霍尔输入中断正常，需要调试马达转动

tao_z

2021-06-30 945ba42f7550d5a203e43d82b43ed82dc981d9e9

霍尔输入中断正常，需要调试马达转动

 USR/INC/clock.h

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

 USR/INC/gd32e23x_it.h

@@ -58,7 +58,7 @@
void PendSV_Handler(void);
/* this function handles SysTick exception */
void SysTick_Handler(void);
/* this function handles XTI4-15  exception */
void EXTI4_15_IRQHandler(void);
// /* this function handles XTI4-15  exception */
// void EXTI4_15_IRQHandler(void);
void TIMER2_IRQHandler(void);
#endif /* GD32E23X_IT_H */

 USR/INC/motor.h

@@ -1,5 +1,6 @@
#ifndef MOTOR_H
#define MOTOR_H
#include "gpio.h"
#include "gd32e23x_exti.h"
/* µç»ú¿ØÐýתʵÏֽṹÌå */

@@ -16,21 +17,30 @@
/* ÀۼƠTIM_Period¸öºó²úÉúÒ»¸ö¸üлòÕßÖжϠ       
    µ±¶¨Ê±Æ÷´Ó0¼ÆÊýµ½65535£¬¼´Îª65535´Î£¬ÎªÒ»¸ö¼ÆÊýÖÜÆÚ */
#define HALL_PERIOD_COUNT (0xFFFF)
#define SPEED_PRESCALER_COUNT (6400u)
#define SPEED_PERIOD_COUNT (300u)
#define SPEED_PRESCALER_COUNT (4800u)
#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 
   ÖÜÆÚ T = 30ms */
#define HALL_PRESCALER_COUNT (110)

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

#define MOTOR_OUT_CH_U (TIMER_CH_1)
#define MOTOR_OUT_CH_V (TIMER_CH_0)
#define MOTOR_OUT_CH_W (TIMER_CH_2)

#define MOTOR_U_L_ENABLE (gpio_bit_write(PWM_LIN2_PORT, PWM_LIN2_PIN, SET))
#define MOTOR_U_L_DISABLE (gpio_bit_write(PWM_LIN2_PORT, PWM_LIN2_PIN, RESET))

#define MOTOR_V_L_ENABLE (gpio_bit_write(PWM_LIN3_PORT, PWM_LIN3_PIN, SET))
#define MOTOR_V_L_DISABLE (gpio_bit_write(PWM_LIN3_PORT, PWM_LIN3_PIN, RESET))

#define MOTOR_W_L_ENABLE (gpio_bit_write(PWM_LIN1_PORT, PWM_LIN1_PIN, SET))
#define MOTOR_W_L_DISABLE (gpio_bit_write(PWM_LIN1_PORT, PWM_LIN1_PIN, RESET))

extern void HAL_HallExti_TriggerCallback(void);
extern void BLDC_SpeedAndPID(void);
extern float get_motor_speed(void);

 USR/INC/pwm.h

@@ -1,10 +1,10 @@
#ifndef _PWM_H_
#define _PWM_H_
#include "gd32e23x_timer.h"
//100us * 300 = 30ms
#define PERIOD_CAP (300U)
//100us * 30000 = 3s
#define PERIOD_CAP (30000U)

//64Mzhz / 4000 = 16Khz = 62.5us
//48Mzhz / 3000 = 16Khz = 62.5us
#define PERIOD_CMP (4000u)

void TimerInit(void);
@@ -14,4 +14,6 @@
extern void StartSpeedTime(void);
extern void StopSpeedTime(void);
extern void stop_pwm_output(void);
extern void TIMER2_IRQHandler_CallBack(void);
extern uint32_t GetSpeedTimerOutcnt(void);
#endif

 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_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_DIV4);            //max 14M,current:64/4=16M
    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_usart_clock_config(RCU_USART0SRC_IRC8M);          //USART0 8M
    rcu_rtc_clock_config(RCU_RTCSRC_NONE);


 USR/SRC/GPIO.c

@@ -12,6 +12,9 @@
    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);
    gpio_mode_set(HALL_SENSOR_C_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_C_PIN);
    /* enable the CFGCMP clock */
    rcu_periph_clock_enable(RCU_CFGCMP);
    nvic_irq_enable(EXTI4_15_IRQn, 0U);
    /* connect EXTI line to GPIO pin */
    syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN4);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN5);
@@ -33,17 +36,23 @@
    gpio_af_set(PWM_HIN3_PORT, GPIO_AF_2, PWM_HIN3_PIN);
    gpio_output_options_set(PWM_HIN3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_HIN3_PIN);

    gpio_mode_set(PWM_LIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN1_PIN);
    gpio_af_set(PWM_LIN1_PORT, GPIO_AF_2, PWM_LIN1_PIN);
    gpio_output_options_set(PWM_LIN1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN1_PIN);
    // gpio_mode_set(PWM_LIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN1_PIN);
    // gpio_af_set(PWM_LIN1_PORT, GPIO_AF_2, PWM_LIN1_PIN);
    // gpio_output_options_set(PWM_LIN1_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN1_PIN);

    gpio_mode_set(PWM_LIN2_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN2_PIN);
    gpio_af_set(PWM_LIN2_PORT, GPIO_AF_2, PWM_LIN2_PIN);
    gpio_output_options_set(PWM_LIN2_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN2_PIN);
    // gpio_mode_set(PWM_LIN2_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN2_PIN);
    // gpio_af_set(PWM_LIN2_PORT, GPIO_AF_2, PWM_LIN2_PIN);
    // gpio_output_options_set(PWM_LIN2_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN2_PIN);

