONTEMPRATY; // ´ò¿ªCÏàµÄ¸ß¶ËPWM
PWM2N = 1; // ´ò¿ªBÏàµÄµÍ¶Ë
ADC_CONTR = 0x80+BMF_A; // Ñ¡ÔñP0.0×÷ÎªADCÊäÈë ¼´AÏàµçÑ¹
break;*/

default:
break;
}

if(B_start) CMPCR1 = 0x8C; // Æô¶¯Ê±½ûÖ¹ÏÂ½µÑØºÍÉÏÉýÑØÖÐ¶Ï
else //ÔËÐÐÄ£Ê½£¬ÔÊÐí±È½ÏÆ÷ÖÐ¶Ï
{
if(step & 1) CMPCR1 = 0x8c + 0x20; // ±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=1: ÔÊÐí±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=0: ½ûÖ¹ÉÏÉýÑØÖÐ¶Ï. NIE=1: ÔÊÐí±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, NIE=0: ½ûÖ¹ÏÂ½µÑØÖÐ¶Ï.
else CMPCR1 = 0x8c + 0x10; // ±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, PIE=1: ÔÊÐí±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=0: ½ûÖ¹ÉÏÉýÑØÖÐ¶Ï. NIE=1: ÔÊÐí±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, NIE=0: ½ûÖ¹ÏÂ½µÑØÖÐ¶Ï.
}
}

void PWMA_config(void)
{
P_SW2 |= 0x80; //SFR enable

PWM1P  = 0;
PWM1N = 0;
PWM2P  = 0;
PWM2N = 0;
PWM3P  = 0;
PWM3N = 0;
P1n_push_pull(0x3f);

PWMA_PSCR = 0; // Ô¤·ÖÆµ¼Ä´æÆ÷, ·ÖÆµ Fck_cnt = Fck_psc/(PSCR[15:0}+1), ±ßÑØ¶ÔÆëPWMÆµÂÊ = SYSclk/((PSCR+1)*(AAR+1)), ÖÐÑë¶ÔÆëPWMÆµÂÊ = SYSclk/((PSCR+1)*(AAR+1)*2).
PWMA_DTR  = 12; // ËÀÇøÊ±¼äÅäÖÃ, n=0~127: DTR= n T, 0x80 ~(0x80+n), n=0~63: DTR=(64+n)*2T,
// 0xc0 ~(0xc0+n), n=0~31: DTR=(32+n)*8T, 0xE0 ~(0xE0+n), n=0~31: DTR=(32+n)*16T,
PWMA_ARR = 1023; // ×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷,  ¿ØÖÆPWMÖÜÆÚ
PWMA_CCER1  = 0;
PWMA_CCER2  = 0;
PWMA_SR1 = 0;
PWMA_SR2 = 0;
PWMA_ENO = 0;
PWMA_PS    = 0;
PWMA_IER = 0;

PWMA_CCMR1  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
PWMA_CCR1 = 0; // ±È½ÏÖµ, ¿ØÖÆÕ¼¿Õ±È(¸ßµçÆ½Ê±ÖÓÊý)
PWMA_CCER1 |= 0x05; // ¿ªÆô±È½ÏÊä³ö, ¸ßµçÆ½ÓÐÐ§
PWMA_PS |= 0; // Ñ¡ÔñIO, 0:Ñ¡ÔñP1.0 P1.1, 1:Ñ¡ÔñP2.0 P2.1, 2:Ñ¡ÔñP6.0 P6.1,
PWMA_CCMR1  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
// PWMA_ENO |= 0x01; // IOÊä³öÔÊÐí,  bit7: ENO4N, bit6: ENO4P, bit5: ENO3N, bit4: ENO3P,  bit3: ENO2N,  bit2: ENO2P,  bit1: ENO1N,  bit0: ENO1P
// PWMA_IER |= 0x02; // Ê¹ÄÜÖÐ¶Ï

