基于STM32F4实现FOC（磁场定向控制）一：电流采样和波形产生

2023-05-16

一．ADC的配置问题

1.GPIO初始化配置
开始ADC对应的GPIO口，本驱动程序使用到五个GPIO，分别对应U V W三相电流及母线电压和温度采样，统一配置为模拟输入。
GPIO的配置代码如下：

	
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA |RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOB| RCC_AHB1Periph_GPIOD|RCC_AHB1Periph_GPIOE, ENABLE);	  /* Enable GPIOA, GPIOC, GPIOE,GPIOD, AFIO clocks */ 
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);		//84Mhz																							/* Enable ADC1 clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE); 		//84																			/* Enable ADC2 clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);		//高级定时器 168MHz																						/* Enable TIM1 clock */

	//GPIO初始化
	//.ADC的GPIO
	GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin = RHEOSTAT_ADC1_GPIO_PIN1 | RHEOSTAT_ADC1_GPIO_PIN2| RHEOSTAT_ADC1_GPIO_PIN3;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
  GPIO_Init(RHEOSTAT_ADC1_UVWGPIO_PORT, &GPIO_InitStructure);
	
	GPIO_StructInit(&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin = RHEOSTAT_ADC1_GPIO_PIN4 |RHEOSTAT_ADC1_GPIO_PIN5;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
  GPIO_Init(RHEOSTAT_ADC_TEMPVOLTGPIO_PORT, &GPIO_InitStructure);

2.ADC初始化配置

ADC1和ADC2配置：配置为同步注入模式，设置分频值，关闭DMA。
为了在电机开始运行前采集到的当前的零飘电流，需要先进行可以采集零飘电流的ADC配置，配置如下： ADC1和ADC2采用相同的配置。关闭扫描模式关闭边沿触发关闭连续转换数据左对齐数据设置为12位
在进行完配置之后如果立即开始采集零漂电流，会出现采样值为0的情况，解决方法时设置微小延时，等待内部校准。
开始零漂电流的采集：使用ADC1来采集三相电流，先关闭注入通道转换结束中断，防止在采集到零漂电流后进入ADC中断，开始FOC计算。关闭中断后关闭ADC的边沿触发，防止在采集过程中收到别的触发信号。设置ADC1的注入通道的采样对象和周期，开始采集。

零漂电流：零点漂移（零漂）是直接耦合放大电路中存在的一个特殊问题。所谓零点漂移的是指放大电路在没有输入信号时，用灵敏的直流表测量输出端，也会有变化缓慢的输出电压产生，称为零点漂移现象。零点漂移的信号会在各级放大的电路间传递，经过多级放大后，在输出端成为较大的信号，如果有用信号较弱，存在零点漂移现象的直接耦合放大电路中，漂移电压和有效信号电压会混杂在一起被逐级放大，当漂移电压大小可以和有效信号电压相比时，是很难在输出端分辨出有效信号的电压;在漂移现象严重的情况下，往往会使有效信号“淹没”，使放大电路不能正常工作。
电机运行状态的电流采集：将ADC1和2配置为运行状态所需要的模式，即ADC1和ADC2的注入通道1分别采集A相电流和B相电流，并在运行中动态调整；通道2分别采集母线电压和温度。同时将触发条件设置为定时器的更新触发，等待电机启动。电机启动后，将触发条件设置为定时器的输出捕获触发，使用定时器1（产生pwm波的定时器）的闲置通道配置为pwm模式，同步定时器产生的pwm波，在合适的点触发ADC。

ADC的配置代码如下：

 ADC_DeInit();
 
	
  /* ADC1 configuration ------------------------------------------------------*/
	ADC_CommonInitStructure.ADC_Mode = ADC_DualMode_InjecSimult;
	ADC_CommonInitStructure.ADC_Prescaler =  ADC_Prescaler_Div6 ;
	ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled ;
	ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles; //不起作用
	ADC_CommonInit(&ADC_CommonInitStructure);
  ADC_StructInit(&ADC_InitStructure);
	
