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FOC Driver Board Archive慧驱动 FOC 驱动板归档

A sensorless PMSM FOC driver-board record around STM32F4 and DRV8301, keeping the board files visible while marking the missing bring-up and tuning evidence plainly.围绕 STM32F4 与 DRV8301 的无感 PMSM FOC 驱动板记录，保留板卡文件，也把还缺的上电、起转和调参证据说清楚。

Timeline时间线
2025.11 - 2026.032025.11 - 2026.03
Status状态
Public Archive公开归档
Stack技术栈
FOCMotor ControlSTM32F4DRV8301PCB
FOC Driver Board Archive

Project Brief项目简述

FOC 这条线一眼看上去很“硬”：STM32F4、DRV8301、PMSM、无感控制、Clarke / Park、SVPWM、电流采样、速度环和保护逻辑都在材料里出现了。也正因为这样，写它时要更克制。关键词可以吸引人，真正能站住的是板子怎么采样、怎么调制、怎么保护、怎么起转，以及这些过程有没有留下测试记录。

The folder contains a sensorless PMSM FOC board, STM32F4 firmware, DRV8301 driver work, motor-control source modules, datasheets, BOM/PnP exports, a STEP model, an EasyEDA project, and generated build folders. The page now treats those files as a material trail. It keeps the board readable while leaving room for the missing bring-up story.

源目录里有无感 PMSM FOC 板、STM32F4 固件、DRV8301 驱动相关代码、motor/ 下的控制模块、数据手册、BOM/PnP、STEP、EasyEDA 工程和一堆生成目录。当前页面把这些文件当成材料线索来写：先让板子可读，再明确后面还要补上电、起转、波形和调参过程。

FOC driver board 3D render / 慧驱动 FOC 测试板 3D 渲染图
FOC driver board 3D render慧驱动 FOC 测试板 3D 渲染图

Archive Scope归档范围

The useful lines in the folder are:

  • Hardware: sensorless PMSM FOC driver board files, including selected BOM, pick-and-place, Gerber, STEP, and EasyEDA project outputs.
  • Firmware: STM32F4 code around adc, drv8301, foc_algorithm, hall_sensor, speed_pid, and parameter-identification wrappers.
  • Toolchain: IAR / Keil project material, CMSIS / STM32F4 library files, Debug / Release outputs, and vendor documentation in the raw folder.
  • References: DRV8301, STM32F446RE, MOSFET, encoder, and CMSIS materials.

源目录里比较有用的线索有四类：

  • 硬件：无感 PMSM FOC 驱动板，包含筛选后的 BOM、贴片坐标、Gerber、STEP 和 EasyEDA 工程输出。
  • 固件：STM32F4 代码里和 adc、drv8301、foc_algorithm、hall_sensor、speed_pid、参数辨识相关的模块。
  • 工具链：原始目录里的 IAR / Keil 工程、CMSIS / STM32F4 库、Debug / Release 输出和供应商文档。
  • 参考资料：DRV8301、STM32F446RE、MOSFET、编码器和 CMSIS 相关材料。

How The Files Are Used文件怎么用

The public file set answers "what existed" more clearly than "how well it worked." That is still useful. The schematic/manufacturing outputs, EasyEDA project, STEP model, driver references, and selected motor-control source files let the board be inspected from several angles.

But the next layer has to be runtime evidence: redrawn signal path, test screenshots, oscilloscope captures, current-sampling notes, startup-state explanation, fault handling, and tuning logs. Once those are filled in, this page can move from a board-and-source record toward a real FOC case study.

现在这组文件回答“当时有什么”比回答“跑得怎么样”更清楚。这样也有价值。原理图和制造输出、EasyEDA 工程、STEP 模型、驱动参考、选出来的电机控制源码，至少让这块板可以从几个角度被检查。

下一层要补的是运行证据：重画的信号链、测试截图、示波器波形、电流采样说明、起转状态、故障处理和调参日志。等这些补上以后，这页才会从板卡和源码记录，往真正的 FOC 案例靠近。

Board Render And Schematic Sheets板卡渲染与分页原理图

The board render and five schematic sheets make the project less abstract. The 3D view shows board density, high-current terminal area, DRV8301-side layout, user controls, and silkscreen context. The schematic sheets split the design into MCU, connector, ADC, MOSFET power stage, and driver sections.