PWMA_CCMR2  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
PWMA_CCR2 = 0; // ±È½ÏÖµ, ¿ØÖÆÕ¼¿Õ±È(¸ßµçÆ½Ê±ÖÓÊý)
PWMA_CCER1 |= 0x50; // ¿ªÆô±È½ÏÊä³ö, ¸ßµçÆ½ÓÐÐ§
PWMA_PS |= (0<<2); // Ñ¡ÔñIO, 0:Ñ¡ÔñP1.2 P1.3, 1:Ñ¡ÔñP2.2 P2.3, 2:Ñ¡ÔñP6.2 P6.3,
PWMA_CCMR2  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
// PWMA_ENO |= 0x04; // IOÊä³öÔÊÐí,  bit7: ENO4N, bit6: ENO4P, bit5: ENO3N, bit4: ENO3P,  bit3: ENO2N,  bit2: ENO2P,  bit1: ENO1N,  bit0: ENO1P
// PWMA_IER |= 0x04; // Ê¹ÄÜÖÐ¶Ï

PWMA_CCMR3  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
PWMA_CCR3 = 0; // ±È½ÏÖµ, ¿ØÖÆÕ¼¿Õ±È(¸ßµçÆ½Ê±ÖÓÊý)
PWMA_CCER2 |= 0x05; // ¿ªÆô±È½ÏÊä³ö, ¸ßµçÆ½ÓÐÐ§
PWMA_PS |= (0<<4); // Ñ¡ÔñIO, 0:Ñ¡ÔñP1.4 P1.5, 1:Ñ¡ÔñP2.4 P2.5, 2:Ñ¡ÔñP6.4 P6.5,
PWMA_CCMR3  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
// PWMA_ENO |= 0x10; // IOÊä³öÔÊÐí,  bit7: ENO4N, bit6: ENO4P, bit5: ENO3N, bit4: ENO3P,  bit3: ENO2N,  bit2: ENO2P,  bit1: ENO1N,  bit0: ENO1P
// PWMA_IER |= 0x08; // Ê¹ÄÜÖÐ¶Ï

PWMA_CCMR4  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí
PWMA_CCER2 |= 0x50; // ¿ªÆô±È½ÏÊä³ö, ¸ßµçÆ½ÓÐÐ§
PWMA_CCR4 = 768; // ±È½ÏÖµ, ¿ØÖÆÕ¼¿Õ±È(¸ßµçÆ½Ê±ÖÓÊý) PWM4´¥·¢ÖÐ¶Ï, Í¬²½²ÉÑù, ÔÚPWMÖÜÆÚ¿ì½áÊøÊ±¶Ô±È½ÏÆ÷²ÉÑù£¬ÕâÊ±ºòÃ»ÓÐPWM¸ÉÈÅ
PWMA_CCMR4  = 0x68; // Í¨µÀÄ£Ê½ÅäÖÃ, PWMÄ£Ê½1, Ô¤×°ÔØÔÊÐí

PWMA_BKR = 0x80; // Ö÷Êä³öÊ¹ÄÜ Ïàµ±ÓÚ×Ü¿ª¹Ø
PWMA_CR1 = 0x81; // Ê¹ÄÜ¼ÆÊýÆ÷, ÔÊÐí×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷»º³å, ±ßÑØ¶ÔÆëÄ£Ê½, ÏòÉÏ¼ÆÊý,  bit7=1:Ð´×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷»º³å(±¾ÖÜÆÚ²»»á±»´òÈÅ), =0:Ö±½ÓÐ´×Ô¶¯ÖØ×°ÔØ¼Ä´æÆ÷±¾(ÖÜÆÚ¿ÉÄÜ»áÂÒµô)
PWMA_EGR = 0x01; //²úÉúÒ»´Î¸üÐÂÊÂ¼þ, Çå³ý¼ÆÊýÆ÷ºÍÓë·ÖÆµ¼ÆÊýÆ÷, ×°ÔØÔ¤·ÖÆµ¼Ä´æÆ÷µÄÖµ
// PWMA_ISR_En = PWMA_IER; //ÉèÖÃ±êÖ¾ÔÊÐíÍ¨µÀ1~4ÖÐ¶Ï´¦Àí
}

