基于瑞萨芯片R25系列的有霍尔无刷直流电机正弦波180度驱动程序。PI速度控制，正弦波调制过程及单片机软件编程风格等值得学习和借鉴。-Based on renesas chip R25 series brushless dc motor with hall of sine wave 180 degrees of the driver. PI speed control, the process of sine wave modulation and single-chip microcomput