这几张图比单纯列文件有用。3D 渲染图先把板子的密度、高电流端子、DRV8301 一侧、按键和丝印位置摆出来；五张分页原理图再把 MCU、连接器、ADC、MOS 功率级和驱动部分拆开看。现在至少能顺着图从“板子长什么样”读到“每个电路块大概在哪”。

FOC MCU schematic sheet / FOC MCU 分页原理图
FOC MCU schematic sheetFOC MCU 分页原理图
FOC connector schematic sheet / FOC 连接器分页原理图
FOC connector schematic sheetFOC 连接器分页原理图
FOC ADC schematic sheet / FOC ADC 分页原理图
FOC ADC schematic sheetFOC ADC 分页原理图
FOC MOSFET stage schematic sheet / FOC MOS 功率级分页原理图
FOC MOSFET stage schematic sheetFOC MOS 功率级分页原理图
FOC driver schematic sheet / FOC 驱动分页原理图
FOC driver schematic sheetFOC 驱动分页原理图

Files文件

What Stayed Out没放上来的东西

The raw folder also contains material that would make the page heavier without explaining the board better:

  • full STM32F4 firmware source tree;
  • IAR / Keil project folders;
  • CMSIS / STM32F4 vendor library folders;
  • Debug / Release build outputs;
  • duplicate generated exports and tool caches.

原始目录里还有一些会让页面变重、但不太增加理解的内容：

  • 完整 STM32F4 固件源码树；
  • IAR / Keil 工程目录；
  • CMSIS / STM32F4 vendor library；
  • Debug / Release 构建输出；
  • 重复生成文件和工具缓存。

Missing Debug Notes还缺的调试记录

  • A redrawn FOC signal path from phase current sampling to Park / Clarke transform, PI loops, SVPWM, and gate-driver output.
  • Startup and protection notes: pre-charge, alignment, fault pin handling, over-current assumptions, and DRV8301 status reading.
  • Test evidence: phase-current waveforms, PWM timing, speed response, failed startup cases, and parameter-tuning notes.

Looking Back现在回头看

The main risk of this line is writing around vocabulary. FOC sounds impressive, but the useful writing lives in the plain checks: current sampling, modulation path, protection behavior, startup sequence, and test evidence. For now this page keeps the board files and the unanswered questions together, so the project does not pretend to be more mature than its records.

这条线最大的风险是围着名词写。FOC 听起来很厉害，但真正有用的记录还是那些朴素检查：电流采样、调制链路、保护行为、起转顺序和测试证据。现在这页先把板卡文件和还没回答的问题放在一起，别让项目看起来比记录本身更成熟。

Development Notes开发笔记

Project notes connected to hardware, firmware, documentation, and archive material.和这个项目相关的硬件、固件、文档和归档笔记。

Open notes archive打开笔记归档
FOC Driver Board Archive Notes慧驱动 FOC 驱动板开发归档笔记

Public Project Files公开项目资料

Uploaded evidence served from the public asset folder. Use the file index to preview documents, source code, media, PDFs, and downloadable artifacts without leaving the page.这里列出已经上传到公开目录的项目证据。可以在左侧索引里选择文件，在右侧直接预览文档、源码、媒体、PDF 和可下载附件。

