#include "gpio.h"
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#include "motor.h"
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#include "gd32e23x_exti.h"
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#include "gd32e23x_timer.h"
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#include "bldc_ctrl.h"
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#include "pwm.h"
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#include "string.h"
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#include "SEGGER_RTT_Conf.h"
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#include "SEGGER_RTT.h"
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static volatile motor_rotate_t motor_drive = {0};
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static uint32_t motor_pluse = 1500;
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static volatile uint8_t motor_step = 0;
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static void motor_phasechange(void);
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static void update_speed_dir(uint8_t dir_in);
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extern void Motor_Init(void)
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{
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motor_drive.timeout = 0;
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motor_drive.speed = 0;
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motor_drive.enable_flag = 0;
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motor_pluse = 0;
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memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);
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// hall_enable();
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};
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/**
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* @brief ʹÄÜ»ô¶û´«¸ÐÆ÷
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* @param ÎÞ
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* @retval ÎÞ
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*/
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void hall_enable(void)
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{
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/* ʹÄÜ»ô¶û´«¸ÐÆ÷½Ó¿Ú */
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exti_interrupt_enable(HALL_A_EXTI);
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exti_interrupt_enable(HALL_B_EXTI);
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exti_interrupt_enable(HALL_C_EXTI);
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StartSpeedTime(); //start speed timer
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motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà
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motor_drive.enable_flag = 1;
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}
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/**
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* @brief ½ûÓûô¶û´«¸ÐÆ÷
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* @param ÎÞ
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* @retval ÎÞ
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*/
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void hall_disable(void)
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{
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/* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
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exti_interrupt_disable(HALL_A_EXTI);
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exti_interrupt_disable(HALL_B_EXTI);
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exti_interrupt_disable(HALL_C_EXTI);
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// HAL_TIMEx_HallSensor_Stop(&htimx_hall);
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StopSpeedTime(); //stop speed timer
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motor_drive.enable_flag = 0;
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motor_drive.speed = 0;
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}
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uint8_t get_hall_state(void)
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{
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uint8_t state = 0;
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/* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
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if (Get_HallSensorA_State())
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{
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state |= (0x01U << 0);
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}
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/* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ V µÄ״̬ */
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if (Get_HallSensorB_State())
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{
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state |= (0x01U << 1);
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}
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/* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ W µÄ״̬ */
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if (Get_HallSensorC_State())
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{
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state |= (0x01U << 2);
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}
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return state; // ·µ»Ø´«¸ÐÆ÷״̬
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}
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static uint8_t count = 0;
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static void update_motor_speed(uint8_t dir_in, uint32_t time)
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{
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int speed_temp = 0;
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static int flag = 0;
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float f = 0;
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/* ¼ÆËãËٶȣº
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µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(64000000.0/6400)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(64000000.0/6400) * time)Ϊʱ¼ä³¤¡£
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*/
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if (time == 0)
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motor_drive.speed_group[count++] = 0;
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else
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{
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// f = (1.0f / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
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// f = (1.0f / 12.0f) / (f / 60.0f);
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f = time;
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motor_drive.speed_group[count++] = f;
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}
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update_speed_dir(dir_in);
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// motor_drive.speed = motor_drive.speed_group[count-1];
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if (count >= SPEED_FILTER_NUM)
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{
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flag = 1;
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count = 0;
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}
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// return ;
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speed_temp = 0;
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/* ¼ÆËã½ü SPEED_FILTER_NUM ´ÎµÄËÙ¶Èƽ¾ùÖµ£¨Â˲¨£© */
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if (flag)
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{
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for (uint8_t c = 0; c < SPEED_FILTER_NUM; c++)
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{
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speed_temp += motor_drive.speed_group[c];
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}
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motor_drive.speed = speed_temp / SPEED_FILTER_NUM;
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}
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else
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{
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for (uint8_t c = 0; c < count; c++)
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{
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speed_temp += motor_drive.speed_group[c];
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}
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motor_drive.speed = speed_temp / count;
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}
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}
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/**
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* @brief »ñÈ¡µç»úתËÙ
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* @param time:»ñÈ¡µÄʱ¼ä¼ä¸ô
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* @retval ·µ»Øµç»úתËÙ
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*/
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float get_motor_speed(void)
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{
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return motor_drive.speed;
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}
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/**
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* @brief ¸üеç»úʵ¼ÊËٶȷ½Ïò
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* @param dir_in£º»ô¶ûÖµ
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* @retval ÎÞ
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*/
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static void update_speed_dir(uint8_t dir_in)
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{
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uint8_t step[6] = {1, 3, 2, 6, 4, 5};
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static uint8_t num_old = 0;
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uint8_t step_loc = 0; // ¼Ç¼µ±Ç°»ô¶ûλÖÃ
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int8_t dir = 1;
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for (step_loc = 0; step_loc < 6; step_loc++)
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{
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if (step[step_loc] == dir_in) // ÕÒµ½µ±Ç°»ô¶ûµÄλÖÃ
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{
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break;
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}
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}
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/* ¶Ëµã´¦Àí */
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if (step_loc == 0)
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{
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if (num_old == 1)
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{
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dir = 1;
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}
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else if (num_old == 5)
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{
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dir = -1;
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}
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}
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/* ¶Ëµã´¦Àí */
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else if (step_loc == 5)
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{
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if (num_old == 0)
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{
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dir = 1;
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}
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else if (num_old == 4)
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{
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dir = -1;
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}
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}
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else if (step_loc > num_old)
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{