// PWMA_PS = (0<<6)+(0<<4)+(0<<2)+0; //Ñ¡ÔñIO, 4Ïî´Ó¸ßµ½µÍ(´Ó×óµ½ÓÒ)¶ÔÓ¦PWM1 PWM2 PWM3 PWM4, 0:Ñ¡ÔñP1.x, 1:Ñ¡ÔñP2.x, 2:Ñ¡ÔñP6.x,
//  PWMA_PS PWM4N PWM4P PWM3N PWM3P PWM2N PWM2P PWM1N PWM1P
// 00    P1.7  P1.6    P1.5  P1.4    P1.3  P1.2    P1.1  P1.0
// 01    P2.7  P2.6    P2.5  P2.4    P2.3  P2.2    P2.1  P2.0
// 02    P6.7  P6.6    P6.5  P6.4    P6.3  P6.2    P6.1  P6.0
// 03    P3.3  P3.4    -- --    -- --    -- --

void CMP_config(void) //±È½ÏÆ÷³õÊ¼»¯³ÌÐò
{
CMPCR1 = 0x8C; // 1000 1100 ´ò¿ª±È½ÏÆ÷£¬P3.6×÷Îª±È½ÏÆ÷µÄ·´ÏàÊäÈë¶Ë£¬ADCÒý½Å×÷ÎªÕýÊäÈë¶Ë
CMPCR2 = 60; //60¸öÊ±ÖÓÂË²¨ ±È½Ï½á¹û±ä»¯ÑÓÊ±ÖÜÆÚÊý, 0~63
P3n_pure_input(0x40); //CMP-(P3.6)ÉèÖÃÎª¸ß×è.

P_SW2 |= 0x80; //SFR enable
// CMPEXCFG |= (0<<6); //bit7 bit6: ±È½ÏÆ÷³ÙÖÍÊäÈëÑ¡Ôñ: 0: 0mV,  1: 10mV, 2: 20mV, 3: 30mV
// CMPEXCFG |= (0<<2); //bit2: ÊäÈë¸º¼«ÐÔÑ¡Ôñ, 0: Ñ¡ÔñP3.6×öÊäÈë, 1: Ñ¡ÔñÄÚ²¿BandGapµçÑ¹BGv×ö¸ºÊäÈë.
// CMPEXCFG |=  0; //bit1 bit0: ÊäÈëÕý¼«ÐÔÑ¡Ôñ, 0: Ñ¡ÔñP3.7×öÊäÈë, 1: Ñ¡ÔñP5.0×öÊäÈë,  2: Ñ¡ÔñP5.1×öÊäÈë,  3: Ñ¡ÔñADCÊäÈë(ÓÉADC_CHS[3:0]ËùÑ¡ÔñµÄADCÊäÈë¶Ë×öÕýÊäÈë).
// CMPEXCFG = (0<<6)+(0<<2)+3;
}

#define PHASE_TIME_MAX 8190 //×î´ó»»ÏàÊ±¼ä, us, ±ÜÃâÀÛ¼ÓºÍÒç³ö
void CMP_ISR(void) interrupt 21 //±È½ÏÆ÷ÖÐ¶Ïº¯Êý, ¼ì²âµ½·´µç¶¯ÊÆ¹ý0ÊÂ¼þ
{
u8 i;
CMPCR1 &= ~0x40; // ÐèÈí¼þÇå³ýÖÐ¶Ï±êÖ¾Î»

if(XiaoCiCnt == 0) //Ïû´Åºó²Å¼ì²â¹ý0ÊÂ¼þ, XiaoCiCnt=1:ÐèÒªÏû´Å, =2:ÕýÔÚÏû´Å, =0ÒÑ¾Ïû´Å
{
T4T3M &= ~(1<<3); // Timer3Í£Ö¹ÔËÐÐ
PhaseTime = (((u16)T3H << 8) + T3L) >> 1; //¶ÁÈ¡Timer3²âÁ¿µ½µÄ»»ÏàÊ±¼ä(µ¥Î»0.5us)£¬µ¥Î»×ªÎª1us
T3H = 0; T3L = 0;
T4T3M |=  (1<<3); //Timer3¿ªÊ¼ÔËÐÐ

if(B_Timer3_OverFlow) //ÇÐ»»Ê±¼ä¼ä¸ô(Timer3)ÓÐÒç³ö
{
B_Timer3_OverFlow = 0;
PhaseTime = PHASE_TIME_MAX; //»»ÏàÊ±¼ä×î´ó8ms, 2212µç»ú12V¿Õ×ª×î¸ßËÙ130usÇÐ»»Ò»Ïà(200RPS 12000RPM), 480mA
}
else if(PhaseTime >= PHASE_TIME_MAX) PhaseTime = PHASE_TIME_MAX; //»»ÏàÊ±¼ä×î´ó8ms, 2212µç»ú12V¿Õ×ª×î¸ßËÙ130usÇÐ»»Ò»Ïà(200RPS 12000RPM), 480mA