24 files24 个文件

board-config.c

C / 18.6 KB

Open file打开文件
C
/**********************************

**********************************/
#include "main.h"
#include "board_config.h"


void hard_init(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef PWM_TIM_TimeBaseStructure;
  TIM_OCInitTypeDef PWM_TIM_OCInitStructure;
  TIM_BDTRInitTypeDef PWM_TIM_BDTRInitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;
  DMA_InitTypeDef       DMA_InitStructure;
  ADC_InitTypeDef ADC_InitStructure;
  ADC_CommonInitTypeDef ADC_CommonInitStructure;
  EXTI_InitTypeDef   EXTI_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_HALLTimeBaseInitStructure;
  TIM_ICInitTypeDef       TIM_HALLICInitStructure;
  //TIM_TimeBaseInitTypeDef COM_TASK_TIM_TimeBaseStructure;
  RCC_ClocksTypeDef   RCC_Clocks;

  RCC_GetClocksFreq(&RCC_Clocks);
  RCC_AHB1PeriphClockCmd(OLED_SPIx_SCK_GPIO_CLK | OLED_SPIx_MOSI_GPIO_CLK|OLED_DC_GPIO_CLK|OLED_RESET_GPIO_CLK, ENABLE);
  RCC_AHB1PeriphClockCmd(DRV8301_SPIx_SCK_GPIO_CLK|DRV8301_SPIx_MOSI_GPIO_CLK|DRV8301_SPIx_MISO_GPIO_CLK|DRV8301_SPIx_CS_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(KEY_1_GPIO_CLK|KEY_2_GPIO_CLK|KEY_3_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(PWM_AH_GPIO_CLK|PWM_BH_GPIO_CLK|PWM_CH_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(PWM_AL_GPIO_CLK|PWM_BL_GPIO_CLK|PWM_CL_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(HALL_CH1_GPIO_CLK|HALL_CH2_GPIO_CLK|HALL_CH3_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(DRV8301_ENGATE_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(DRV8301_FAULT_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(VBUS_ADC_GPIO_CLK|A_CURRENT_ADC_GPIO_CLK|B_CURRENT_ADC_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(TOTAL_CURRENT_ADC_GPIO_CLK|TEMPERATURE_ADC_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(U_VOLT_ADC_GPIO_CLK|V_VOLT_ADC_GPIO_CLK|W_VOLT_ADC_GPIO_CLK,ENABLE);
  RCC_AHB1PeriphClockCmd(USER_LED_GPIO_CLK,ENABLE);
  RCC_APB2PeriphClockCmd(PWM_TIM_CLK, ENABLE);
  RCC_APB2PeriphClockCmd(SAMPLE_ADC_CLK,ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
  RCC_APB1PeriphClockCmd(HALL_TIM_CLK, ENABLE);
  RCC_APB1PeriphClockCmd(COMMUNICATION_TASK_TIM_CLK, ENABLE);
  RCC_AHB1PeriphClockCmd(DMA2_CLK, ENABLE);
  SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);


  //hall sensor config start
  GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin = HALL_CH1_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(HALL_CH1_GPIO_PORT, &GPIO_InitStructure);

  GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin = HALL_CH2_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(HALL_CH2_GPIO_PORT, &GPIO_InitStructure);

  GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin = HALL_CH3_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(HALL_CH3_GPIO_PORT, &GPIO_InitStructure);

  GPIO_PinAFConfig(HALL_CH1_GPIO_PORT,HALL_CH1_SOURCE,HALL_CH1_AF);
  GPIO_PinAFConfig(HALL_CH2_GPIO_PORT,HALL_CH2_SOURCE,HALL_CH2_AF);
  GPIO_PinAFConfig(HALL_CH3_GPIO_PORT,HALL_CH3_SOURCE,HALL_CH3_AF);

  TIM_DeInit(HALL_TIM);
  TIM_TimeBaseStructInit(&TIM_HALLTimeBaseInitStructure);
  TIM_HALLTimeBaseInitStructure.TIM_Period = 0xffffffff;
  TIM_HALLTimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  TIM_TimeBaseInit(HALL_TIM,&TIM_HALLTimeBaseInitStructure);

  TIM_ICStructInit(&TIM_HALLICInitStructure);
  TIM_HALLICInitStructure.TIM_Channel = TIM_Channel_1;
  TIM_HALLICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
  TIM_HALLICInitStructure.TIM_ICFilter = 0x0f;
  TIM_ICInit(HALL_TIM,&TIM_HALLICInitStructure);


