基本模块编译通过

tao_z

2021-06-24 bc6c916bff0b8d342c1cd62da73a2a09f18d22a8

基本模块编译通过

 .vscode/settings.json

@@ -1,4 +1,7 @@
{
    "files.autoGuessEncoding": true,
    "files.encoding": "gb2312"
    "files.encoding": "gb2312",
    "files.associations": {
        "math.h": "c"
    }
}

 USR/INC/bldc_ctrl.h

@@ -43,4 +43,6 @@
void set_bldcm_enable(void);
void set_bldcm_disable(void);
void bldcm_pid_control(void);

// extern void BLDC_SpeedAndPID(void);
#endif

 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/gd32e23x_it.h

@@ -60,5 +60,5 @@
void SysTick_Handler(void);
/* this function handles XTI4-15  exception */
void EXTI4_15_IRQHandler(void);

void TIMER2_IRQHandler(void);
#endif /* GD32E23X_IT_H */

 USR/INC/gpio.h

@@ -24,10 +24,10 @@

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

//¶¨ÒåADCÒý½Å
#define CURRENT_AI_PORT GPIOA

 USR/INC/motor.h

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

#define SPEED_FILTER_NUM 30 // ËÙ¶ÈÂ˲¨´ÎÊý
@@ -16,16 +16,25 @@
/* ÀۼƠTIM_Period¸öºó²úÉúÒ»¸ö¸üлòÕßÖжϠ       
    µ±¶¨Ê±Æ÷´Ó0¼ÆÊýµ½65535£¬¼´Îª65535´Î£¬ÎªÒ»¸ö¼ÆÊýÖÜÆÚ */
#define HALL_PERIOD_COUNT (0xFFFF)

/* Í¨ÓÿØÖƶ¨Ê±Æ÷ʱÖÓÔ´TIMxCLK = HCLK = 72MHz
     É趨¶¨Ê±Æ÷ƵÂÊΪ = TIMxCLK / (PWM_PRESCALER_COUNT) / PWM_PERIOD_COUNT = 9.987Hz
   ÖÜÆÚ T = 100ms */
#define SPEED_PRESCALER_COUNT (6400u)
#define SPEED_PERIOD_COUNT (300u)
/* 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)

extern void HAL_HallExti_TriggerCallback(void);
#define MOTOR_OUT_CH_U (TIMER_CH_1)
#define MOTOR_OUT_CH_V (TIMER_CH_0)
#define MOTOR_OUT_CH_W (TIMER_CH_2)

#endif
extern void HAL_HallExti_TriggerCallback(void);
extern void BLDC_SpeedAndPID(void);
extern float get_motor_speed(void);
void hall_enable(void);
void hall_disable(void);
void set_pwm_pulse(uint16_t pulse);
#endif

 USR/INC/pwm.h

@@ -1,13 +1,17 @@
#ifndef _PWM_H_
#define _PWM_H_
#include "gd32e23x_timer.h"
//1us * 10000 = 10ms
#define PERIOD_CAP (10000lU)
//100us * 300 = 30ms
#define PERIOD_CAP (300U)

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

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

extern void StartSpeedTime(void);
extern void StopSpeedTime(void);
extern void stop_pwm_output(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_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: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_DIV4);            //max 14M,current:64/4=16M
    rcu_usart_clock_config(RCU_USART0SRC_IRC8M);          //USART0 8M
    rcu_rtc_clock_config(RCU_RTCSRC_NONE);


 USR/SRC/GPIO.c

@@ -1,4 +1,6 @@
#include "gpio.h"
#include "gd32e23x_exti.h"
#include "gd32e23x_syscfg.h"

extern void GPIO_Init(void)
{
@@ -7,13 +9,16 @@
    rcu_periph_clock_enable(RCU_GPIOF);

    //初始化配置霍尔输入引脚
    gpio_mode_set(HALL_SENSOR_A_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, HALL_SENSOR_A_PIN);
    gpio_af_set(HALL_SENSOR_A_PORT, GPIO_AF_1, HALL_SENSOR_A_PIN);

    gpio_mode_set(HALL_SENSOR_B_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, HALL_SENSOR_B_PIN);
    gpio_af_set(HALL_SENSOR_B_PORT, GPIO_AF_1, HALL_SENSOR_B_PIN);

