【求救】三相无刷直流电机波形问题

`/* MAIN.C file
摘要：
1.PA6延时反转，指示系统工作。
2.上电，按指定PWM输出延时换相，实现电机基本运转功能。
2013.5.8
*/
#include "stm8s.h"

#define STM8_FREQ_MHZ 16
#define PWM_FREQUENCY 16000

sta tic const u16 hArrPwmVal = ((u16)((STM8_FREQ_MHZ * (u32)1000000)/PWM_FREQUENCY));
//PWM信号周期

#define PWMOUT 20
//按15%占空比输出

const unsigned char PWM_EN1_TAB[6]={0x00,0x00,0x01,0x01,0x10,0x10};
//六步法中，CH1CH2通道极性及使能配置
const unsigned char PWM_EN2_TAB[6]={0x01,0x01,0x00,0x00,0x00,0x00};
//六步法中，CH3通道极性及使能配置

//上桥臂开关控制端口定义
#define MCO1_PORT GPIOC
#define MCO1_PIN GPIO_PIN_1
#define MCO3_PORT GPIOC
#define MCO3_PIN GPIO_PIN_2
#define MCO5_PORT GPIOC
#define MCO5_PIN GPIO_PIN_3

//下桥臂开关控制端口定义
#define MCO0_PORT GPIOB
#define MCO0_PIN GPIO_PIN_0
#define MCO2_PORT GPIOB
#define MCO2_PIN GPIO_PIN_1
#define MCO4_PORT GPIOB
#define MCO4_PIN GPIO_PIN_2
//下桥臂低电平开关管导通
#define PWM_A_OFF MCO0_PORT->ODR |= (u8)MCO0_PIN;
#define PWM_B_OFF MCO2_PORT->ODR |= (u8)MCO2_PIN;
#define PWM_C_OFF MCO4_PORT->ODR |= (u8)MCO4_PIN;

#define PWM_A_ON MCO0_PORT->ODR &= (u8)(~MCO0_PIN);
#define PWM_B_ON MCO2_PORT->ODR &= (u8)(~MCO2_PIN);
#define PWM_C_ON MCO4_PORT->ODR &= (u8)(~MCO4_PIN);

//换相子函数声明
void Commutation(unsigned char bHallStartStep,unsigned int OutPwmValue);

//初始化按键，指示灯端口
void GPIO_int(void)
{
/* LEDs */
GPIO_Init(GPIOA, GPIO_PIN_1, GPIO_MODE_OUT_PP_HIGH_FAST);
}

//系统时钟配置：内部16M
void Clock_init(void)
{
/* Select fCPU = 16MHz */
CLK_SYSCLKConfig(CLK_PRESCALER_HSIDIV1);
}

//换相 电路开关管IO初始化
void PWM_IO_init(void)
{
//PB012 下桥臂0有效 ,配置为高电平
GPIO_Init(MCO0_PORT, MCO0_PIN,GPIO_MODE_OUT_PP_HIGH_FAST);
GPIO_Init(MCO2_PORT, MCO2_PIN,GPIO_MODE_OUT_PP_HIGH_FAST);
GPIO_Init(MCO4_PORT, MCO4_PIN,GPIO_MODE_OUT_PP_HIGH_FAST);

//PC123 上桥臂1有效,配置为低电平
GPIO_Init(MCO1_PORT, MCO1_PIN,GPIO_MODE_OUT_PP_LOW_FAST);
GPIO_Init(MCO3_PORT, MCO3_PIN,GPIO_MODE_OUT_PP_LOW_FAST);
GPIO_Init(MCO5_PORT, MCO5_PIN,GPIO_MODE_OUT_PP_LOW_FAST);
}

//高级定时器初始化配置
void Tim1_init(void)
{
/* TIM1 Peripheral Configuration */
TIM1_DeInit();

TIM1_TimeBaseInit(0, TIM1_COUNTERMODE_UP, hArrPwmVal, 0);

