调整时钟64MHz。 RTT任务增加马达开启和关闭功能

tao_z

2021-07-14 82e38738a4d532cc3d56cbf80c1a4093f23cdd6a

调整时钟64MHz。
RTT任务增加马达开启和关闭功能

 USR/INC/clock.h

@@ -1,7 +1,7 @@
#ifndef _CLOCK_H_
#define _CLOCK_H_
#include "stdint.h"
#define SYSTEM_CLOCK (48000000UL)
#define SYSTEM_CLOCK (64000000UL)
void Clock_Config(void);
void Ostick_config(void);
void delay_1ms(uint32_t count);

 USR/INC/motor.h

@@ -17,7 +17,7 @@
/* ÀۼƠTIM_Period¸öºó²úÉúÒ»¸ö¸üлòÕßÖжϠ       
    µ±¶¨Ê±Æ÷´Ó0¼ÆÊýµ½65535£¬¼´Îª65535´Î£¬ÎªÒ»¸ö¼ÆÊýÖÜÆÚ */
#define HALL_PERIOD_COUNT (0xFFFF)
#define SPEED_PRESCALER_COUNT (4800u)
#define SPEED_PRESCALER_COUNT (6400u)
#define SPEED_PERIOD_COUNT (30000u)
/* Í¨ÓÿØÖƶ¨Ê±Æ÷ʱÖÓÔ´TIMxCLK = HCLK = 64MHz
     É趨¶¨Ê±Æ÷ƵÂÊΪ = TIMxCLK / (SPEED_PRESCALER_COUNT) / SPEED_PERIOD_COUNT = 33.333Hz 

 USR/INC/pwm.h

@@ -1,11 +1,13 @@
#ifndef _PWM_H_
#define _PWM_H_
#include "gd32e23x_timer.h"
//100us * 30000 = 3s
//1us * 30000 = 30ms
#define PERIOD_CAP (30000U)
#define SPEED_TIMEOUT (300U) //9S

//48Mzhz / 3000 = 16Khz = 62.5us
#define PERIOD_CMP (3000u)
//64Mzhz / 3200 = 20Khz = 50us
#define PERIOD_CMP (3200u)
#define TIMER2_PERIOD (63U)

void TimerInit(void);
void SetPwmDuty(uint16_t ch, uint32_t duty);

 USR/SRC/Clock.c

@@ -12,11 +12,11 @@
    rcu_osci_on(RCU_IRC8M); //ʹÓÃÄÚ²¿8MRCʱÖÓ
    rcu_osci_stab_wait(RCU_IRC8M);
    rcu_system_clock_source_config(RCU_CKSYSSRC_PLL);     //sysclk is PLL
    rcu_pll_config(RCU_PLLSRC_IRC8M_DIV2, RCU_PLL_MUL12); //8MHz/2 =4MHz  PLL =4MHz*12 =48MHz
    rcu_ahb_clock_config(RCU_AHB_CKSYS_DIV1);             //AHB 48M
    rcu_apb1_clock_config(RCU_APB1_CKAHB_DIV1);           //APB1 48M
    rcu_apb2_clock_config(RCU_APB2_CKAHB_DIV1);           //APB2 48M
    rcu_adc_clock_config(RCU_ADCCK_APB2_DIV4);            //max 14M,current:48/4=12M
    rcu_pll_config(RCU_PLLSRC_IRC8M_DIV2, RCU_PLL_MUL16); //8MHz/2 =4MHz  PLL =4MHz*16 =64MHz
    rcu_ahb_clock_config(RCU_AHB_CKSYS_DIV1);             //AHB 64M
    rcu_apb1_clock_config(RCU_APB1_CKAHB_DIV1);           //APB1 64M
    rcu_apb2_clock_config(RCU_APB2_CKAHB_DIV1);           //APB2 64M
    rcu_adc_clock_config(RCU_ADCCK_APB2_DIV8);            //max 14M,current:64/8=8M
    rcu_usart_clock_config(RCU_USART0SRC_IRC8M);          //USART0 8M
    rcu_rtc_clock_config(RCU_RTCSRC_NONE);


 USR/SRC/Motor.c

@@ -18,10 +18,10 @@
    motor_drive.timeout = 0;
    motor_drive.speed = 0;
    motor_drive.enable_flag = 0;
    motor_pluse = 2000;
    motor_pluse = 0;
    memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);

    hall_enable();
    // hall_enable();
};
/**
  * @brief  Ê¹ÄÜ»ô¶û´«¸ÐÆ÷
@@ -88,14 +88,14 @@
    float f = 0;