    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);
    /* 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);
    syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN15);

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

    //初始化PWM引脚
    gpio_mode_set(PWM_HIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_HIN1_PIN);
@@ -39,13 +44,6 @@
    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);

    // //初始化配置LED引脚
    // gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN); //LED
    // gpio_bit_write(LED_PORT, LED_PIN, RESET);                           //led on

    // //初始化配置开关输入
    // gpio_mode_set(SW_IN_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SW_IN_PIN);

    //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

@@ -1,7 +1,13 @@
#include "gpio.h"
#include "motor.h"
#include "gd32e23x_exti.h"
static motor_rotate_t motor_drive = {0};
#include "gd32e23x_timer.h"
#include "bldc_ctrl.h"
#include "pwm.h"
static volatile motor_rotate_t motor_drive = {0};
static uint32_t motor_pluse = 0;
static void motor_phasechange(void);
static void update_speed_dir(uint8_t dir_in);
/**
  * @brief  Ê¹ÄÜ»ô¶û´«¸ÐÆ÷
  * @param  ÎÞ
@@ -13,12 +19,8 @@
    exti_interrupt_enable(HALL_A_EXTI);
    exti_interrupt_enable(HALL_B_EXTI);
    exti_interrupt_enable(HALL_C_EXTI);

    // HAL_TIMEx_HallSensor_Start(&htimx_hall);

    // LED1_OFF;

    // HAL_TIM_TriggerCallback(&htimx_hall); // Ö´ÐÐÒ»´Î»»Ïà
    StartSpeedTime();    //start speed timer
    motor_phasechange(); // Ö´ÐÐÒ»´Î»»Ïà

    motor_drive.enable_flag = 1;
}
@@ -35,6 +37,7 @@
    exti_interrupt_disable(HALL_B_EXTI);
    exti_interrupt_disable(HALL_C_EXTI);
    // HAL_TIMEx_HallSensor_Stop(&htimx_hall);
    StopSpeedTime(); //stop speed timer
    motor_drive.enable_flag = 0;
    motor_drive.speed = 0;
}
@@ -42,8 +45,6 @@
uint8_t get_hall_state(void)
{
    uint8_t state = 0;

#if 1
    /* ¶ÁÈ¡»ô¶û´«¸ÐÆ÷ U µÄ״̬ */
    if (Get_HallSensorA_State())
    {
@@ -61,9 +62,6 @@
    {
        state |= 0x01U << 2;
    }
#else
    state = (GPIOH->IDR >> 10) & 7; // ¶Á 3 ¸ö»ô¶û´«¸ÐÆ÷µÄ״̬
#endif

    return state; // ·µ»Ø´«¸ÐÆ÷״̬
}
@@ -75,14 +73,14 @@
    float f = 0;

    /* ¼ÆËãËٶȣº
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(48000000.0/128.0)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(48000000.0/128.0) * time)Ϊʱ¼ä³¤¡£
     µç»úÿתһȦ¹²ÓÃ12¸öÂö³å£¬(1.0/(64000000.0/6400)Ϊ¼ÆÊýÆ÷µÄÖÜÆÚ£¬(1.0/(48000000.0/6400) * time)Ϊʱ¼ä³¤¡£
  */

    if (time == 0)
        motor_drive.speed_group[count++] = 0;
    else
    {
        f = (1.0f / (48000000.0f / HALL_PRESCALER_COUNT) * time);
        f = (1.0f / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
        f = (1.0f / 12.0f) / (f / 60.0f);
        motor_drive.speed_group[count++] = f;
    }
@@ -194,159 +192,188 @@
void HAL_HallExti_TriggerCallback(void)
{
    /* »ñÈ¡»ô¶û´«¸ÐÆ÷Òý½Å״̬,×÷Ϊ»»ÏàµÄÒÀ¾Ý */
    uint8_t step = 0;
    step = get_hall_state();

