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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

1. ADC1和ADC2配置：配置为同步注入模式，设置分频值，关闭DMA。




2. 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




3. 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。




4. 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。




5. 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