	
	
																		//注入同步模式    主ADC
  ADC_InitStructure.ADC_ScanConvMode = ENABLE;
	ADC_InitStructure.ADC_ExternalTrigConvEdge= ADC_ExternalTrigConvEdge_None;               //关闭外部边沿触发
  ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;																			//连续转换关闭
  ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_CC1;										//不起作用
  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left;																		//数据左对齐
	ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
	ADC_InitStructure.ADC_NbrOfConversion = 1	;																						
  ADC_Init(RHEOSTAT_ADC1, &ADC_InitStructure);
	
  /* ADC2 Configuration ------------------------------------------------------*/
	ADC_InitStructure.ADC_ScanConvMode = ENABLE;
	ADC_InitStructure.ADC_ExternalTrigConvEdge= ADC_ExternalTrigConvEdge_None;               //关闭外部边沿触发
  ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;																			//连续转换关闭
  ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_CC1;										//不起作用
  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left;																		//数据左对齐
	ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
	ADC_InitStructure.ADC_NbrOfConversion = 1	;																																														
  ADC_Init(RHEOSTAT_ADC2, &ADC_InitStructure);
	
  ADC_Cmd(RHEOSTAT_ADC1, ENABLE);
  ADC_Cmd(RHEOSTAT_ADC2, ENABLE);
	
   while(WaitForAD != 0  )		//计时结束
   {
			WaitForAD--;
   } 


	//读取零电流偏移值    由于没有产生PWM波              在此情况下读取零电流值
 SVPWM_3ShuntCurrentReadingCalibration();
	
  /* ADC2 Injected conversions configuration */  																					
  ADC_InjectedSequencerLengthConfig(RHEOSTAT_ADC2,2);																								//ADC2的注入通道序列长度配置为2
	
  ADC_InjectedChannelConfig(RHEOSTAT_ADC2, PHASE_A_ADC_CHANNEL, 1, SAMPLING_TIME_CK);								//A相        ADC通道6    
  ADC_InjectedChannelConfig(RHEOSTAT_ADC2, TEMP_FDBK_CHANNEL,   2, SAMPLING_TIME_CK);								//温度反馈   ADC通道9     
	
	//中断优先级配置
	//AD转换中断配置
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);																						//配置优先级小组  4个抢占优先级 4个子优先级
  NVIC_InitStructure.NVIC_IRQChannel = Rheostat_ADC_IRQ;//ADC1和ADC2 注入中断							//1和2的中断
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = ADC_PRE_EMPTION_PRIORITY;					//1			
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = ADC_SUB_PRIORITY;													//0  
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  
  //定时器1更新中断

  NVIC_InitStructure.NVIC_IRQChannel =  Rheostat_TIM_IRQ ;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIM1_UP_PRE_EMPTION_PRIORITY;			//1
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIM1_UP_SUB_PRIORITY;											//0
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;																			
  NVIC_Init(&NVIC_InitStructure);
}

//读取零电流偏移值

void SVPWM_3ShuntCurrentReadingCalibration(void)
{
	static u16 bIndex;
	
  hPhaseAOffset=0;				//三相的偏执电流
  hPhaseBOffset=0;
  hPhaseCOffset=0;
static u8 FourAvg = 0;
	ATemp = 0;
	BTemp = 0;
	CTemp = 0;
   while(WaitForAD != 0  )		//计时结束
   {
			WaitForAD--;
   } 
	
  /* ADC1 Injected group of conversions end interrupt disabling */
  ADC_ITConfig(RHEOSTAT_ADC1, ADC_IT_JEOC, DISABLE);															//禁止ADC1的注入通道转换结束中断 
	

