待调试电机转动

tao_z

2021-07-10 4a89e24804b91902def506a9e898293fa36ccb59

待调试电机转动

 USR/INC/gpio.h

@@ -22,12 +22,12 @@
#define LED_PORT GPIOA
#define LED_PIN GPIO_PIN_11

#define HALL_SENSOR_A_PORT GPIOB
#define HALL_SENSOR_A_PIN GPIO_PIN_4
#define HALL_SENSOR_C_PORT GPIOB
#define HALL_SENSOR_C_PIN GPIO_PIN_5
#define HALL_SENSOR_B_PORT GPIOA
#define HALL_SENSOR_B_PIN GPIO_PIN_15
#define HALL_SENSOR_C_PIN GPIO_PIN_4
#define HALL_SENSOR_B_PORT GPIOB
#define HALL_SENSOR_B_PIN GPIO_PIN_5
#define HALL_SENSOR_A_PORT GPIOA
#define HALL_SENSOR_A_PIN GPIO_PIN_15

//¶¨ÒåADCÒý½Å
#define CURRENT_AI_PORT GPIOA

 USR/INC/motor.h

@@ -24,9 +24,9 @@
   ÖÜÆÚ T = 30ms */
#define HALL_PRESCALER_COUNT (110)

#define HALL_A_EXTI (EXTI_4)
#define HALL_C_EXTI (EXTI_5)
#define HALL_B_EXTI (EXTI_15)
#define HALL_C_EXTI (EXTI_4)
#define HALL_B_EXTI (EXTI_5)
#define HALL_A_EXTI (EXTI_15)

#define MOTOR_OUT_CH_U (TIMER_CH_1)
#define MOTOR_OUT_CH_V (TIMER_CH_0)

 USR/SRC/GPIO.c

@@ -9,6 +9,7 @@
    // rcu_periph_clock_enable(RCU_GPIOF);
    /* enable the CFGCMP clock */
    rcu_periph_clock_enable(RCU_CFGCMP);
    exti_deinit();
    //初始化配置霍尔输入引脚
    gpio_mode_set(HALL_SENSOR_A_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_A_PIN);
    gpio_mode_set(HALL_SENSOR_B_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_B_PIN);
@@ -19,9 +20,9 @@
    syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN5);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN15);

    exti_init(EXTI_4, EXTI_INTERRUPT, EXTI_TRIG_RISING);  //配置外部上升沿中断
    exti_init(EXTI_5, EXTI_INTERRUPT, EXTI_TRIG_RISING);  //配置外部上升沿中断
    exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); //配置外部上升沿中断
    exti_init(EXTI_4, EXTI_INTERRUPT, EXTI_TRIG_BOTH);  //配置外部上升沿中断
    exti_init(EXTI_5, EXTI_INTERRUPT, EXTI_TRIG_BOTH);  //配置外部上升沿中断
    exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_BOTH); //配置外部上升沿中断
    nvic_irq_enable(EXTI4_15_IRQn, 0U);
    exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);


 USR/SRC/Motor.c

@@ -33,8 +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;
}
@@ -207,21 +207,17 @@
void HAL_HallExti_TriggerCallback(void)
{
    uint8_t step = 0;

    // /* »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++)
    {
    }
    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;
    // /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    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)); //TODO Ö÷¶¨Ê±Æ÷´¦»ñµÃ¼ÆÊýʱ¼ä
        update_motor_speed(motor_step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
        SEGGER_RTT_printf(0, "Hall state is:%d!\n", motor_step);
        motor_drive.timeout = 0;
        //     // exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }

    // if (RESET != exti_interrupt_flag_get(EXTI_4))
    // {
    //     SEGGER_RTT_printf(0, "HALL_A_EXTI  triggle!\n");
@@ -234,7 +230,7 @@
    // {
    //     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
}

@@ -248,105 +244,61 @@
    }
    switch (step)
    {
    /* next step: step 2 configuration .A-C` breakover---------------------------- */
    /* next step: step 3 configuration .W-U` breakover---------------------------- */
    case 1:
        /*  channel U configuration */
        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_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        MOTOR_U_L_ENABLE;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);

        /*  channel V configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        MOTOR_V_L_DISABLE;
        // 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_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);

        step++;
        break;

    /* next step: step 3 configuration .B-C` breakover---------------------------- */
    case 2:
        /*  channel U configuration */
        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_DISABLE);
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        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_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;

        step++;
        break;

    /* 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_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_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_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;

        step++;
        break;

    /* 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_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_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
        // 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_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;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);

        step++;
        break;

    /* next step: step 6 configuration .C-B` breakover---------------------------- */
    case 5:
    /* next step: step 6 configuration .u-v` breakover---------------------------- */
    case 2:
        /*  channel U configuration */
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
        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_PWM0);
        // 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);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
        MOTOR_V_L_ENABLE;

        /*  channel W configuration */
        // 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_DISABLE;

        break;

    /* next step: step 2 configuration .W-V` breakover---------------------------- */
    case 3:
        /*  channel U configuration */
        // 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_DISABLE;

        /*  channel V configuration */
        // 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_DISABLE);
        MOTOR_V_L_ENABLE;

        /*  channel W configuration */
@@ -354,10 +306,52 @@
        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;
        step++;

        break;

    /* next step: step 1 configuration .A-B` breakover---------------------------- */
    /* next step: step 5 configuration .V-W` breakover---------------------------- */
    case 4:
        /*  channel U configuration */
        // 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_DISABLE;

        /*  channel V configuration */
        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_CCXN_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_PWM0);
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_ENABLE;

        break;

    /* next step: step 1 configuration .V-U` breakover---------------------------- */
    case 5:
        /*  channel U configuration */
        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_DISABLE);
        MOTOR_U_L_ENABLE;

        /*  channel V configuration */
        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_CCXN_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        // 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_CCXN_DISABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;
        break;

    /* next step: step 4 configuration .U-W` breakover---------------------------- */
    case 6:
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM0);
@@ -366,17 +360,16 @@
        MOTOR_U_L_DISABLE;

        /*  channel V configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM0);
        // 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;
        MOTOR_V_L_DISABLE;

        /*  channel W configuration */
        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_DISABLE);
        MOTOR_W_L_DISABLE;
        MOTOR_W_L_ENABLE;

        step = 1;
        break;
    }
}

 USR/SRC/bldc_ctrl.c

@@ -23,8 +23,8 @@
  // PWM_TIMx_Configuration(); // µç»ú¿ØÖƶ¨Ê±Æ÷£¬Òý½Å³õʼ»¯
  // hall_tim_config();        // »ô¶û´«¸ÐÆ÷³õʼ»¯
  // sd_gpio_config(); // sd Òý½Å³õʼ»¯
  // Set_SDH2136_Enable();
  Set_SDH2136_Disable();
  Set_SDH2136_Enable();
  // Set_SDH2136_Disable();
  bldcm_data.direction = MOTOR_FWD;
  bldcm_data.is_enable = 1;
  bldcm_data.dutyfactor = 1500;

 USR/SRC/pwm.c

@@ -94,9 +94,9 @@
    timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
    timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);

    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_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow ENable
    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);

    // /* configure TIMER break function */
    // timer_break_struct_para_init(&timer_breakpara);