采用三个外部中断触发

tao_z

2021-07-03 1a4ea70147216f586f1341d4f1981733ed2c203c

 USR/SRC/Motor.c

@@ -8,7 +8,8 @@
#include "SEGGER_RTT_Conf.h"
#include "SEGGER_RTT.h"
static volatile motor_rotate_t motor_drive = {0};
static uint32_t motor_pluse = 0;
static uint32_t motor_pluse = 1500;
static volatile uint8_t motor_step = 0;
static void motor_phasechange(void);
static void update_speed_dir(uint8_t dir_in);

@@ -32,8 +33,8 @@
    exti_interrupt_enable(HALL_A_EXTI);
    exti_interrupt_enable(HALL_B_EXTI);
    exti_interrupt_enable(HALL_C_EXTI);
    StartSpeedTime();    //start speed timer
    motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà
    StartSpeedTime(); //start speed timer
    // motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà

    motor_drive.enable_flag = 1;
}
@@ -61,19 +62,19 @@
    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
    if (Get_HallSensorA_State())
    {
        state |= 0x01U << 0;
        state |= (0x01U << 0);
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ V µÄ״̬ */
    if (Get_HallSensorB_State())
    {
        state |= 0x01U << 1;
        state |= (0x01U << 1);
    }

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ W µÄ״̬ */
    if (Get_HallSensorC_State())
    {
        state |= 0x01U << 2;
        state |= (0x01U << 2);
    }

    return state; // ·µ»Ø´«¸ÐÆ÷״̬
@@ -206,16 +207,21 @@
void HAL_HallExti_TriggerCallback(void)
{
    uint8_t step = 0;
    step = get_hall_state();
    /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú

    // /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    // if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
    // {

    //     // exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    // }
    for (step = 0; step < 30; step++)
    {
        // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
        update_motor_speed(step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
        SEGGER_RTT_printf(0, "Speed is:%d!\n", motor_drive.speed);
        motor_drive.timeout = 0;
        exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }
    motor_step = get_hall_state();
    // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
    // update_motor_speed(step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
    SEGGER_RTT_printf(0, "Hall state is:%d!\n", motor_step);
    motor_drive.timeout = 0;
    // if (RESET != exti_interrupt_flag_get(EXTI_4))
    // {
    //     SEGGER_RTT_printf(0, "HALL_A_EXTI  triggle!\n");
@@ -228,7 +234,7 @@
    // {
    //     SEGGER_RTT_printf(0, "HALL_B_EXTI  triggle!\n");
    // }
    motor_phasechange();
    // motor_phasechange();
    // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}

@@ -245,7 +251,7 @@
    /* next step: step 2 configuration .A-C` breakover---------------------------- */
    case 1:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        MOTOR_U_L_DISABLE;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
@@ -256,7 +262,7 @@
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);

        /*  channel W configuration */
        // timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        // timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        MOTOR_W_L_ENABLE;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
@@ -272,13 +278,13 @@
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
        MOTOR_W_L_ENABLE;
@@ -289,13 +295,13 @@
    /* next step: step 4 configuration .B-A` breakover---------------------------- */
    case 3:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
        MOTOR_U_L_ENABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
        MOTOR_V_L_DISABLE;
@@ -311,7 +317,7 @@
    /* next step: step 5 configuration .C-A` breakover---------------------------- */
    case 4:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
        MOTOR_U_L_ENABLE;
@@ -322,7 +328,7 @@
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;
@@ -338,13 +344,13 @@
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
        MOTOR_V_L_ENABLE;

        /*  channel W configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;
@@ -354,13 +360,13 @@
    /* next step: step 1 configuration .A-B` breakover---------------------------- */
    case 6:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
        MOTOR_V_L_ENABLE;
@@ -383,11 +389,14 @@
extern void stop_pwm_output(void)
{
    timer_channel_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCXN_DISABLE);
    timer_channel_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCX_DISABLE);
    timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
    // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
    MOTOR_W_L_DISABLE;
    MOTOR_V_L_DISABLE;
    MOTOR_U_L_DISABLE;
}

/**
@@ -399,7 +408,10 @@
{
    /* ÉèÖö¨Ê±Æ÷ͨµÀÊä³ö PWM µÄÕ¼¿Õ±È */
    motor_pluse = pulse;
    //SetPwmDuty();
    SetPwmDuty(TIMER_CH_0, motor_pluse);
    SetPwmDuty(TIMER_CH_1, motor_pluse);
    SetPwmDuty(TIMER_CH_2, motor_pluse);

    if (motor_drive.enable_flag)
    {
        motor_phasechange();