    gpio_mode_set(PWM_LIN3_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN3_PIN);
    gpio_af_set(PWM_LIN3_PORT, GPIO_AF_2, PWM_LIN3_PIN);
    gpio_output_options_set(PWM_LIN3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN3_PIN);
    // gpio_mode_set(PWM_LIN3_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN3_PIN);
    // gpio_af_set(PWM_LIN3_PORT, GPIO_AF_2, PWM_LIN3_PIN);
    // gpio_output_options_set(PWM_LIN3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN3_PIN);
    gpio_mode_set(PWM_LIN1_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, PWM_LIN1_PIN); //LIN1
    gpio_bit_write(PWM_LIN1_PORT, PWM_LIN1_PIN, RESET);
    gpio_mode_set(PWM_LIN2_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, PWM_LIN2_PIN); //LIN2
    gpio_bit_write(PWM_LIN2_PORT, PWM_LIN2_PIN, RESET);
    gpio_mode_set(PWM_LIN3_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, PWM_LIN3_PIN); //LIN3
    gpio_bit_write(PWM_LIN3_PORT, PWM_LIN3_PIN, RESET);

    //初始化配置SDH2136
    gpio_mode_set(SDH2136_EN_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, SDH2136_EN_PIN);      //EN

 USR/SRC/Motor.c

@@ -5,6 +5,8 @@
#include "bldc_ctrl.h"
#include "pwm.h"
#include "string.h"
#include "SEGGER_RTT_Conf.h"
#include "SEGGER_RTT.h"
static volatile motor_rotate_t motor_drive = {0};
static uint32_t motor_pluse = 0;
static void motor_phasechange(void);
@@ -16,6 +18,8 @@
    motor_drive.speed = 0;
    motor_drive.enable_flag = 0;
    memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);

    hall_enable();
};
/**
  * @brief  Ê¹ÄÜ»ô¶û´«¸ÐÆ÷
@@ -82,15 +86,16 @@
    float f = 0;

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

    if (time == 0)
        motor_drive.speed_group[count++] = 0;
    else
    {
        f = (1.0f / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
        f = (1.0f / 12.0f) / (f / 60.0f);
        // f = (1.0f / (48000000.0f / SPEED_PRESCALER_COUNT) * time);
        // f = (1.0f / 12.0f) / (f / 60.0f);
        f = time;
        motor_drive.speed_group[count++] = f;
    }
    update_speed_dir(dir_in);
@@ -200,13 +205,29 @@
  */
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
    {
        // 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);
    }
    // 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
}
@@ -226,16 +247,19 @@
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        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;
        // 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);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_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_PWM1);
        // timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
        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;
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);

        step++;
        break;
@@ -245,16 +269,19 @@
        /*  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_PWM1);
        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);
        // 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_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
        MOTOR_W_L_ENABLE;

        step++;
        break;
@@ -264,16 +291,19 @@
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        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);
        // 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_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
        timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_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_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
        timer_channel_complementary_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;

        step++;
        break;
@@ -283,16 +313,19 @@
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        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);
        // 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);
        // 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_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        timer_channel_complementary_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;

        step++;
        break;
@@ -301,18 +334,20 @@
    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);
        // 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_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_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_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
        timer_channel_complementary_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;
        step++;
        break;

@@ -321,16 +356,19 @@
        /*  channel U configuration */
        timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
        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);
        // 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_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_ENABLE);
        MOTOR_V_L_ENABLE;

        /*  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);
        // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
        MOTOR_W_L_DISABLE;

        step = 1;
        break;

 USR/SRC/gd32e23x_it.c

@@ -36,6 +36,7 @@

#include "gd32e23x_it.h"
#include "motor.h"
#include "pwm.h"
#include "os_task.h"

/*!
@@ -171,7 +172,8 @@
{
    if (SET == timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP)) //time2 count up overflow
    {
        BLDC_SpeedAndPID();
        // BLDC_SpeedAndPID();
        TIMER2_IRQHandler_CallBack();
        timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
    }
}

 USR/SRC/pwm.c

@@ -9,7 +9,7 @@
 * 
 */
#include "pwm.h"

static volatile uint32_t timer_outcnt = 0;
/*****************************************************************************************************
Timer2 is used to speed cal
APB1 is 64M ,so Timer2 clock is 64M,after prescaler 480 is 0.1M(10us)
@@ -24,7 +24,7 @@

    timer_deinit(TIMER2);

    timercontralcfg.prescaler = 6399; //64Mhz /6400 =0.01Mhz = 100us
    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
@@ -48,7 +48,7 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
    uint16_t Duty = PERIOD_CMP + 1;
    uint16_t Duty = PERIOD_CMP / 10;
    timer_parameter_struct timercontralcfg;
    timer_oc_parameter_struct timeroutcfg[3];
    timer_break_parameter_struct timer_breakpara;
@@ -63,22 +63,22 @@

    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_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_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_LOW;

@@ -116,7 +116,7 @@

void TimerInit(void)
{
    // rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER0);
    Timer0Init();
    Timer2Init();
@@ -143,3 +143,14 @@
{
    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;
}