  TIM_PrescalerConfig(HALL_TIM, (u16)0,TIM_PSCReloadMode_Immediate);
  TIM_InternalClockConfig(HALL_TIM);
  TIM_SelectHallSensor(HALL_TIM, ENABLE);
  TIM_SelectInputTrigger(HALL_TIM, TIM_TS_TI1FP1);
  TIM_SelectSlaveMode(HALL_TIM,TIM_SlaveMode_Reset);
  TIM_ClearFlag(HALL_TIM, TIM_FLAG_Update|
                TIM_FLAG_CC1|
                  TIM_FLAG_CC2|
                    TIM_FLAG_CC3|
                      TIM_FLAG_CC4|
                        TIM_FLAG_Trigger|
                          TIM_FLAG_CC1OF|
                            TIM_FLAG_CC2OF|
                              TIM_FLAG_CC3OF|
                                TIM_FLAG_CC4OF);
  TIM_ITConfig(HALL_TIM, TIM_IT_CC1, ENABLE);
  TIM_SetCounter(HALL_TIM, 0);
  TIM_Cmd(HALL_TIM, ENABLE);
  //hall sensor config end

  //communication task timer config start
  //TIM_DeInit(COMMUNICATION_TASK_TIM);
  //TIM_TimeBaseStructInit(&COM_TASK_TIM_TimeBaseStructure);
  //COM_TASK_TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  //COM_TASK_TIM_TimeBaseStructure.TIM_Prescaler = COMMUNICATION_TASK_TIM_PRESCALER;
  //COM_TASK_TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  //COM_TASK_TIM_TimeBaseStructure.TIM_Period = COM_TASK_TIM_PERIOD;
  //TIM_TimeBaseInit(COMMUNICATION_TASK_TIM,&COM_TASK_TIM_TimeBaseStructure);
  //TIM_ITConfig(COMMUNICATION_TASK_TIM, TIM_IT_Update, ENABLE);
  //TIM_Cmd(COMMUNICATION_TASK_TIM, ENABLE);
  //communication task timer config end

  //DRV8301 引脚  config start
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;

  GPIO_InitStructure.GPIO_Pin = DRV8301_FAULT_PIN;
  GPIO_Init(DRV8301_FAULT_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;

  GPIO_InitStructure.GPIO_Pin = DRV8301_ENGATE_PIN;
  GPIO_Init(DRV8301_ENGATE_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_DOWN;

  GPIO_InitStructure.GPIO_Pin = DRV8301_SPIx_SCK_PIN;
  GPIO_Init(DRV8301_SPIx_SCK_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = DRV8301_SPIx_MOSI_PIN;
  GPIO_Init(DRV8301_SPIx_MOSI_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Pin = DRV8301_SPIx_CS_PIN;
  GPIO_Init(DRV8301_SPIx_CS_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure.GPIO_Pin = DRV8301_SPIx_MISO_PIN;
  GPIO_Init(DRV8301_SPIx_MISO_GPIO_PORT, &GPIO_InitStructure);

  //DRV8301  SPI  引脚 初始电平
  GPIO_SetBits(DRV8301_ENGATE_GPIO_PORT,DRV8301_ENGATE_PIN);
  GPIO_SetBits(DRV8301_SPIx_CS_GPIO_PORT,DRV8301_SPIx_CS_PIN);
  GPIO_SetBits(DRV8301_SPIx_MISO_GPIO_PORT,DRV8301_SPIx_MISO_PIN);
  GPIO_ResetBits(DRV8301_SPIx_SCK_GPIO_PORT,DRV8301_SPIx_SCK_PIN);
  GPIO_ResetBits(DRV8301_SPIx_MOSI_GPIO_PORT,DRV8301_SPIx_MOSI_PIN);
  //DRV8301 引脚  config end

