基于STM32F4实现FOC（磁场定向控制）一：电流采样和波形产生

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GPIOGPIO_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ADCADC_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2ADC_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;            //1NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIM1_UP_SUB_PRIORITY;                                           //0NVIC_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3ADC_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  PA4ADC_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updataeADC_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 Ibif (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 Iaif (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 Ibif (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); //TIM1NGPIO_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;                           //resetTIM_OC1Init(TIM1, &TIM1_OCInitStructure);                                                                        //配置通道1TIM_OC2Init(TIM1, &TIM1_OCInitStructure);                                                                            //配置通道2TIM_OC3Init(TIM1, &TIM1_OCInitStructure);                                                                            //配置通道3GPIO_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=1TIM1_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   4TIM1_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1TIM_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 UndeflowTIM_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 FlagTIM_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