	ADC_ExternalTrigInjectedConvEdgeConfig(ADC1, ADC_ExternalTrigInjecConvEdge_None);
//  ADC1->CR2 = ADC1->CR2 |= 0x300000;
//	ADC_ExternalTrigInjectedConvEdgeConfig(RHEOSTAT_ADC1,ADC_ExternalTrigInjecConvEdge_RisingFalling); //上升沿触发	
	
  ADC_InjectedSequencerLengthConfig(RHEOSTAT_ADC1,3);                             //ADC1的注入序列长度配置为3
  ADC_InjectedChannelConfig(ADC1, PHASE_A_ADC_CHANNEL,1,SAMPLING_TIME_CK);				//配置ADC1的注入通道的采样对象及优先级和周期
  ADC_InjectedChannelConfig(ADC1, PHASE_B_ADC_CHANNEL,2,SAMPLING_TIME_CK);
  ADC_InjectedChannelConfig(ADC1, PHASE_C_ADC_CHANNEL,3,SAMPLING_TIME_CK); 
	
	
	
  ADC_ClearFlag(RHEOSTAT_ADC1, ADC_FLAG_JEOC);  																	//清除ADC1的注入通道转换结束位

 
		 
	ADC_SoftwareStartInjectedConv(RHEOSTAT_ADC1);	
for(FourAvg = 0;FourAvg < AvgCurNum;FourAvg ++)
	{


  for(bIndex=0; bIndex <NB_CONVERSIONS; bIndex++)													//得到地电压    转换16次求和
  {													
  while(!ADC_GetFlagStatus(ADC1,ADC_FLAG_JEOC)) {}											//等待转换结束

	ATemp += (ADC_GetInjectedConversionValue(RHEOSTAT_ADC1,ADC_InjectedChannel_1)>>3);												//获取ADC1的注入通道1 2 3的值  对应上面的 PHASE_A_ADC_CHANNEL.....
  BTemp	+= (ADC_GetInjectedConversionValue(RHEOSTAT_ADC1,ADC_InjectedChannel_2)>>3);												//注入组数据采用左对齐，需要右移三位才是真实数据
  CTemp += (ADC_GetInjectedConversionValue(RHEOSTAT_ADC1,ADC_InjectedChannel_3)>>3); 	
		
	ADC_ClearFlag(RHEOSTAT_ADC1, ADC_FLAG_JEOC);  											
  ADC_SoftwareStartInjectedConv(RHEOSTAT_ADC1);		
  }	

}
	

	hPhaseAOffset = (u16)(ATemp/AvgCurNum);
	hPhaseBOffset = (u16)(BTemp/AvgCurNum);
	hPhaseCOffset =	(u16)(CTemp/AvgCurNum);
  SVPWM_InjectedConvConfig();  																						//配置ADC1采样
	

}


//此功能在对使用的三个ADC通道进行校准后，将ADC1配置为电流读取和温度电压反馈
void SVPWM_InjectedConvConfig(void)
{

  /* ADC1 Injected conversions configuration */ 
  ADC_InjectedSequencerLengthConfig(RHEOSTAT_ADC1,2);
	ADC_InjectedSequencerLengthConfig(RHEOSTAT_ADC2,2);
	
  ADC_InjectedChannelConfig(RHEOSTAT_ADC1, PHASE_B_ADC_CHANNEL, 1,  SAMPLING_TIME_CK);      //配置ADC1采样B相电流的通道 优先级及周期		IB  PA4
  ADC_InjectedChannelConfig(RHEOSTAT_ADC1, BUS_VOLT_FDBK_CHANNEL, 2, SAMPLING_TIME_CK);		 	//配置母线电压的采样优先级及周期						BUS VOLT PB0
	

  /* ADC1 Injected conversions trigger is TIM1 TRGO */ 

  ADC_ExternalTrigInjectedConvConfig(RHEOSTAT_ADC1,ADC_ExternalTrigInjecConv_T1_TRGO); //trgo 触发 Trgo 是什么      //定时器1的触发信号作为启动注入通道组转换的外部事件   定时器1的updatae
	ADC_ExternalTrigInjectedConvEdgeConfig(RHEOSTAT_ADC1,ADC_ExternalTrigInjecConvEdge_Falling); //上升沿触发																																																			//与上面对应