TIM1_OC1Init(TIM1_OCMODE_PWM1, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_DISABLE, hArrPwmVal*0, TIM1_OCPOLARITY_HIGH, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_RESET, TIM1_OCNIDLESTATE_SET);

TIM1_OC2Init(TIM1_OCMODE_PWM1, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_DISABLE, hArrPwmVal*0, TIM1_OCPOLARITY_HIGH, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_RESET, TIM1_OCNIDLESTATE_SET);

TIM1_OC3Init(TIM1_OCMODE_PWM1, TIM1_OUTPUTSTATE_ENABLE, TIM1_OUTPUTNSTATE_DISABLE, hArrPwmVal*0, TIM1_OCPOLARITY_HIGH, TIM1_OCNPOLARITY_LOW, TIM1_OCIDLESTATE_RESET, TIM1_OCNIDLESTATE_SET);

TIM1_CCPreloadControl(DISABLE);
TIM1_Cmd(ENABLE);
}


main()
{
unsigned int tem_c=0;
unsigned char step=0;
unsigned int outpwm=0;

for(tem_c=0;tem_c<50000;tem_c++);//上电延时，等待系统稳定

Clock_init();//指示灯端口初始化
GPIO_int();//时钟配置

PWM_IO_init();//开关管控制端口初始化
Tim1_init();//高级定时器配置
outpwm=hArrPwmVal*PWMOUT/100;
while (1)
{
for(tem_c=0;tem_c<7000;tem_c++);//延时时间
GPIO_WriteReverse(GPIOA,GPIO_PIN_1);//PA6指示灯反转
step++;
if(step>=6)step=0;
Commutation(step,outpwm);
}
}

//换向输出PWM值，
//bHallStartStep:当前换相步序0-5，OutPwmValue 输出PWM值
void Commutation(unsigned char bHallStartStep,unsigned int OutPwmValue)
{ unsigned int tem_c=0;
TIM1->BKR &= (uint8_t)(~TIM1_BKR_MOE);//禁止PWM输出
if(bHallStartStep!=3&&bHallStartStep!=4)
PWM_A_OFF;
if(bHallStartStep!=0&&bHallStartStep!=5)
PWM_B_OFF;
if(bHallStartStep!=1&&bHallStartStep!=2)
PWM_C_OFF;

//根据换相步序，打开不同的开关管，并施加正确的PWM信号
if(bHallStartStep==0)//AB
{
TIM1->CCR1H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR1L = (uint8_t)(OutPwmValue);
PWM_B_ON;

}


else if(bHallStartStep==1) //AC
{
TIM1->CCR1H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR1L = (uint8_t)(OutPwmValue);
PWM_C_ON;
}
else if(bHallStartStep==2) //BC
{
TIM1->CCR2H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR2L = (uint8_t)(OutPwmValue);
PWM_C_ON;
}
else if(bHallStartStep==3) //BA
{
TIM1->CCR2H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR2L = (uint8_t)(OutPwmValue);
PWM_A_ON;


}
else if(bHallStartStep==4)//CA
{
TIM1->CCR3H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR3L = (uint8_t)(OutPwmValue);
PWM_A_ON;

}
else if(bHallStartStep==5) //CB
{
TIM1->CCR3H = (uint8_t)(OutPwmValue >> 8);
TIM1->CCR3L = (uint8_t)(OutPwmValue);
PWM_B_ON;
}

TIM1->CCER1=PWM_EN1_TAB[bHallStartStep];
TIM1->CCER2=PWM_EN2_TAB[bHallStartStep];
TIM1->BKR|=TIM1_BKR_MOE;//使能PWM输出
}


通过TIM1的PWM输出控制上管，通过GPIO输出控制下管
根据换向步序，打开不同的开关管，并施加正确的PWM信号


但是T1和T2的波形不对，是怎么一回事啊，求解啊

`

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