  //OLED显示屏 引脚  config start
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;


  GPIO_InitStructure.GPIO_Pin = OLED_SPIx_SCK_PIN;
  GPIO_Init(OLED_SPIx_SCK_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  OLED_SPIx_MOSI_PIN;
  GPIO_Init(OLED_SPIx_MOSI_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = OLED_DC_PIN;
  GPIO_Init(OLED_DC_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  OLED_RESET_PIN;
  GPIO_Init(OLED_RESET_GPIO_PORT, &GPIO_InitStructure);
  GPIO_ResetBits(OLED_RESET_GPIO_PORT,OLED_RESET_PIN);
  //OLED显示屏 引脚  config end

  //LED提示灯 引脚  config start
  GPIO_InitStructure.GPIO_Pin =  USER_LED_PIN;
  GPIO_Init(USER_LED_GPIO_PORT, &GPIO_InitStructure);
  //LED提示灯 引脚  config end

  //PWM  config start
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;

  GPIO_InitStructure.GPIO_Pin = PWM_AH_PIN;
  GPIO_Init(PWM_AH_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = PWM_AL_PIN;
  GPIO_Init(PWM_AL_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = PWM_BH_PIN;
  GPIO_Init(PWM_BH_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = PWM_BL_PIN;
  GPIO_Init(PWM_BL_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = PWM_CH_PIN;
  GPIO_Init(PWM_CH_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = PWM_CL_PIN;
  GPIO_Init(PWM_CL_GPIO_PORT, &GPIO_InitStructure);


  GPIO_PinAFConfig(PWM_AH_GPIO_PORT,PWM_AH_SOURCE,PWM_AH_AF);
  GPIO_PinAFConfig(PWM_AL_GPIO_PORT,PWM_AL_SOURCE,PWM_AL_AF);
  GPIO_PinAFConfig(PWM_BH_GPIO_PORT,PWM_BH_SOURCE,PWM_BH_AF);
  GPIO_PinAFConfig(PWM_BL_GPIO_PORT,PWM_BL_SOURCE,PWM_BL_AF);
  GPIO_PinAFConfig(PWM_CH_GPIO_PORT,PWM_CH_SOURCE,PWM_CH_AF);
  GPIO_PinAFConfig(PWM_CL_GPIO_PORT,PWM_CL_SOURCE,PWM_CL_AF);
  TIM_DeInit(PWM_TIM);
  TIM_TimeBaseStructInit(&PWM_TIM_TimeBaseStructure);

  PWM_TIM_TimeBaseStructure.TIM_Prescaler = 0x0;
  PWM_TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
  PWM_TIM_TimeBaseStructure.TIM_Period = PWM_TIM_PULSE;
  PWM_TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  PWM_TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
  TIM_TimeBaseInit(PWM_TIM, &PWM_TIM_TimeBaseStructure);

  TIM_OCStructInit(&PWM_TIM_OCInitStructure);
  PWM_TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  PWM_TIM_OCInitStructure.TIM_OutputState =  TIM_OutputState_Enable;
  PWM_TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  PWM_TIM_OCInitStructure.TIM_Pulse = PWM_TIM_PULSE>>1;
  PWM_TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  PWM_TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  PWM_TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  PWM_TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;

  TIM_OC1Init(PWM_TIM, &PWM_TIM_OCInitStructure);
  TIM_OC2Init(PWM_TIM, &PWM_TIM_OCInitStructure);
  TIM_OC3Init(PWM_TIM, &PWM_TIM_OCInitStructure);

  PWM_TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  PWM_TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  PWM_TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
  PWM_TIM_OCInitStructure.TIM_Pulse = PWM_TIM_PULSE;
  PWM_TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  PWM_TIM_OCInitStructure.TIM_OCNPolarity =TIM_OCNPolarity_Low;
  PWM_TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
  PWM_TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
  TIM_OC4Init(PWM_TIM, &PWM_TIM_OCInitStructure);

