此C代码的功能是实现永磁无刷电机的速度闭环控制，不负责驱动部分。这个代码里用的MCU是上海晟矽微电子做的。-The C code realize the PMSM speed close loop control and the MCU in this code is MC20P24B witch come the company SinoMCU in ShangHai.

基于STM32F103C8T6单片机设计的直流无数电机，速度闭环，经过调试了的，没有问题，对初学者很有借鉴作用(STM32F103C8T6 microcontroller based design of DC numerous motors, speed closed loop, after debugging, no problem, very useful for beginners)

STM32F1、F4电机PWM调速及PID速度闭环控制(PWM Speed Regulation and PID Speed Closed-loop Control of STM32F1 and F4 Motors)