PhaseTimeTmp[TimeIndex] = PhaseTime; //±£´æÒ»´Î»»ÏàÊ±¼ä
if(++TimeIndex >= 8) TimeIndex = 0; //ÀÛ¼Ó8´Î
for(PhaseTime=0, i=0; i<8; i++) PhaseTime += PhaseTimeTmp; //Çó8´Î»»ÏàÊ±¼äÀÛ¼ÓºÍ
PhaseTime = PhaseTime >> 4; //Çó8´Î»»ÏàÊ±¼äµÄÆ½¾ùÖµµÄÒ»°ë, ¼´30¶Èµç½Ç¶È
if(PhaseTime >= 40) TimeOut = 125; //»»ÏàÊ±¼äºÏ·¨  ¶Â×ª500ms³¬Ê±

T4T3M &= ~(1<<7); //Timer4Í£Ö¹ÔËÐÐ
PhaseTime  = PhaseTime  << 1; //2¸ö¼ÆÊý1us
PhaseTime = 0 - PhaseTime;
T4H = (u8)(PhaseTime >> 8); //×°ÔØ30¶È½ÇÑÓÊ±
T4L = (u8)PhaseTime;
T4T3M |=  (1<<7); //Timer4¿ªÊ¼ÔËÐÐ
XiaoCiCnt = 1; //1:ÐèÒªÏû´Å, 2:ÕýÔÚÏû´Å, 0ÒÑ¾Ïû´Å
}
}

void Timer0_config(void) //Timer0³õÊ¼»¯º¯Êý
{
Timer0_16bitAutoReload(); // T0¹¤×÷ÓÚ16Î»×Ô¶¯ÖØ×°
Timer0_1T();
TH0 = (65536UL-FOSC/1000) / 256; //1ms
TL0 = (65536UL-FOSC/1000) % 256;
TR0 = 1; // ´ò¿ª¶¨Ê±Æ÷0

ET0 = 1;// ÔÊÐíET0ÖÐ¶Ï
}

void Timer0_ISR(void) interrupt 1 //Timer0ÖÐ¶Ïº¯Êý, 20us
{
B_1ms = 1; //1ms¶¨Ê±±êÖ¾
}

//============================ timer3³õÊ¼»¯º¯Êý ============================================
void Timer3_Config(void)
{
P_SW2 |= 0x80; //SFR enable
T4T3M &= 0xf0; //Í£Ö¹¼ÆÊý, ¶¨Ê±Ä£Ê½, 12TÄ£Ê½, ²»Êä³öÊ±ÖÓ
T3H = 0;
T3L = 0;

T3T4PIN = 0x01; //Ñ¡ÔñIO, 0x00: T3--P0.4, T3CLKO--P0.5, T4--P0.6, T4CLKO--P0.7; 0x01: T3--P0.0, T3CLKO--P0.1, T4--P0.2, T4CLKO--P0.3;
IE2 |=  (1<<5); //ÔÊÐíÖÐ¶Ï
T4T3M |=  (1<<3); //¿ªÊ¼ÔËÐÐ
}

//============================ timer4³õÊ¼»¯º¯Êý ============================================
void Timer4_Config(void)
{
P_SW2 |= 0x80; //SFR enable
T4T3M &= 0x0f; //Í£Ö¹¼ÆÊý, ¶¨Ê±Ä£Ê½, 12TÄ£Ê½, ²»Êä³öÊ±ÖÓ
T4H = 0;
T4L = 0;

T3T4PIN = 0x01; //Ñ¡ÔñIO, 0x00: T3--P0.4, T3CLKO--P0.5, T4--P0.6, T4CLKO--P0.7; 0x01: T3--P0.0, T3CLKO--P0.1, T4--P0.2, T4CLKO--P0.3;
IE2 |=  (1<<6); //ÔÊÐíÖÐ¶Ï
// T4T3M |=  (1<<7); //¿ªÊ¼ÔËÐÐ
}

//=========================== timer3ÖÐ¶Ïº¯Êý =============================================
void timer3_ISR (void) interrupt TIMER3_VECTOR
{
B_Timer3_OverFlow = 1; //Òç³ö±êÖ¾
}