  PWM_TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
  PWM_TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
  PWM_TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
  PWM_TIM_BDTRInitStructure.TIM_DeadTime = PWM_DEAD_TIME;
  PWM_TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
  PWM_TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
  PWM_TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
  TIM_BDTRConfig(PWM_TIM, &PWM_TIM_BDTRInitStructure);


  //TIM_ITConfig(PWM_TIM, TIM_IT_Update, ENABLE);
  TIM_Cmd(PWM_TIM, ENABLE);

  PWM_TIM->CCR1 = PWM_TIM_PULSE>>1;
  PWM_TIM->CCR2 = PWM_TIM_PULSE>>1;
  PWM_TIM->CCR3 = PWM_TIM_PULSE>>1;
  PWM_TIM->CCR4 = PWM_TIM_PULSE-1;
  //PWM  config end

  //DMA config start
  DMA_InitStructure.DMA_Channel = DMA_CHANNEL0;
  DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC1_DR_ADDRESS;
  DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC1ConvertedValue;
  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
  DMA_InitStructure.DMA_BufferSize = 4;
  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
  DMA_InitStructure.DMA_Priority = DMA_Priority_High;
  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
  DMA_Init(DMA2_STREAM0, &DMA_InitStructure);
  DMA_Cmd(DMA2_STREAM0, ENABLE);
  //DMA config end

  //ADC  config start
  GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;

  GPIO_InitStructure.GPIO_Pin = VBUS_ADC_PIN;
  GPIO_Init(VBUS_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = A_CURRENT_ADC_PIN;
  GPIO_Init(A_CURRENT_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = B_CURRENT_ADC_PIN;
  GPIO_Init(B_CURRENT_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = TOTAL_CURRENT_ADC_PIN;
  GPIO_Init(TOTAL_CURRENT_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = TEMPERATURE_ADC_PIN;
  GPIO_Init(TEMPERATURE_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = U_VOLT_ADC_PIN;
  GPIO_Init(U_VOLT_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = V_VOLT_ADC_PIN;
  GPIO_Init(V_VOLT_ADC_GPIO_PORT,&GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = W_VOLT_ADC_PIN;
  GPIO_Init(W_VOLT_ADC_GPIO_PORT,&GPIO_InitStructure);
  ADC_DeInit();

  ADC_StructInit(&ADC_InitStructure);
  ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
  ADC_InitStructure.ADC_ScanConvMode = ENABLE;
  ADC_InitStructure.ADC_ExternalTrigConv =ADC_ExternalTrigConv_T1_CC1;
  ADC_InitStructure.ADC_ExternalTrigConvEdge =ADC_ExternalTrigConvEdge_None;
  ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;;
  ADC_InitStructure.ADC_NbrOfConversion = 4;

  ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;
  ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;
  ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled;
  ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;


  ADC_CommonInit(&ADC_CommonInitStructure);
  ADC_Init(SAMPLE_ADC, &ADC_InitStructure);

  ADC_InjectedSequencerLengthConfig(SAMPLE_ADC,4);

  ADC_ExternalTrigInjectedConvConfig(SAMPLE_ADC,ADC_ExternalTrigInjecConv_T1_CC4);
  ADC_ExternalTrigInjectedConvEdgeConfig(SAMPLE_ADC,ADC_ExternalTrigInjecConvEdge_Rising);

  ADC_InjectedChannelConfig(SAMPLE_ADC,VBUS_ADC_CHANNEL,1,ADC_SampleTime_15Cycles);
  ADC_InjectedChannelConfig(SAMPLE_ADC,A_CURRENT_ADC_CHANNEL,2,ADC_SampleTime_15Cycles);
  ADC_InjectedChannelConfig(SAMPLE_ADC,B_CURRENT_ADC_CHANNEL,3,ADC_SampleTime_15Cycles);
  ADC_InjectedChannelConfig(SAMPLE_ADC,TOTAL_CURRENT_ADC_CHANNEL,4,ADC_SampleTime_15Cycles);