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dir = -1;
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}
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else if (step_loc < num_old)
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{
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dir = 1;
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}
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num_old = step_loc;
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// motor_drive.speed *= dir;;
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motor_drive.speed_group[count - 1] *= dir;
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}
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/**
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* @brief »ô¶û´«¸ÐÆ÷´¥·¢»Øµ÷º¯Êý
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* @param void
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* @retval ÎÞ
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*/
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void HAL_HallExti_TriggerCallback(void)
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{
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uint8_t step = 0;
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motor_step = get_hall_state();
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// /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
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if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
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{
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// update_motor_speed(motor_step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
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SEGGER_RTT_printf(0, "motor speed is:%d,%d!\n", GetSpeedTimerOutcnt(), timer_counter_read(TIMER2));
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timer_counter_value_config(TIMER2, 0);
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motor_drive.timeout = 0;
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}
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motor_phasechange();
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// HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
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}
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static void motor_phasechange(void)
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{
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uint8_t step = 0;
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step = get_hall_state();
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if (get_bldcm_direction() == MOTOR_FWD)
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{
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step = 7u - step;
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}
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switch (step)
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{
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/* next step: step 3 configuration .W-U` breakover---------------------------- */
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case 1:
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/* channel U configuration */
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, 0);
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MOTOR_U_L_ENABLE;
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
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/* channel V configuration */
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, 0);
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MOTOR_V_L_DISABLE;
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
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/* channel W configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, motor_pluse);
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MOTOR_W_L_DISABLE;
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
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break;
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/* next step: step 6 configuration .u-v` breakover---------------------------- */
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case 2:
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/* channel U configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, motor_pluse);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
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MOTOR_U_L_DISABLE;
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/* channel V configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
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MOTOR_V_L_ENABLE;
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/* channel W configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
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MOTOR_W_L_DISABLE;
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break;
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/* next step: step 2 configuration .W-V` breakover---------------------------- */
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case 3:
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/* channel U configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
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MOTOR_U_L_DISABLE;
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/* channel V configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
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MOTOR_V_L_ENABLE;
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/* channel W configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, motor_pluse);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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MOTOR_W_L_DISABLE;
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break;
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/* next step: step 5 configuration .V-W` breakover---------------------------- */
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case 4:
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/* channel U configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, 0);
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MOTOR_U_L_DISABLE;
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/* channel V configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, motor_pluse);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
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MOTOR_V_L_DISABLE;
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/* channel W configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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MOTOR_W_L_ENABLE;
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break;
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/* next step: step 1 configuration .V-U` breakover---------------------------- */
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case 5:
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/* channel U configuration */
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
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MOTOR_U_L_ENABLE;
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/* channel V configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, motor_pluse);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
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MOTOR_V_L_DISABLE;
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/* channel W configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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MOTOR_W_L_DISABLE;
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break;
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/* next step: step 4 configuration .U-W` breakover---------------------------- */
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case 6:
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/* channel U configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, motor_pluse);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
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MOTOR_U_L_DISABLE;
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/* channel V configuration */
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// timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_V, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
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MOTOR_V_L_DISABLE;
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/* channel W configuration */
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// timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_W, 0);
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// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
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MOTOR_W_L_ENABLE;
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break;
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}
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}
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/**
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* @brief Í£Ö¹pwmÊä³ö
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* @param ÎÞ
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* @retval ÎÞ
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*/
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extern void stop_pwm_output(void)
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{
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// timer_channel_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCX_DISABLE);
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// timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
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// timer_channel_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCX_DISABLE);
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// timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
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// timer_channel_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCX_DISABLE);
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// timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
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SetPwmDuty(MOTOR_OUT_CH_U, 0);
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SetPwmDuty(MOTOR_OUT_CH_V, 0);
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SetPwmDuty(MOTOR_OUT_CH_W, 0);
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MOTOR_W_L_DISABLE;
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MOTOR_V_L_DISABLE;
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MOTOR_U_L_DISABLE;
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}
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/**
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* @brief ÉèÖÃpwmÊä³öµÄÕ¼¿Õ±È
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* @param pulse:ÒªÉèÖõÄÕ¼¿Õ±È
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* @retval ÎÞ
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*/
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void set_pwm_pulse(uint16_t pulse)
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{
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/* ÉèÖö¨Ê±Æ÷ͨµÀÊä³ö PWM µÄÕ¼¿Õ±È */
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motor_pluse = pulse;
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// SetPwmDuty(TIMER_CH_0, motor_pluse);
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// SetPwmDuty(TIMER_CH_1, motor_pluse);
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// SetPwmDuty(TIMER_CH_2, motor_pluse);
|
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if (motor_drive.enable_flag)
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{
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motor_phasechange();
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}
|
}
|
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extern void BLDC_SpeedAndPID(void)
|
{
|
if (motor_drive.timeout++ > 100) // ÓÐÒ»´ÎÔÚ²úÉú¸üÐÂÖжÏÇ°»ô¶û´«¸ÐÆ÷ûÓⶻñµ½Öµ
|
{
|
// printf("¶Âת³¬Ê±\r\n");
|
motor_drive.timeout = 0;
|
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/* ¶Âת³¬Ê±Í£Ö¹ PWM Êä³ö */
|
hall_disable(); // ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú
|
stop_pwm_output(); // Í£Ö¹ PWM Êä³ö
|
set_bldcm_disable();
|
motor_drive.speed = 0;
|
}
|
else
|
{
|
bldcm_pid_control();
|
}
|
}
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