    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
        motor_drive.timeout = 0;
        exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
    }
    motor_phasechange();
    // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}

static void motor_phasechange(void)
{
    uint8_t step = 0;
    step = get_hall_state();
    if (get_bldcm_direction() == MOTOR_FWD)
    {
        switch (step)
        {
        case 1:                                                                            /* U+ W- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        step = 7u - step;
    }
    switch (step)
    {
    /* next step: step 2 configuration .A-C` breakover---------------------------- */
    case 1:
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse);             // Í¨µÀ 1 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;
        /*  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);

        case 2:                                                                            /* V+ U- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        step++;
        break;

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
    /* 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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse);             // Í¨µÀ 2 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
        /*  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);

            break;
        /*  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);

        case 3:                                                                            /* V+ W- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        step++;
        break;

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
    /* 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_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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse);             // Í¨µÀ 2 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;
        /*  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);

        case 4:                                                                            /* W+ V- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        step++;
        break;

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse);             // Í¨µÀ 3 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            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_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);

        case 5:                                                                            /* U+  V -*/
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse);             // Í¨µÀ 1 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;
        step++;
        break;

        case 6:                                                                            /* W+ U- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
    /* next step: step 6 configuration .C-B` 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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ
        /*  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);

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse);             // Í¨µÀ 3 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;
        }
        /*  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);

        step++;
        break;

    /* next step: step 1 configuration .A-B` breakover---------------------------- */
    case 6:
        /*  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);

        /*  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);

        /*  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);

        step = 1;
        break;
    }
}

/**
  * @brief  Í£Ö¹pwmÊä³ö
  * @param  ÎÞ
  * @retval ÎÞ
  */
extern void stop_pwm_output(void)
{
    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_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_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
}

/**
  * @brief  ÉèÖÃpwmÊä³öµÄÕ¼¿Õ±È
  * @param  pulse:ÒªÉèÖõÄÕ¼¿Õ±È
  * @retval ÎÞ
  */
void set_pwm_pulse(uint16_t pulse)
{
    /* ÉèÖö¨Ê±Æ÷ͨµÀÊä³ö PWM µÄÕ¼¿Õ±È */
    motor_pluse = pulse;
    //SetPwmDuty();
    if (motor_drive.enable_flag)
    {
        motor_phasechange();
    }
}

extern void BLDC_SpeedAndPID(void)
{
    if (motor_drive.timeout++ > 100) // ÓÐÒ»´ÎÔÚ²úÉú¸üÐÂÖжÏÇ°»ô¶û´«¸ÐÆ÷ûÓⶻñµ½Öµ
    {
        // printf("¶Âת³¬Ê±\r\n");
        motor_drive.timeout = 0;

        /* ¶Âת³¬Ê±Í£Ö¹ PWM Êä³ö */
        hall_disable();    // ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú
        stop_pwm_output(); // Í£Ö¹ PWM Êä³ö
        set_bldcm_disable();
        motor_drive.speed = 0;
    }
    else
    {
        switch (step)
        {
        case 1:                                                                            /* W+ U- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse);             // Í¨µÀ 3 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;

        case 2:                                                                            /* U+  V -*/
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse);             // Í¨µÀ 1 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;

        case 3:                                                                            /* W+ V- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse);             // Í¨µÀ 3 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ

            break;

        case 4:                                                                            /* V+ W- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse);             // Í¨µÀ 2 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;

        case 5:                                                                            /* V+ U- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0);                         // Í¨µÀ 1 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse);             // Í¨µÀ 2 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;

        case 6:                                                                            /* U+ W- */
            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0);                         // Í¨µÀ 2 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0);                         // Í¨µÀ 3 ÅäÖÃΪ 0
            HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // ¹Ø±ÕÏÂÇűÛ

            __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse);             // Í¨µÀ 1 ÅäÖõÄÕ¼¿Õ±È
            HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // ¿ªÆôÏÂÇűÛ
            break;
        }
        bldcm_pid_control();
    }
    HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // Èí¼þ²úÉú»»Ïàʼþ£¬´Ëʱ²Å½«ÅäÖÃдÈë
}

