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STM32 驱动直流无刷电机(BLDC)发声

news 来源：原创 2024/9/21 16:23:48

STM32驱动直流无刷电机(BLDC)发声

✨需要注意，这是驱动直流无刷电机(BLDC)发出声音，不是直接驱动无刷电机转动。

📍内容移植参考：ttps://github.com/AlkaMotors/AM32-MultiRotor-ESC-firmware
📍Arduino平台BLDC Music开源工程：https://github.com/owennewo/tone-player
🔖测试单片机：STM32L431、STM32F446.

在很多商业用的电调中，基本都带，在上电自检或设置以及输入信号检测时，电机会发出提示声音。BLDC电机在在PWM调制过程中，电机的绕组在不同开关频率下工作时，产生不同分贝的噪声。

📘基于`AM32-MultiRotor-ESC-firmware`实现发声的主要实现代码

🌿sounds.c

/** sounds.c**  Created on: May 13, 2020*      Author: Alka*/#include "sounds.h"
#include "phaseouts.h"
#include "functions.h"
//#include "eeprom.h"
#include "targets.h"
#include "common.h"uint8_t beep_volume;//uint8_t blueJayTuneBuffer[128] = {};void pause(uint16_t ms) {TIM1->CCR1 = 0; // volume of the beep, (duty cycle) don't go above 25TIM1->CCR2 = 0;TIM1->CCR3 = 0;delayMillis(ms);TIM1->CCR1 = beep_volume; // volume of the beep, (duty cycle) don't go above 25 out of 2000蜂鸣声的音量(占空比)在2000中不超过25TIM1->CCR2 = beep_volume;TIM1->CCR3 = beep_volume;
}void setVolume(uint8_t volume) {if (volume > 11) {volume = 11;}if (volume < 0) {volume = 0;}beep_volume = volume * 2;           // volume variable from 0 - 11 equates to CCR value of 0-22
}void setCaptureCompare() {TIM1->CCR1 = beep_volume; // volume of the beep, (duty cycle) don't go above 25 out of 2000TIM1->CCR2 = beep_volume;TIM1->CCR3 = beep_volume;
}void playBJNote(uint16_t freq, uint16_t bduration) {       // hz and msuint16_t timerOne_reload = TIM1_AUTORELOAD;TIM1->PSC = 10;timerOne_reload = CPU_FREQUENCY_MHZ * 100000 / freq;TIM1->ARR = timerOne_reload;TIM1->CCR1 = beep_volume * timerOne_reload / TIM1_AUTORELOAD ; // volume of the beep, (duty cycle) don't go above 25 out of 2000TIM1->CCR2 = beep_volume * timerOne_reload / TIM1_AUTORELOAD;TIM1->CCR3 = beep_volume * timerOne_reload / TIM1_AUTORELOAD;delayMillis(bduration);
}uint16_t getBlueJayNoteFrequency(uint8_t bjarrayfreq) {return 10000000 / (bjarrayfreq * 247 + 4000);
}void playStartupTune() {__disable_irq();TIM1->ARR = TIM1_AUTORELOAD;setCaptureCompare();comStep(3);       // activate a pwm channelTIM1->PSC = 55;        // frequency of beepdelayMillis(200);         // duration of beepcomStep(5);TIM1->PSC = 40;            // next beep is higher frequencydelayMillis(200);comStep(6);TIM1->PSC = 25;         // higher again..delayMillis(200);allOff();                // turn all channels low againTIM1->PSC = 0;           // set prescaler back to 0.TIM1->ARR = TIMER1_MAX_ARR;__enable_irq();
}void playBrushedStartupTune() {__disable_irq();TIM1->ARR = TIM1_AUTORELOAD;setCaptureCompare();comStep(1);       // activate a pwm channelTIM1->PSC = 40;        // frequency of beepdelayMillis(300);         // duration of beepcomStep(2);       // activate a pwm channelTIM1->PSC = 30;        // frequency of beepdelayMillis(300);         // duration of beepcomStep(3);       // activate a pwm channelTIM1->PSC = 25;        // frequency of beepdelayMillis(300);         // duration of beepcomStep(4);TIM1->PSC = 20;         // higher again..delayMillis(300);allOff();                // turn all channels low againTIM1->PSC = 0;           // set prescaler back to 0.
//	signaltimeout = 0;TIM1->ARR = TIMER1_MAX_ARR;__enable_irq();
}void playDuskingTune() {setCaptureCompare();TIM1->ARR = TIM1_AUTORELOAD;comStep(2);       // activate a pwm channelTIM1->PSC = 60;        // frequency of beepdelayMillis(200);         // duration of beepTIM1->PSC = 55;            // next beep is higher frequencydelayMillis(150);TIM1->PSC = 50;         // higher again..delayMillis(150);TIM1->PSC = 45;        // frequency of beepdelayMillis(100);         // duration of beepTIM1->PSC = 50;            // next beep is higher frequencydelayMillis(100);TIM1->PSC = 55;         // higher again..delayMillis(100);TIM1->PSC = 25;         // higher again..delayMillis(200);TIM1->PSC = 55;         // higher again..delayMillis(150);allOff();                // turn all channels low againTIM1->PSC = 0;           // set prescaler back to 0.TIM1->ARR = TIMER1_MAX_ARR;
}void playInputTune2() {TIM1->ARR = TIM1_AUTORELOAD;__disable_irq();
//	LL_IWDG_ReloadCounter(IWDG);TIM1->PSC = 60;setCaptureCompare();comStep(1);delayMillis(75);TIM1->PSC = 80;delayMillis(75);TIM1->PSC = 90;
//	LL_IWDG_ReloadCounter(IWDG);delayMillis(75);allOff();TIM1->PSC = 0;
//	signaltimeout = 0;TIM1->ARR = TIMER1_MAX_ARR;__enable_irq();
}void playInputTune() {__disable_irq();TIM1->ARR = TIM1_AUTORELOAD;
//	LL_IWDG_ReloadCounter(IWDG);TIM1->PSC = 80;setCaptureCompare();comStep(3);delayMillis(100);TIM1->PSC = 70;delayMillis(100);TIM1->PSC = 40;delayMillis(100);allOff();TIM1->PSC = 0;
//	signaltimeout = 0;TIM1->ARR = TIMER1_MAX_ARR;__enable_irq();
}void playDefaultTone() {TIM1->ARR = TIM1_AUTORELOAD;TIM1->PSC = 50;setCaptureCompare();comStep(2);delayMillis(150);
//	LL_IWDG_ReloadCounter(IWDG);TIM1->PSC = 30;delayMillis(150);allOff();TIM1->PSC = 0;
//	signaltimeout = 0;TIM1->ARR = TIMER1_MAX_ARR;}void playChangedTone() {TIM1->ARR = TIM1_AUTORELOAD;TIM1->PSC = 40;setCaptureCompare();comStep(2);delayMillis(150);
//	LL_IWDG_ReloadCounter(IWDG);TIM1->PSC = 80;delayMillis(150);allOff();TIM1->PSC = 0;
//	signaltimeout = 0;TIM1->ARR = TIMER1_MAX_ARR;}void playBeaconTune3() {TIM1->ARR = TIM1_AUTORELOAD;__disable_irq();setCaptureCompare();for (int i = 119 ; i > 0 ; i = i - 2) {
//		LL_IWDG_ReloadCounter(IWDG);comStep(i / 20);TIM1->PSC = 10 + (i / 2);delayMillis(10);}allOff();TIM1->PSC = 0;TIM1->ARR = TIMER1_MAX_ARR;__enable_irq();
}