	
  ADC_ITConfig(RHEOSTAT_ADC1, ADC_IT_JEOC | ADC_IT_AWD, ENABLE);	
	//使能ADC1的模拟看门狗中断，并开启扫描模式
	//使能ADC1的注入通道转换结束中断 并开启规则通道组转换结束后自动的注入通道转换
}

3.运行状态下的ADC
在运行状态下，ADC1和ADC2注入通道1的采集对象在不同的扇区会有不同的配置。这是由于三相采样电阻在驱动电路的下桥臂导通时才有电流，为保证能采集的电流，只找导通时间最长的两相，剩余的一相根据基尔霍夫电流定律计算。根据PWM波图像，在第四和第五扇区，采集A相和B相电流；在第一和第六扇区，采集C相和B相电流；在第二和第三扇区，采集A相和C相电流。
电流获取代码如下：

//更新电流
Curr_Components SVPWM_3ShuntGetPhaseCurrentValues(void)
{
	
  Curr_Components Local_Stator_Currents;
	Curr_Components new_value;
	Curr_Components result;
  s32 wAux;
	u8 count;
	s32 sum1 = 0;
	s32 sum2 = 0;
	int i,j,temp;
	

//	printf("bSector = %d\r\n",bSector);
  switch (bSector)
   {
		 //只有在下桥臂导通的时候才能检测电流，选择下桥臂导通时间长的相去检测电流   4 5扇区时 A B相的下桥臂导通时间长  C相导通时间短  不检测C相 
   case 4: 														
   case 5: //Current on Phase C not accessible     												//C相电流不可获得
            wAux = (s32)(hPhaseAOffset)- ((ADC1->JDR1)<<1); 							//JDR1左移一位表示真实的Q15格式的AD转换值， A相   数据左对齐2^15，为了变成Q15格式，再乘2^15，即左移一位
//	 printf("hPhaseAOffset = %d\r\n",hPhaseAOffset);
           //Saturation of Ia 					
            if (wAux < S16_MIN)	
            {					
              Local_Stator_Currents.qI_Component1= S16_MIN;								//AD转换的下限
            }  					
            else  if (wAux > S16_MAX)
                  { 
                    Local_Stator_Currents.qI_Component1= S16_MAX;  				//AD转换的上限
                  }
                  else
                  {
                    Local_Stator_Currents.qI_Component1= wAux;						//转换值即不大于上限 也不小于下限  则直接赋值
									}
                     
        
            wAux = (s32)(hPhaseBOffset)-((ADC2->JDR1)<<1);								//偏执电流-采样值                B相
           // Saturation of Ib
            if (wAux < S16_MIN)
            {
              Local_Stator_Currents.qI_Component2= S16_MIN;
            }  
            else  if (wAux > S16_MAX)                                    /S16_MAX 被修改了 
                  { 
                    Local_Stator_Currents.qI_Component2= S16_MAX;
                  }
                  else
                  {
                    Local_Stator_Currents.qI_Component2= wAux;
                  }
           break;
           
   case 6:																																		
   case 1:  
//printf("hPhaseAOffset = %d\r\n",hPhaseAOffset);
            wAux = (s32)(hPhaseBOffset)-((ADC1->JDR1)<<1);                  //B相
            //Saturation of Ib 
            if (wAux < S16_MIN)
            {
              Local_Stator_Currents.qI_Component2= S16_MIN;
            }  
            else  if (wAux > S16_MAX)
                  { 
                    Local_Stator_Currents.qI_Component2= S16_MAX;
                  }
                  else
                  {
                    Local_Stator_Currents.qI_Component2= wAux;
                  }
            // Ia = -Ic -Ib 
            wAux = ((ADC2->JDR1)<<1)-hPhaseCOffset-Local_Stator_Currents.qI_Component2;
            //Saturation of Ia
            if (wAux> S16_MAX)
            {
               Local_Stator_Currents.qI_Component1 = S16_MAX;
            }
            else  if (wAux <S16_MIN)
                  {
                   Local_Stator_Currents.qI_Component1 = S16_MIN;
                  }
                  else
                  {  
                    Local_Stator_Currents.qI_Component1 = wAux;
                  }
           break;
           