  ADC_RegularChannelConfig(SAMPLE_ADC, U_VOLT_ADC_CHANNEL, 1, ADC_SampleTime_15Cycles);
  ADC_RegularChannelConfig(SAMPLE_ADC, V_VOLT_ADC_CHANNEL, 2, ADC_SampleTime_15Cycles);
  ADC_RegularChannelConfig(SAMPLE_ADC, W_VOLT_ADC_CHANNEL, 3, ADC_SampleTime_15Cycles);
  ADC_RegularChannelConfig(SAMPLE_ADC, TEMPERATURE_ADC_CHANNEL, 4, ADC_SampleTime_15Cycles);

  ADC_DMARequestAfterLastTransferCmd(SAMPLE_ADC, ENABLE);
  ADC_DMACmd(SAMPLE_ADC, ENABLE);


  ADC_ITConfig(SAMPLE_ADC, ADC_IT_JEOC, ENABLE);
  ADC_ClearFlag(SAMPLE_ADC, ADC_FLAG_JEOC);
  ADC_Cmd(SAMPLE_ADC,ENABLE);
  ADC_SoftwareStartConv(SAMPLE_ADC);
  //ADC  config end

  //按键  config start
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;

  GPIO_InitStructure.GPIO_Pin = KEY_1_PIN;
  GPIO_Init(KEY_1_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = KEY_2_PIN;
  GPIO_Init(KEY_2_GPIO_PORT, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = KEY_3_PIN;
  GPIO_Init(KEY_3_GPIO_PORT, &GPIO_InitStructure);

  SYSCFG_EXTILineConfig(KEY_1_EXTI_GPIO_PORT, KEY_1_EXTI_SOURCE);
  SYSCFG_EXTILineConfig(KEY_2_EXTI_GPIO_PORT, KEY_2_EXTI_SOURCE);
  SYSCFG_EXTILineConfig(KEY_3_EXTI_GPIO_PORT, KEY_3_EXTI_SOURCE);

  EXTI_InitStructure.EXTI_Line = KEY_1_EXTI_LINE|KEY_2_EXTI_LINE|KEY_3_EXTI_LINE;
  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  EXTI_Init(&EXTI_InitStructure);
  //按键  config end

  //USB通讯配置 start
  //communication_init();
  //USB通讯配置 end

  //中断优先级设置 start
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
  /*
  NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  */
  NVIC_InitStructure.NVIC_IRQChannel = ADC_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  NVIC_InitStructure.NVIC_IRQChannel = EXTI4_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);

  NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  /*
  NVIC_InitStructure.NVIC_IRQChannel = COM_TASK_TIM_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  */
  NVIC_InitStructure.NVIC_IRQChannel = OTG_FS_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  #ifdef __ICCARM__
  NVIC_InitStructure.NVIC_IRQChannel = SysTick_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	#endif
  //中断优先级设置 end
}

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FOC driver board render

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3D render for the sensorless PMSM FOC driver board archive.无感 PMSM FOC 驱动板归档页使用的 3D 板卡渲染图。

FOC MCU schematic sheet

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MCU sheet from the FOC driver board schematic export.FOC 驱动板原理图导出的 MCU 分页。

FOC connector schematic sheet

FOC connector schematic sheetFOC 连接器分页原理图

Connector sheet from the FOC driver board schematic export.FOC 驱动板原理图导出的连接器分页。

FOC ADC schematic sheet

FOC ADC schematic sheetFOC ADC 分页原理图

ADC sheet from the FOC driver board schematic export.FOC 驱动板原理图导出的 ADC 采样分页。

FOC MOSFET stage schematic sheet

FOC MOSFET stage schematic sheetFOC MOS 功率级分页原理图

MOSFET power-stage sheet from the FOC driver board schematic export.FOC 驱动板原理图导出的 MOS 功率级分页。

FOC driver schematic sheet

FOC driver schematic sheetFOC 驱动分页原理图

Driver sheet from the FOC driver board schematic export.FOC 驱动板原理图导出的驱动分页。