单片机FOC速度模式hall驱动

单片机 ：STM32F407

开发板：DMF407电机开发板

平台：keil V5.31

HSE 为8MHZ

HSI为16MHZ

主函数：

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_DAC_Init();
  MX_TIM1_Init();
  MX_TIM5_Init();
//  MX_USART1_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

运行速度是250

#define _RPM 60
#define _01HZ 10
#define SPEED_UNIT _01HZ

#define DEFAULT_TARGET_SPEED_RPM      1500
#define DEFAULT_TARGET_SPEED_UNIT      (DEFAULT_TARGET_SPEED_RPM*SPEED_UNIT/_RPM)

SpeednTorqCtrl_Handle_t SpeednTorqCtrlM1 =
{
  .STCFrequencyHz =           		MEDIUM_FREQUENCY_TASK_RATE,
  .MaxAppPositiveMecSpeedUnit =	(uint16_t)(MAX_APPLICATION_SPEED_UNIT),
  .MinAppPositiveMecSpeedUnit =	(uint16_t)(MIN_APPLICATION_SPEED_UNIT),
  .MaxAppNegativeMecSpeedUnit =	(int16_t)(-MIN_APPLICATION_SPEED_UNIT),
  .MinAppNegativeMecSpeedUnit =	(int16_t)(-MAX_APPLICATION_SPEED_UNIT),
  .MaxPositiveTorque =				(int16_t)NOMINAL_CURRENT,
  .MinNegativeTorque =				-(int16_t)NOMINAL_CURRENT,
  .ModeDefault =					DEFAULT_CONTROL_MODE,
  .MecSpeedRefUnitDefault =		(int16_t)(DEFAULT_TARGET_SPEED_UNIT),
  .TorqueRefDefault =				(int16_t)DEFAULT_TORQUE_COMPONENT,
  .IdrefDefault =					(int16_t)DEFAULT_FLUX_COMPONENT,
};

pSTC[M1] = &SpeednTorqCtrlM1;

pSTCM1->MecSpeedRefUnitDefault=250

MCI_ExecSpeedRamp(oMCInterface[M1],STC_GetMecSpeedRefUnitDefault(pSTC[M1]),0);

MciM1->hFinalSpeed=250

oMCInterfaceM1->hFinalSpeed=250

MCT[M1].pPIDSpeed = pPIDSpeed[M1];

pMCI0->hFinalSpeed=250