   case 2:
   case 3:  // Current on Phase B not accessible
//printf("hPhaseAOffset = %d\r\n",hPhaseAOffset);
            wAux = (s32)(hPhaseAOffset)-((ADC1->JDR1)<<1);
            //Saturation of Ia 
            if (wAux < S16_MIN)
            {
              Local_Stator_Currents.qI_Component1= S16_MIN;
            }  
            else  if (wAux > S16_MAX)
                  { 
                    Local_Stator_Currents.qI_Component1= S16_MAX;
                  }
                  else
                  {
                    Local_Stator_Currents.qI_Component1= wAux;
                  }
     
            // Ib = -Ic-Ia;
            wAux = ((ADC2->JDR1)<<1) - hPhaseCOffset -   Local_Stator_Currents.qI_Component1;
            // Saturation of Ib
            if (wAux> S16_MAX)
            {
              Local_Stator_Currents.qI_Component2=S16_MAX;
            }
            else  if (wAux <S16_MIN)
                  {  
                    Local_Stator_Currents.qI_Component2 = S16_MIN;
                  }
                  else  
                  {
                    Local_Stator_Currents.qI_Component2 = wAux;
                  }                     
           break;

   default:
           break;
   } 
    return(Local_Stator_Currents); //返回采样电流
    }

二．定时器的配置问题

配置能够产生6路pwm波的定时器，改变定时器的占空比即可控制电机转速或转矩。
1.GPIO初始化配置
需要一个能够产生6路PWM波的高级定时器，定时器1或定时器8，对应6个GPIO口，同时需要一个刹车GPIO，共计需要7个GPIO。配置为复用推挽模式。
代码如下：

GPIO_StructInit(&GPIO_InitStructure);	
  GPIO_InitStructure.GPIO_Pin = RHEOSTAT_TIM1_GPIO_PIN1 | RHEOSTAT_TIM1_GPIO_PIN2 | RHEOSTAT_TIM1_GPIO_PIN3  ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(RHEOSTAT_TIM1_GPIO_PORT, &GPIO_InitStructure); 


  //TIM1N
  GPIO_InitStructure.GPIO_Pin =  RHEOSTAT_TIM1N_GPIO_PIN1 | RHEOSTAT_TIM1N_GPIO_PIN2 | RHEOSTAT_TIM1N_GPIO_PIN3;
  GPIO_Init(RHEOSTAT_TIM1N_GPIO_PORT, &GPIO_InitStructure);

2.定时器的初始化配置
定时器的初始化代码如下：

	
	//定时器初始化
  TIM_DeInit(TIM1);
  TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure);
  TIM1_TimeBaseStructure.TIM_Prescaler = PWM_PRSC;						//1																						
  TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;      
  TIM1_TimeBaseStructure.TIM_Period = PWM_PERIOD;		//PWM_PERIOD					 ARR  顶点值		2500						
  TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV2;    //和死区时间计算有关
  TIM1_TimeBaseStructure.TIM_RepetitionCounter = REP_RATE;											//溢出2次触发中断
  TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);

3.输出捕获模式的配置
定时器的四个通道都配置为中央对齐模式
代码如下：

//配置TIM的PWM输出
  TIM_OCStructInit(&TIM1_OCInitStructure);
  TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; 														//PWM1             向上计数时cnt<crr有效
  TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 
  TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;                  
  TIM1_OCInitStructure.TIM_Pulse = 0x505; 												//crr	
  TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; 										//通道低电平有效
  TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;         					//互补通道低电平有效
  TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;									//设置输出空闲状态
  TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY;          					//reset
  