 USR/SRC/bldc_ctrl.c

@@ -1,6 +1,11 @@

#include <math.h>
#include <stdlib.h>
#include "bldc_ctrl.h"
#include "motor.h"
#include "gpio.h"
#include "pwm.h"
#include "bsp_pid.h"

/* Ë½ÓбäÁ¿ */
static bldcm_data_t bldcm_data;
@@ -15,9 +20,9 @@
  */
void bldcm_init(void)
{
    PWM_TIMx_Configuration(); // µç»ú¿ØÖƶ¨Ê±Æ÷£¬Òý½Å³õʼ»¯
    hall_tim_config();        // »ô¶û´«¸ÐÆ÷³õʼ»¯
    sd_gpio_config();         // sd Òý½Å³õʼ»¯
  // PWM_TIMx_Configuration(); // µç»ú¿ØÖƶ¨Ê±Æ÷£¬Òý½Å³õʼ»¯
  // hall_tim_config();        // »ô¶û´«¸ÐÆ÷³õʼ»¯
  sd_gpio_config(); // sd Òý½Å³õʼ»¯
}

/**
@@ -27,24 +32,7 @@
  */
static void sd_gpio_config(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    /* ¶¨Ê±Æ÷ͨµÀ¹¦ÄÜÒý½Å¶Ë¿ÚʱÖÓʹÄÜ */
    SHUTDOWN_GPIO_CLK_ENABLE();

    /* Òý½ÅIO³õʼ»¯ */
    /*ÉèÖÃÊä³öÀàÐÍ*/
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    /*ÉèÖÃÒý½ÅËÙÂÊ */
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    /*Ñ¡ÔñÒª¿ØÖƵÄGPIOÒý½Å*/
    GPIO_InitStruct.Pin = SHUTDOWN_PIN;

    /*µ÷Óÿ⺯Êý£¬Ê¹ÓÃÉÏÃæÅäÖõÄGPIO_InitStructure³õʼ»¯GPIO*/
    HAL_GPIO_Init(SHUTDOWN_GPIO_PORT, &GPIO_InitStruct);

    BLDCM_ENABLE_SD(); // Ä¬ÈÏ¿ªÆô
    HAL_Delay(1);
  Set_SDH2136_Disable();
}

/**
@@ -54,9 +42,9 @@
  */
void set_bldcm_speed(uint16_t v)
{
    bldcm_data.dutyfactor = v;
  bldcm_data.dutyfactor = v;

    set_pwm_pulse(v); // ÉèÖÃËÙ¶È
  set_pwm_pulse(v); // ÉèÖÃËÙ¶È
}

/**
@@ -66,7 +54,7 @@
  */
void set_bldcm_direction(motor_dir_t dir)
{
    bldcm_data.direction = dir;
  bldcm_data.direction = dir;
}

/**
@@ -76,7 +64,7 @@
  */
motor_dir_t get_bldcm_direction(void)
{
    return bldcm_data.direction;
  return bldcm_data.direction;
}

/**
@@ -86,8 +74,8 @@
  */
void set_bldcm_enable(void)
{
    bldcm_data.is_enable = 1;
    hall_enable();
  bldcm_data.is_enable = 1;
  hall_enable();
}

/**
@@ -97,14 +85,14 @@
  */
void set_bldcm_disable(void)
{
    /* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
    hall_disable();
  /* ½ûÓûô¶û´«¸ÐÆ÷½Ó¿Ú */
  hall_disable();

    /* Í£Ö¹ PWM Êä³ö */
    stop_pwm_output();
  /* Í£Ö¹ PWM Êä³ö */
  stop_pwm_output();

    /* ¹Ø±Õ MOS ¹Ü */
    bldcm_data.is_enable = 0;
  /* ¹Ø±Õ MOS ¹Ü */
  bldcm_data.is_enable = 0;
}