//=========================== timer4ÖÐ¶Ïº¯Êý =============================================
void timer4_ISR (void) interrupt TIMER4_VECTOR
{
T4T3M &= ~(1<<7); //Timer4Í£Ö¹ÔËÐÐ
if(XiaoCiCnt == 1) //±ê¼ÇÐèÒªÏû´Å. Ã¿´Î¼ì²âµ½¹ý0ÊÂ¼þºóµÚÒ»´ÎÖÐ¶ÏÎª30¶È½ÇÑÓÊ±, ÉèÖÃÏû´ÅÑÓÊ±.
{
XiaoCiCnt = 2; //1:ÐèÒªÏû´Å, 2:ÕýÔÚÏû´Å, 0ÒÑ¾Ïû´Å
if(B_RUN) StepMotor(); //µç»úÕýÔÚÔËÐÐ
//Ïû´ÅÊ±¼ä, »»ÏàºóÏßÈ¦(µç¸Ð)µçÁ÷¼õÐ¡µ½0µÄ¹ý³ÌÖÐ, ³öÏÖ·´µç¶¯ÊÆ, µçÁ÷Ô½´óÏû´ÅÊ±¼äÔ½³¤, ¹ý0¼ì²âÒªÔÚÕâ¸öÊ±¼äÖ®ºó
//100%Õ¼¿Õ±ÈÊ±Ê©¼Ó½ÏÖØ¸ºÔØ, µç»úµçÁ÷ÉÏÉý, ¿ÉÒÔÊ¾²¨Æ÷¿´Ïû´ÅÊ±¼ä.
//Êµ¼ÊÉÏ, Ö»ÒªÔÚ»»ÏàºóÑÓÊ±¼¸Ê®us²Å¼ì²â¹ýÁã, ¾Í¿ÉÒÔÁË
T4H = (u8)((65536UL - 30*2) >> 8); //×°ÔØÏû´ÅÑÓÊ±
T4L = (u8)(65536UL - 30*2);
T4T3M |=  (1<<7); //Timer4¿ªÊ¼ÔËÐÐ
}
else if(XiaoCiCnt == 2) XiaoCiCnt = 0; //1:ÐèÒªÏû´Å, 2:ÕýÔÚÏû´Å, 0ÒÑ¾Ïû´Å
}

/******************* Ç¿ÖÆµç»úÆô¶¯º¯Êý ***************************/
void StartMotor(void)
{
u16 i;

if(run_mode == MOTOR_IDLE) //¿ÕÏÐÄ£Ê½
{
B_RUN = 0;
PWM_Value  = 0; // ÉèÖÃÍ£Ö¹Õ¼¿Õ±È
PWMA_CCR1 = PWM_Value;
PWMA_CCR2 = PWM_Value;
PWMA_CCR3 = PWM_Value;
}

else if(run_mode == MOTOR_PRE_POSITION) //Ô¤¶¨Î»Ä£Ê½
{
if(SampleTime == 0) //¸Õ¿ªÊ¼, Æô¶¯Ç°½«SampleTime=0
{
PWM_Value  = STARTUP_PWM; // ÉèÖÃÆô¶¯Õ¼¿Õ±È
PWMA_CCR1 = PWM_Value;
PWMA_CCR2 = PWM_Value;
PWMA_CCR3 = PWM_Value;
SampleTime = 1;
}

else if(++SampleTime >= (STARTUP_INTERVAL/43)) //Ô¤¶¨Î»Ê±¼äµ½£¬×¼±¸Æô¶¯µç»ú£¬Ô¤¶¨Î»Ê±¼äÎª×î´ó»»ÏàÊ±¼ä, 43ÊÇPWMÖÜÆÚÎª43us
{
for(i=0; i<8; i++) PhaseTimeTmp = STARTUP_INTERVAL/43; //³õÊ¼Ä¬ÈÏ×î´ó»»ÏàÊ±¼ä
TimeIndex = 0;
commutation_num = 0; //Æô¶¯»»Ïà´ÎÊýÀÛ¼Ó
Degree30_time = 0;
SampleTime = STARTUP_INTERVAL/43/4;
run_mode = MOTOR_STARTING; //ÏÂÒ»¸öÄ£Ê½£ºÆô¶¯Ä£Ê½
StepMotor(); //»»ÏàÒ»´Î
}
}

