霍尔输入中断正常，需要调试马达转动

tao_z

2021-06-30 945ba42f7550d5a203e43d82b43ed82dc981d9e9

 USR/SRC/pwm.c

@@ -9,10 +9,10 @@
 * 
 */
#include "pwm.h"

static volatile uint32_t timer_outcnt = 0;
/*****************************************************************************************************
Timer2 is used to capture hall input
APB1 is 48M ,so Timer0 clock is 48M,after prescaler 480 is 0.1M(10us)
Timer2 is used to speed cal
APB1 is 64M ,so Timer2 clock is 64M,after prescaler 480 is 0.1M(10us)
input pin:
               PA15-CO
               PB4-AO
@@ -20,41 +20,19 @@
*****************************************************************************************************/
static void Timer2Init(void)
{

    timer_ic_parameter_struct capturecfg[2];
    timer_parameter_struct timercontralcfg;

    timer_deinit(TIMER2);

    capturecfg[0].icfilter = 0;                             //no filter
    capturecfg[0].icpolarity = TIMER_IC_POLARITY_BOTH_EDGE; //both edge
    capturecfg[0].icprescaler = TIMER_IC_PSC_DIV1;
    capturecfg[0].icselection = TIMER_IC_SELECTION_DIRECTTI; //input and icy is mapped on TIy

    capturecfg[1].icfilter = 0;
    capturecfg[1].icpolarity = TIMER_IC_POLARITY_BOTH_EDGE;
    capturecfg[1].icprescaler = TIMER_IC_PSC_DIV1;
    capturecfg[1].icselection = TIMER_IC_SELECTION_DIRECTTI;

    timercontralcfg.prescaler = 0;
    timercontralcfg.alignedmode = 0;
    timercontralcfg.counterdirection = 0;
    timercontralcfg.period = PERIOD_CAP;

    timer_input_capture_config(TIMER2, TIMER_CH_0, &capturecfg[0]);
    timer_input_capture_config(TIMER2, TIMER_CH_1, &capturecfg[1]);
    timercontralcfg.prescaler = 4799; //48Mhz /4800 =0.01Mhz = 100us
    timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;
    timercontralcfg.counterdirection = TIMER_COUNTER_UP;
    timercontralcfg.period = PERIOD_CAP; //100us*10000=1s

    timer_init(TIMER2, &timercontralcfg);

    timer_interrupt_flag_clear(TIMER2, TIMER_INT_CH0);
    timer_interrupt_flag_clear(TIMER2, TIMER_INT_CH1);
    timer_interrupt_flag_clear(TIMER2, TIMER_INT_TRG);

    timer_interrupt_enable(TIMER2, TIMER_INT_CH0);
    timer_hall_mode_config(TIMER2, TIMER_HALLINTERFACE_ENABLE);
    timer_interrupt_enable(TIMER2, TIMER_INT_TRG);
    timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
    timer_interrupt_enable(TIMER2, TIMER_INT_UP);
    nvic_irq_enable(TIMER2_IRQn, 1);
    timer_prescaler_config(TIMER2, 47, TIMER_PSC_RELOAD_NOW); //48Mhz /48 =1Mhz = 1us
}

/*****************************************************************************************************
@@ -70,38 +48,39 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
    uint16_t Duty = 0;
    uint16_t Duty = PERIOD_CMP / 10;
    timer_parameter_struct timercontralcfg;
    timer_oc_parameter_struct timeroutcfg[3];
    timer_break_parameter_struct timer_breakpara;

    //config timer0
    timercontralcfg.prescaler = 0;                         //counter prescaler is 0
    timercontralcfg.alignedmode = TIMER_COUNTER_CENTER_UP; //center align and counter style depend on dir set
    timercontralcfg.counterdirection = TIMER_COUNTER_UP;   //counter style is up
    timercontralcfg.clockdivision = TIMER_CKDIV_DIV1;      //Timer0 is 48M
    timercontralcfg.period = PERIOD_CMP;                   // set period(counter value 0~2^15)
    timercontralcfg.prescaler = 0;                       //counter prescaler is 0
    timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;    //center align and counter style depend on dir set
    timercontralcfg.counterdirection = TIMER_COUNTER_UP; //counter style is up
    timercontralcfg.clockdivision = TIMER_CKDIV_DIV1;    //Timer0 is 64M
    timercontralcfg.period = PERIOD_CMP;                 // set period(counter value 0~2^15)
    timer_init(TIMER0, &timercontralcfg);