/**
@@ -114,32 +102,32 @@
  */
void bldcm_pid_control(void)
{
    int32_t speed_actual = get_motor_speed(); // µç»úÐýתµÄµ±Ç°ËÙ¶È
  int32_t speed_actual = get_motor_speed(); // µç»úÐýתµÄµ±Ç°ËÙ¶È

    if (bldcm_data.is_enable)
  if (bldcm_data.is_enable)
  {
    float cont_val = 0; // µ±Ç°¿ØÖÆÖµ

    cont_val = PID_realize(speed_actual);

    if (cont_val < 0)
    {
        float cont_val = 0; // µ±Ç°¿ØÖÆÖµ

        cont_val = PID_realize(speed_actual);

        if (cont_val < 0)
        {
            cont_val = -cont_val;
            bldcm_data.direction = MOTOR_REV;
        }
        else
        {
            bldcm_data.direction = MOTOR_FWD;
        }

        cont_val = (cont_val > PWM_PERIOD_COUNT) ? PWM_PERIOD_COUNT : cont_val; // ÉÏÏÞ´¦Àí

        set_bldcm_speed(cont_val);

#ifdef PID_ASSISTANT_EN
        set_computer_value(SEND_FACT_CMD, CURVES_CH1, &speed_actual, 1); // ¸øͨµÀ 1 ·¢ËÍʵ¼ÊÖµ
#else
        printf("ʵ¼ÊÖµ£º%d, Ä¿±êÖµ£º%.0f£¬¿ØÖÆÖµ: %.0f\n", speed_actual, get_pid_target(), cont_val);
#endif
      cont_val = -cont_val;
      bldcm_data.direction = MOTOR_REV;
    }
    else
    {
      bldcm_data.direction = MOTOR_FWD;
    }

    cont_val = (cont_val > PERIOD_CMP) ? PERIOD_CMP : cont_val; // ÉÏÏÞ´¦Àí

    set_bldcm_speed(cont_val);

    // #ifdef PID_ASSISTANT_EN
    //     set_computer_value(SEND_FACT_CMD, CURVES_CH1, &speed_actual, 1); // ¸øͨµÀ 1 ·¢ËÍʵ¼ÊÖµ
    // #else
    //     printf("ʵ¼ÊÖµ£º%d, Ä¿±êÖµ£º%.0f£¬¿ØÖÆÖµ: %.0f\n", speed_actual, get_pid_target(), cont_val);
    // #endif
  }
}

 USR/SRC/gd32e23x_it.c

@@ -151,5 +151,26 @@
*/
void EXTI4_15_IRQHandler(void)
{
    HAL_HallExti_TriggerCallback();

    if (RESET != exti_interrupt_flag_get(EXTI_4 | EXTI_5 | EXTI_15))
    {
        HAL_HallExti_TriggerCallback();
    }

    exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);
}

/*!
    \brief      this function handles time2
    \param[in]  none
    \param[out] none
    \retval     none
*/
void TIMER2_IRQHandler(void)
{
    if (SET == timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP)) //time2 count up overflow
    {
        BLDC_SpeedAndPID();
        timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
    }
}

 USR/SRC/main.c

@@ -1,6 +1,7 @@
#include "gd32e23x.h"
#include <stdio.h>
#include "gpio.h"
#include "adc.h"
#include "pwm.h"
#include "uart.h"
#include "clock.h"

 USR/SRC/pwm.c

@@ -11,8 +11,8 @@
#include "pwm.h"

/*****************************************************************************************************
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 = 6399; //64Mhz /6400 =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
}

/*****************************************************************************************************
@@ -70,16 +48,17 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
    uint16_t Duty = 0;
    uint16_t Duty = PERIOD_CMP + 1;
    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
@@ -87,21 +66,21 @@
    timeroutcfg[0].outputstate = TIMER_CCX_ENABLE;   //channel enable
    timeroutcfg[0].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
    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].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].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);
@@ -132,13 +119,13 @@
    // rcu_periph_clock_enable(RCU_TIMER2);
    rcu_periph_clock_enable(RCU_TIMER0);
    Timer0Init();
    // Timer2Init();
    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 +133,13 @@
{
    TIMER_CAR(TIMER0) = period;
}

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

extern void StopSpeedTime(void)
{
    timer_disable(TIMER2);
}

 pid/bsp_pid.c

New file
@@ -0,0 +1,90 @@
#include "bsp_pid.h"
#include "bldc_ctrl.h"

//¶¨ÒåÈ«¾Ö±äÁ¿
pid_t pid;