else if(run_mode == MOTOR_STARTING) //Æô¶¯Ä£Ê½
{
SampleTime++;

if(Degree30_time != 0) //ÓÐ30¶È½ÇÑÓÊ±
{
if(--Degree30_time == 0) //30¶È½ÇÑÓÊ±µ½£¬Ôò»»Ïà
{
StepMotor(); //»»Ïà
commutation_num++; //Æô¶¯»»Ïà´ÎÊýÀÛ¼Ó
if ((commutation_num >= 36) && (PhaseTime <= (STARTUP_END_PhaseTime/43))) //Æô¶¯»»Ïà´ÎÊý11ÒÔÉÏ£¬²¢ÇÒ»»ÏàÊ±¼äÐ¡ÓÚÒ»¶¨Öµ£¬ÔòÆô¶¯³É¹¦
{
B_startDone = 1; //ÒÑÆô¶¯
B_start = 0; //ÒÑÆô¶¯Íê³É
B_RUN    = 1; //ÒÑÔËÐÐ
TimeOut = 200; //¶Â×ª³¬Ê±
run_mode = MOTOR_RUNNING;

delay_us(50);
XiaoCiCnt = 0; //1:ÐèÒªÏû´Å, 2:ÕýÔÚÏû´Å, 0ÒÑ¾Ïû´Å
if(step & 1) CMPCR1 = 0x8c + 0x20; // ±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=1: ÔÊÐí±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=0: ½ûÖ¹ÉÏÉýÑØÖÐ¶Ï. NIE=1: ÔÊÐí±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, NIE=0: ½ûÖ¹ÏÂ½µÑØÖÐ¶Ï.
else CMPCR1 = 0x8c + 0x10; // ±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, PIE=1: ÔÊÐí±È½ÏÆ÷ÉÏÉýÑØÖÐ¶Ï, PIE=0: ½ûÖ¹ÉÏÉýÑØÖÐ¶Ï. NIE=1: ÔÊÐí±È½ÏÆ÷ÏÂ½µÑØÖÐ¶Ï, NIE=0: ½ûÖ¹ÏÂ½µÑØÖÐ¶Ï.
}
}
}

else //¼ì²â·´µç¶¯ÊÆ¹ý0
{
B_zcFound = 0;
if (step & 1) // ÉÏÉýÑØ
{
if (B_cmpo) B_zcFound = 1; //Á¬Ðø4¸ö²ÉÑùÎª1, ±êÖ¾¹ý0ÊÂ¼þ
}
else //ÏÂ½µÑØ
{
if (!B_cmpo) B_zcFound = 1; //Á¬Ðø4¸ö²ÉÑùÎª0, ±êÖ¾¹ý0ÊÂ¼þ
}

if (B_zcFound && (SampleTime > STARTUP_END_PhaseTime/43/4)) //¼ì²âµ½¹ý0ÊÂ¼þ, »»ÏàÊ±¼ä¹ýÐ¡Ôò²»»»Ïà
{
if(SampleTime > (STARTUP_INTERVAL/43)) SampleTime = STARTUP_INTERVAL/43; //»»Ïà¹ýÂý£¬
PhaseTimeTmp[TimeIndex] = SampleTime; //±£´æ±¾´Î»»ÏàÊ±¼ä
SampleTime = 0;
if(++TimeIndex >= 8) TimeIndex = 0; //Ë÷ÒýÒç³ö¹é0
for(PhaseTime8sum=0, i=0; i<8; i++) PhaseTime8sum += PhaseTimeTmp; //Çó8´Î»»ÏàÊ±¼äÀÛ¼ÓºÍ, ÓÃÓÚ¼ÆËãÊµÊ±×ªËÙ = 1/(M*PhaseTime8sum*3/4) ×ª/Ãë = 60/(M*PhaseTime8sum*3/4) ×ª/·Ö£¬PhaseTime8sum*3/4Îª»»Ïà6´ÎµÄÊ±¼ä£¬MÎª´Å¼«¶Ô¡£
PhaseTime = PhaseTime8sum >> 3; //»»ÏàÊ±¼ä
if(PhaseTime >= 18) Degree30_time = PhaseTime/2 - 8; //»»ÏàÊ±¼äµÄÒ»°ë, ¼´30¶Èµç½Ç¶È, -8ÎªÐÞÕý8´Î²ÉÑùÊ±¼ä
else Degree30_time = 1; //»»ÏàÊ±¼äµÄÒ»°ë, ¼´30¶Èµç½Ç¶È

