添加霍尔外部中断 motot模块初次提交尚未调试

tao_z

2021-06-14 b150690b6ebe42a4ffd50278d761b8994121eb94

 USR/SRC/Motor.c

@@ -1,3 +1,7 @@
#include "gpio.h"
#include "motor.h"
#include "gd32e23x_exti.h"
static motor_rotate_t motor_drive = {0};
/**
  * @brief  Ê¹ÄÜ»ô¶û´«¸ÐÆ÷
  * @param  ÎÞ
@@ -6,14 +10,15 @@
void hall_enable(void)
{
    /* Ê¹ÄÜ»ô¶û´«¸ÐÆ÷½Ó¿Ú */
    __HAL_TIM_ENABLE_IT(&htimx_hall, TIM_IT_TRIGGER);
    __HAL_TIM_ENABLE_IT(&htimx_hall, TIM_IT_UPDATE);
    exti_interrupt_enable(HALL_A_EXTI);
    exti_interrupt_enable(HALL_B_EXTI);
    exti_interrupt_enable(HALL_C_EXTI);

    HAL_TIMEx_HallSensor_Start(&htimx_hall);
    // HAL_TIMEx_HallSensor_Start(&htimx_hall);

    LED1_OFF;
    // LED1_OFF;

    HAL_TIM_TriggerCallback(&htimx_hall); // Ö´ÐÐÒ»´Î»»Ïà
    // HAL_TIM_TriggerCallback(&htimx_hall); // Ö´ÐÐÒ»´Î»»Ïà

    motor_drive.enable_flag = 1;
}
@@ -26,9 +31,10 @@
void hall_disable(void)
{
    /* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
    __HAL_TIM_DISABLE_IT(&htimx_hall, TIM_IT_TRIGGER);
    __HAL_TIM_DISABLE_IT(&htimx_hall, TIM_IT_UPDATE);
    HAL_TIMEx_HallSensor_Stop(&htimx_hall);
    exti_interrupt_disable(HALL_A_EXTI);
    exti_interrupt_disable(HALL_B_EXTI);
    exti_interrupt_disable(HALL_C_EXTI);
    // HAL_TIMEx_HallSensor_Stop(&htimx_hall);
    motor_drive.enable_flag = 0;
    motor_drive.speed = 0;
}
@@ -39,19 +45,19 @@

#if 1
    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
    if (HAL_GPIO_ReadPin(HALL_INPUTU_GPIO_PORT, HALL_INPUTU_PIN) != GPIO_PIN_RESET)
    if (Get_HallSensorA_State())
    {
        state |= 0x01U << 0;
    }

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

    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ W µÄ״̬ */
    if (HAL_GPIO_ReadPin(HALL_INPUTW_GPIO_PORT, HALL_INPUTW_PIN) != GPIO_PIN_RESET)
    if (Get_HallSensorC_State())
    {
        state |= 0x01U << 2;
    }
@@ -61,7 +67,7 @@

    return state; // ·µ»Ø´«¸ÐÆ÷״̬
}

static uint8_t count = 0;
static void update_motor_speed(uint8_t dir_in, uint32_t time)
{
    int speed_temp = 0;
@@ -69,14 +75,14 @@
    float f = 0;

    /* ¼ÆËãËٶȣº
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(72000000.0/128.0)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(72000000.0/128.0) * time)Ϊʱ¼ä³¤¡£
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(48000000.0/128.0)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(48000000.0/128.0) * time)Ϊʱ¼ä³¤¡£
  */

    if (time == 0)
        motor_drive.speed_group[count++] = 0;
    else
    {
        f = (1.0f / (72000000.0f / HALL_PRESCALER_COUNT) * time);
        f = (1.0f / (48000000.0f / HALL_PRESCALER_COUNT) * time);
        f = (1.0f / 12.0f) / (f / 60.0f);
        motor_drive.speed_group[count++] = f;
    }
@@ -182,19 +188,20 @@

/**
  * @brief  »ô¶û´«¸ÐÆ÷´¥·¢»Øµ÷º¯Êý
  * @param  htim:¶¨Ê±Æ÷¾ä±ú
  * @param  void
  * @retval ÎÞ
  */
void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim)
void HAL_HallExti_TriggerCallback(void)
{
    /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    uint8_t step = 0;
    step = get_hall_state();

    if (htim == &htimx_hall) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
    if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // ÅжÏÊÇ·ñÓÉ´¥·¢ÖжϲúÉú
    {
        update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));
        // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
        motor_drive.timeout = 0;
        exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }

    if (get_bldcm_direction() == MOTOR_FWD)