/**
  * @brief  PID²ÎÊý³õʼ»¯
    *    @note     ÎÞ
  * @retval ÎÞ
  */
void PID_param_init()
{
  /* ³õʼ»¯²ÎÊý */
  pid.target_val = 0.0;
  pid.actual_val = 0.0;
  pid.err = 0.0;
  pid.err_last = 0.0;
  pid.integral = 0.0;

  pid.Kp = 0.07; //24
  pid.Ki = 0.03;
  pid.Kd = 0.0;

#if defined(PID_ASSISTANT_EN)
  float pid_temp[3] = {pid.Kp, pid.Ki, pid.Kd};
  set_computer_value(SEND_P_I_D_CMD, CURVES_CH1, pid_temp, 3); // ¸øͨµÀ 1 ·¢ËÍ P I D Öµ
#endif
}

/**
  * @brief  ÉèÖÃÄ¿±êÖµ
  * @param  val        Ä¿±êÖµ
    *    @note     ÎÞ
  * @retval ÎÞ
  */
void set_pid_target(float temp_val)
{
  pid.target_val = temp_val; // ÉèÖõ±Ç°µÄÄ¿±êÖµ
}

/**
  * @brief  »ñÈ¡Ä¿±êÖµ
  * @param  ÎÞ
    *    @note     ÎÞ
  * @retval Ä¿±êÖµ
  */
float get_pid_target(void)
{
  return pid.target_val; // ÉèÖõ±Ç°µÄÄ¿±êÖµ
}

/**
  * @brief  ÉèÖñÈÀý¡¢»ý·Ö¡¢Î¢·ÖϵÊý
  * @param  p£º±ÈÀýϵÊý P
  * @param  i£º»ý·ÖϵÊý i
  * @param  d£ºÎ¢·ÖϵÊý d
    *    @note     ÎÞ
  * @retval ÎÞ
  */
void set_p_i_d(float p, float i, float d)
{
  pid.Kp = p; // ÉèÖñÈÀýϵÊý P
  pid.Ki = i; // ÉèÖûý·ÖϵÊý I
  pid.Kd = d; // ÉèÖÃ΢·ÖϵÊý D
}

/**
  * @brief  PIDË㷨ʵÏÖ
  * @param  actual_val:ʵ¼ÊÖµ
    *    @note     ÎÞ
  * @retval Í¨¹ýPID¼ÆËãºóµÄÊä³ö
  */
float PID_realize(float actual_val)
{
  /*¼ÆËãÄ¿±êÖµÓëʵ¼ÊÖµµÄÎó²î*/
  pid.err = pid.target_val - actual_val;
  pid.integral += pid.err;

  /*PIDË㷨ʵÏÖ*/
  pid.actual_val = pid.Kp * pid.err +
                   pid.Ki * pid.integral +
                   pid.Kd * (pid.err - pid.err_last);

  /*Îó²î´«µÝ*/
  pid.err_last = pid.err;

  /*·µ»Øµ±Ç°Êµ¼ÊÖµ*/
  return pid.actual_val;
}

 pid/bsp_pid.h

New file
@@ -0,0 +1,27 @@
#ifndef __BSP_PID_H
#define __BSP_PID_H
#include "gd32e23x.h"
// #include "stm32f1xx.h"
// #include "./usart/bsp_debug_usart.h"
// #include <stdio.h>
// #include <stdlib.h>
// #include <math.h>

typedef struct
{
    float target_val; //Ä¿±êÖµ
    float actual_val; //ʵ¼ÊÖµ
    float err;        //¶¨ÒåÆ«²îÖµ
    float err_last;   //¶¨ÒåÉÏÒ»¸öÆ«²îÖµ
    float Kp, Ki, Kd; //¶¨Òå±ÈÀý¡¢»ý·Ö¡¢Î¢·ÖϵÊý
    float integral;   //¶¨Òå»ý·ÖÖµ
} pid_t;

void PID_param_init(void);
void set_pid_target(float temp_val);
float get_pid_target(void);
void set_p_i_d(float p, float i, float d);
float PID_realize(float actual_val);
void time_period_fun(void);

#endif