}
else if(SampleTime >= (STARTUP_INTERVAL/43)) //³¬Ê±ÖØÐÂÔ¤¶¨Î»Æô¶¯
{
SampleTime = 0;
run_mode  = MOTOR_PRE_POSITION; //³¬Ê±ÔòÖØÐÂÔ¤¶¨Î»Æô¶¯
StepMotor(); //»»ÏàÒ»´Î
}
}
}
if(TxRead != Txwrite) //ÓÐÊý¾ÝÒª·¢ËÍ
{
if(!B_TX1_Busy)
{
B_TX1_Busy = 1;
SBUF = TxTmp[TxRead];
if(++TxRead >= TxLength) TxRead = 0;
}
}
}

void PWMA_ISR(void) interrupt PWMA_VECTOR // 23.4375KHz£¨42.67us£©ÖÐ¶ÏÂÊ£¬ÓÃÓÚ´¦ÀíÆô¶¯µç»ú£¬²éÑ¯¶ÁÈ¡±È½ÏÆ÷½á¹û
{
cmpo_state = (cmpo_state << 1) | (CMPCR1 & 1); // ¶ÁÈ¡±È½ÏÆ÷×´Ì¬£¬·ÅÔÚÒ»¸ö×Ö½ÚÖÐ, Á¬Ðø8´Î¼ì²âµ½ÏàÍ¬µçÆ½²ÅÈÏÎªÓÐÐ§
if((cmpo_state & 0xff) == 0xfF) B_cmpo  = 1; //Á¬Ðø4¸ö²ÉÑùÎª1, Ôò±È½ÏÆ÷Êä³ö1
if((cmpo_state & 0xff) == 0x00) B_cmpo  = 0; //Á¬Ðø4¸ö²ÉÑùÎª0, Ôò±È½ÏÆ÷Êä³ö0

StartMotor(); //Æô¶¯µç»ú
if(B_RUN) PWMA_IER = 0; //Èç¹ûµç»úÒÑÆô¶¯ÔËÐÐ£¬Ôò½ûÖ¹PWMAÖÐ¶Ï
if(run_mode == MOTOR_IDLE) PWMA_IER = 0;
PWMA_SR1 = 0; //Çå³ý±êÖ¾
}

/**********************************************/
void main(void)
{
u16 j;

//P1M0 = 0x00; P1M1 = 0x00;
  P1M0 = 0xff; P1M1 = 0x00;
P3M0 = 0x00; P3M1 = 0x3f;


/* P2n_standard(0xf8);
P3n_standard(0xbf);
P5n_standard(0x10);*/

adc11 = 0;

PWMA_config();
ADC_config();
CMP_config();
Timer0_config(); // Timer0³õÊ¼»¯º¯Êý
Timer3_Config(); // Timer3³õÊ¼»¯º¯Êý
Timer4_Config(); // Timer4³õÊ¼»¯º¯Êý
PWW_Set = 0;
TimeOut = 0;

P1M0 = 0xff; P1M1 = 0x00;
P3M0 = 0x00; P3M1 = 0xcf;

EA  = 1; // ´ò¿ª×ÜÖÐ¶Ï

while (1)
{
if(B_1ms) // 1msÊ±Ï¶
{
B_1ms = 0;

if(++cnt_4ms == 4)
{
cnt_4ms = 0;
B_4ms = 1; //4msÊ±Ï¶±êÖ¾
if(++cnt_500ms == 125)
{
cnt_500ms = 0;
B_500ms = 1; //500msÊ±Ï¶±êÖ¾
}
}

if(PWW_Set < STOP_PWM) // PWM¹ýÐ¡Í£×ª
{
if(run_mode != MOTOR_IDLE)
{
B_RUN = 0;
PWM_Value = 0;
CMPCR1 = 0x8C; // ¹Ø±È½ÏÆ÷ÖÐ¶Ï
PWMA_ENO  = 0;
PWMA_CCR1 = 0;
PWMA_CCR2 = 0;
PWMA_CCR3 = 0;
PWM1N=0; PWM2N=0; PWM3N=0;
run_mode = MOTOR_IDLE;
}
}
if(B_RUN) //ÕýÔÚÔËÐÐÖÐ
{
if(PWM_Value < PWW_Set) PWM_Value++; //ÓÍÃÅ¸úËæµçÎ»Æ÷
if(PWM_Value > PWW_Set) PWM_Value--;
PWMA_CCR1 = PWM_Value;
PWMA_CCR2 = PWM_Value;
PWMA_CCR3 = PWM_Value;
}