    /* ¼ÆËãËٶȣº
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(48000000.0/6400)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(48000000.0/6400) * time)Ϊʱ¼ä³¤¡£
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(64000000.0/6400)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(64000000.0/6400) * time)Ϊʱ¼ä³¤¡£
  */

    if (time == 0)
        motor_drive.speed_group[count++] = 0;
    else
    {
        // f = (1.0f / (48000000.0f / SPEED_PRESCALER_COUNT) * time);
        // f = (1.0f / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
        // f = (1.0f / 12.0f) / (f / 60.0f);
        f = time;
        motor_drive.speed_group[count++] = f;
@@ -212,25 +212,11 @@
    // /* »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);
        // update_motor_speed(motor_step, 300u * GetSpeedTimerOutcnt() + timer_counter_read(TIMER2));
        SEGGER_RTT_printf(0, "motor speed is:%d,%d!\n", GetSpeedTimerOutcnt(), timer_counter_read(TIMER2));
        timer_counter_value_config(TIMER2, 0);
        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");
    // }
    // else if (RESET != exti_interrupt_flag_get(EXTI_5))
    // {
    //     SEGGER_RTT_printf(0, "HALL_C_EXTI  triggle!\n");
    // }
    // else if (RESET != exti_interrupt_flag_get(EXTI_15))
    // {
    //     SEGGER_RTT_printf(0, "HALL_B_EXTI  triggle!\n");
    // }
    motor_phasechange();
    // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}
@@ -400,12 +386,15 @@
  */
extern void stop_pwm_output(void)
{
    timer_channel_output_state_config(TIMER0, TIMER_CH_0, TIMER_CCX_DISABLE);
    // 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_output_state_config(TIMER0, TIMER_CH_1, TIMER_CCX_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_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCX_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);
    SetPwmDuty(MOTOR_OUT_CH_U, 0);
    SetPwmDuty(MOTOR_OUT_CH_V, 0);
    SetPwmDuty(MOTOR_OUT_CH_W, 0);
    MOTOR_W_L_DISABLE;
    MOTOR_V_L_DISABLE;
    MOTOR_U_L_DISABLE;

 USR/SRC/RttTask.c

@@ -4,6 +4,7 @@
#include "gd32e23x.h"
#include "pwm.h"
#include "motor.h"
#include "bldc_ctrl.h"
static uint32_t RttDataOutPutFlag = 0;
static void RTT_KeyValue(uint32_t key);
extern void RTT_TaskInit(void)
@@ -29,7 +30,9 @@
    }
    if (0 != RttDataOutPutFlag)
    {
        SEGGER_RTT_printf(0, "%d\n", output_index++);
        // SEGGER_RTT_printf(0, "%d\n", output_index++);
        output_index = (uint32_t)get_motor_speed();
        SEGGER_RTT_printf(0, "motor speed is:%d!\n", output_index);
    }
}

@@ -43,7 +46,7 @@
    case 'd':
    case 'D':
        RttDataOutPutFlag = !RttDataOutPutFlag;
        SEGGER_RTT_printf(0, "Index:\tTemp\tBase\tCP\tleakCurr\tCurr\tAC_Vot\tState\tError\n");
        SEGGER_RTT_printf(0, "RTT Output data stop or start!\n");
        break;
    case 'v':
    case 'V':
@@ -60,13 +63,15 @@
        SEGGER_RTT_printf(0, "Software Compile time is :%s %s\n\r", &COMPILE_DATE, &COMPILE_TIME);
        break;
    case 'o':
        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);
    case 'O':
        set_bldcm_speed(2000);
        set_bldcm_enable();
        break;
    case 's':
        timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
    case 'S':
        set_bldcm_disable();
        break;
    default:
        break;`
        break;
    }
}

 USR/SRC/bldc_ctrl.c

@@ -26,8 +26,8 @@
  Set_SDH2136_Enable();
  // Set_SDH2136_Disable();
  bldcm_data.direction = MOTOR_FWD;
  bldcm_data.is_enable = 1;
  bldcm_data.dutyfactor = 1500;
  bldcm_data.is_enable = 0;
  bldcm_data.dutyfactor = 2000;
}

/**

 USR/SRC/pwm.c

@@ -9,6 +9,7 @@
 * 
 */
#include "pwm.h"
#include "bldc_ctrl.h"
static volatile uint32_t timer_outcnt = 0;
/*****************************************************************************************************
Timer2 is used to speed cal
@@ -24,10 +25,10 @@

    timer_deinit(TIMER2);

    timercontralcfg.prescaler = 4799; //48Mhz /4800 =0.01Mhz = 100us
    timercontralcfg.prescaler = TIMER2_PERIOD; //64Mhz /64 =1Mhz = 1us
    timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;
    timercontralcfg.counterdirection = TIMER_COUNTER_UP;
    timercontralcfg.period = PERIOD_CAP; //100us*10000=1s
    timercontralcfg.period = PERIOD_CAP; //1us*30000=30ms

    timer_init(TIMER2, &timercontralcfg);
    timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
@@ -145,7 +146,11 @@
}
extern void TIMER2_IRQHandler_CallBack(void)
{
    timer_outcnt++;
    if (++timer_outcnt > SPEED_TIMEOUT)
    {
        //to do
        set_bldcm_disable();
    }
}

extern uint32_t GetSpeedTimerOutcnt(void)