    timeroutcfg[0].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[0].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[0].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[0].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[0].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[0].outputnstate = TIMER_CCXN_DISABLE; //channel complementary DISABLE
    timeroutcfg[0].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[0].ocnidlestate = TIMER_OCN_IDLE_STATE_HIGH;
    timeroutcfg[0].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timeroutcfg[1].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[1].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[1].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[1].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[1].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[1].outputnstate = TIMER_CCXN_DISABLE; //channel complementary  DISABLE
    timeroutcfg[1].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[1].ocnidlestate = TIMER_OCN_IDLE_STATE_HIGH;
    timeroutcfg[1].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timeroutcfg[2].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is high
    timeroutcfg[2].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
    timeroutcfg[2].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[2].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    timeroutcfg[2].outputstate = TIMER_CCX_ENABLE;    //channel enable
    timeroutcfg[2].outputnstate = TIMER_CCXN_DISABLE; //channel complementary  DISABLE
    timeroutcfg[2].ocidlestate = TIMER_OC_IDLE_STATE_LOW;
    timeroutcfg[2].ocnidlestate = TIMER_OCN_IDLE_STATE_HIGH;
    timeroutcfg[2].ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;

    timer_channel_output_config(TIMER0, TIMER_CH_0, &timeroutcfg[0]);
    timer_channel_output_config(TIMER0, TIMER_CH_1, &timeroutcfg[1]);
@@ -111,17 +90,25 @@
    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, Duty);
    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2, Duty);

    timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM1); //set pwm1 mode
    timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM1); //set pwm1 mode first low then high
    timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM1);
    timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM1);

    timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow disable
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_ENABLE); //shadow ENable
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_ENABLE);
    timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_ENABLE);

    timer_interrupt_enable(TIMER0, TIMER_INT_CH0);
    timer_interrupt_enable(TIMER0, TIMER_INT_CH1);
    timer_interrupt_enable(TIMER0, TIMER_INT_CH2);
    /* configure TIMER break function */
    timer_break_struct_para_init(&timer_breakpara);
    /* automatic output enable, break, dead time and lock configuration*/
    timer_breakpara.runoffstate = TIMER_ROS_STATE_DISABLE;
    timer_breakpara.ideloffstate = TIMER_IOS_STATE_DISABLE;
    timer_breakpara.deadtime = 255;
    timer_breakpara.breakpolarity = TIMER_BREAK_POLARITY_LOW;
    timer_breakpara.outputautostate = TIMER_OUTAUTO_ENABLE;
    timer_breakpara.protectmode = TIMER_CCHP_PROT_0;
    timer_breakpara.breakstate = TIMER_BREAK_ENABLE;
    timer_break_config(TIMER0, &timer_breakpara);

    timer_primary_output_config(TIMER0, ENABLE);
    timer_auto_reload_shadow_enable(TIMER0);
@@ -134,11 +121,11 @@
    Timer0Init();
    Timer2Init();
    timer_enable(TIMER0);
    timer_enable(TIMER2);
}

void SetPwmDuty(uint16_t ch, uint32_t duty)
{
    uint32_t duty_temp = (PERIOD_CMP >= duty) ? (PERIOD_CMP - duty) : 0;
    timer_channel_output_pulse_value_config(TIMER0, ch, duty);
}

@@ -146,3 +133,24 @@
{
    TIMER_CAR(TIMER0) = period;
}

extern void StartSpeedTime(void)
{
    timer_enable(TIMER2);
}

extern void StopSpeedTime(void)
{
    timer_disable(TIMER2);
}
extern void TIMER2_IRQHandler_CallBack(void)
{
    timer_outcnt++;
}

extern uint32_t GetSpeedTimerOutcnt(void)
{
    uint32_t rtn = timer_outcnt;
    timer_outcnt = 0;
    return rtn;
}