if (run_mode == MOTOR_IDLE) //Èç¹ûÊÇÍ£»úÄ£Ê½£¬Ôò×öADC
{
adc11 = ((adc11 *7)>>3) + Get_ADC10bitResult(10); //µÍÍ¨ÂË²¨½á¹ûÎª13Î», 6: ADC8(µçÁ÷), 7£ºADC9(µçÑ¹)£¬11£ºADC11(µçÎ»Æ÷)
}

j = adc11;
if(j != adc11) j = adc11;
PWW_Set  = j >> 3; //ÓÍÃÅÊÇ10Î»µÄ
}

if(B_4ms) // 4msÊ±Ï¶
{
B_4ms = 0;

if(TimeOut != 0)
{
if(--TimeOut == 0) //¶Â×ª³¬Ê±
{
B_RUN  = 0;
PWM_Value = 0;
CMPCR1 = 0x8C; // ¹Ø±È½ÏÆ÷ÖÐ¶Ï
PWMA_ENO = 0;
PWMA_CCR1 = 0;
PWMA_CCR2 = 0;
PWMA_CCR3 = 0;
PWM1N=0; PWM2N=0; PWM3N=0;
Delay_n_ms(250); //¶Â×ªÊ±,ÑÓÊ±Ò»µãÊ±¼äÔÙÆô¶¯
run_mode = MOTOR_IDLE;
}
}

if(!B_RUN && (PWW_Set >= STARTUP_PWM)) // Õ¼¿Õ±È´óÓÚÉè¶¨Öµ, ²¢ÇÒµç»úÎ´ÔËÐÐ, ÔòÆô¶¯µç»ú
{
if (run_mode == MOTOR_IDLE) //Èç¹ûÊÇÍ£»úÄ£Ê½£¬Ôò¿ªÊ¼Ô¤¶¨Î»
{
B_start = 1; //Æô¶¯Ä£Ê½
            SampleTime = 0;
            run_mode = MOTOR_PRE_POSITION; //½øÈëÔ¤¶¨Î»Ä£Ê½
StepMotor(); //»»ÏàÒ»´Î
PWMA_SR1 = 0; //Çå³ý±êÖ¾
            B_startDone = 0;
PWMA_IER = 1<<4; //Ê¹ÄÜPWMA 4 ÖÐ¶Ï, ÈÃ¹ýÁã²ÉÑùÓëPWMÍ¬²½, ±Ü¿ªPWM¸ÉÈÅ
         }
}
}

if(B_500ms) //500msÊ±Ï¶
{
B_500ms = 0;
if(B_RUN) P_LED = 0; //LEDÖ¸Ê¾µÆÁÁ
else P_LED = ~P_LED; //LEDÖ¸Ê¾µÆÉÁË¸, ´ý»ú
}
}
}

优特*** · 发表于 2025-9-18 15:13:30

lyag*** 发表于 2025-9-18 11:43
/*---------------------------------------------------------------------*/
/* --- Web: www.STCAI. ...

兄弟啊，STC8H1K08是没有TIMER3/TIMER4的。要用1K08，要把T3与T4的中断改到T1/T2上去

lyag*** · 发表于 2025-9-18 19:32:12

优特*** 发表于 2025-9-18 15:13
兄弟啊，STC8H1K08是没有TIMER3/TIMER4的。要用1K08，要把T3与T4的中断改到T1/T2上去 ...

那我还是改用STC8H8K64U吧，免得改动太大。不过好像引脚对不上，我再仔细看看

lyag*** · 发表于 2025-9-18 19:40:03

优特*** 发表于 2025-9-18 15:13
兄弟啊，STC8H1K08是没有TIMER3/TIMER4的。要用1K08，要把T3与T4的中断改到T1/T2上去 ...

谢谢大佬，我这两天重新画一块板子试试

优特*** · 发表于 2025-9-18 20:01:52

不用重新画板的。定时器在程序里改一下就是了

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