🌿main测试代码：

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_COMP1_Init();MX_TIM1_Init();MX_TIM6_Init();MX_TIM16_Init();MX_USART2_UART_Init();// MX_IWDG_Init();MX_TIM7_Init();/* USER CODE BEGIN 2 */HAL_TIM_Base_Start(&htim6);HAL_TIM_Base_Start(&htim7);HAL_TIM_Base_Start(&htim16);HAL_TIM_GenerateEvent(&htim1, TIM_EVENTSOURCE_UPDATE);PWM_Init();TIMER1_MAX_ARR = map(35, 24, 48, TIM1_AUTORELOAD, TIM1_AUTORELOAD / 2);//24 - 48鑼冨洿// TIMER1_MAX_ARR = map(20, 12, 24, TIM1_AUTORELOAD * 2, TIM1_AUTORELOAD); //12 - 24鑼冨洿// TIMER1_MAX_ARR = map(10, 7, 16, TIM1_AUTORELOAD * 3, TIM1_AUTORELOAD / 2 * 3);//7 - 16鑼冨洿TIM1->ARR = TIMER1_MAX_ARR;setVolume(5);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while(1) {/* USER CODE END WHILE *//* USER CODE BEGIN 3 */printf("from playInputTune Sound.\r\n");playInputTune();//这个几乎听不到声音LL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);HAL_Delay(2500);printf("from playInputTune2 Sound.\r\n");playInputTune2();LL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);HAL_Delay(2500);printf("from playInputTune3 Sound.\r\n");playBeaconTune3();LL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);HAL_Delay(2500);}/* USER CODE END 3 */
}

📚测试工程

🔖STM32L431

链接：https://pan.baidu.com/s/1hdn-vaNXe4UvFgnPtAgJlA?pwd=ikvv 
提取码：ikvv

📘Arduino tone-player项目简介

🔖工程基于VSCode platformio ,基于Arduino平台。直接使用VSCode打开，如果安装了STM32相关固件，会自动加载并安装相对应的库。（编译工程时，不要有中文路径名，否则会在最终生成文件时报错）
🛠上传支持：stlink cmsis-dap, jlink

-🌟 如果点击烧录时，OpenOCD上传报错，可以直接选择对应生成的.bin文件进行烧录。

Error: timed out while waiting for target halted
embedded:startup.tcl:1516: Error: ** Unable to reset target **
in procedure 'program' 
in procedure 'program_error' called at file "embedded:startup.tcl", line 1553
at file "embedded:startup.tcl", line 1516
*** [upload] Error 1
========================================= [FAILED] Took 194.56 seconds =========================================