  TIM_OC1Init(TIM1, &TIM1_OCInitStructure); 																		//配置通道1
  TIM_OC2Init(TIM1, &TIM1_OCInitStructure);																			//配置通道2
  TIM_OC3Init(TIM1, &TIM1_OCInitStructure);																			//配置通道3
  GPIO_StructInit(&GPIO_InitStructure);
	
  TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
  TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
  TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
	
	//TIM1通道4的PWM配置
  TIM_OCStructInit(&TIM1_OCInitStructure);
  TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;  
  TIM1_OCInitStructure.TIM_OutputState = 	TIM_OutputState_Enable;             //使能主通道
  TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;                  
  TIM1_OCInitStructure.TIM_Pulse = PWM_PERIOD-1;  //   												// 在PWM波的正中间采样
  TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; 									//主通道高电平有效	
  TIM1_OCInitStructure.TIM_OCNPolarity =TIM_OCNPolarity_Low;         					//互补通道低电平有效   没有用 互补通道关闭
  TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;								//主通道输出空闲状态
  TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY;            			//互补通道输出空闲状态
  TIM_OC4Init(TIM1, &TIM1_OCInitStructure);
  
  TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);

4.刹车和死区配置
刹车可以通俗的理解为停止产生PWM波，当改变刹车位的电平时，会启动或停止PWM的产生。
死区是为了保证mos开关电路不在同一时刻导通，烧毁电路。
代码如下：


	//刹车和死区配置
  TIM1_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;							//当定时器不工作时，一旦CCxE=1或CCxNE = 1（即主通道捕获比较或互补捕获比较通道使能），首次开启OC/OCN并输出无效电平，然后置OC/OCN使能输出信号=1
	TIM1_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;							//当定时器不工作时，一旦主通道或互补通道使能，OC/OCN首先输出其空闲电平，然后OC/OCN使能输出信号=1					
  TIM1_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1; 									//锁定级别1，不能写入TIMx_BDTR寄存器的DTG、BKE、BKP、AOE、和TIMx_CR2寄存器的OISx/OISxN位	
  TIM1_BDTRInitStructure.TIM_DeadTime = DEADTIME;														//死区   4
  TIM1_BDTRInitStructure.TIM_Break = TIM_Break_Disable;											//刹车功能使能
  TIM1_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;         //刹车输入低电平有效
  TIM1_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;	//关闭自动输出  只能由软件置1
  TIM_BDTRConfig(TIM1, &TIM1_BDTRInitStructure);

//设置更新事件为TIM1的TRGO 设置ADC触发为TIM1的TRGO时，即使用TIM1的更新作为触发
	TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);                     //选择定时器1的更新事件被选为触发输入（TRGO）  定时器1位主模式	
 
	TIM_ClearITPendingBit(TIM1, TIM_IT_Break);																//清除刹车中断标记位
  TIM_ITConfig(TIM1, TIM_IT_Break,ENABLE);																	//使能刹车中断
  

	TIM_Cmd(TIM1, ENABLE);																										//使能定时器1	
		
  // Resynch to have the Update evend during Undeflow
  TIM_GenerateEvent(TIM1, TIM_EventSource_Update);		//重新初始化计数器，并产生一个更新事件，注意预分频器的计数器也被清0（但是预分频系数不变！若在中心对称模式下
	//或向上计数则计数器被清0，若向下计数则取TIMx_ARR的值。


		//Clear Update Flag
    TIM_ClearFlag(TIM1, TIM_FLAG_Update);																		//清除中断标志位
		TIM_ITConfig(TIM1, TIM_IT_Update, DISABLE);															//关闭更新中断   
	  TIM_ITConfig(TIM1, TIM_IT_CC4,DISABLE);																	//关闭捕获/比较中断

获取源码：公众号【程序员DeRozan】回复1207

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