From 4a89e24804b91902def506a9e898293fa36ccb59 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Sat, 10 Jul 2021 11:52:25 +0800
Subject: [PATCH] 待调试电机转动
---
USR/SRC/Motor.c | 177 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 110 insertions(+), 67 deletions(-)
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index 4bb7783..c65a3fa 100644
--- a/USR/SRC/Motor.c
+++ b/USR/SRC/Motor.c
@@ -5,8 +5,11 @@
#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 uint32_t motor_pluse = 1500;
+static volatile uint8_t motor_step = 0;
static void motor_phasechange(void);
static void update_speed_dir(uint8_t dir_in);
@@ -16,6 +19,8 @@
motor_drive.speed = 0;
motor_drive.enable_flag = 0;
memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);
+
+ hall_enable();
};
/**
* @brief ʹ�ܻ���������
@@ -57,19 +62,19 @@
/* ��ȡ���������� U ��״̬ */
if (Get_HallSensorA_State())
{
- state |= 0x01U << 0;
+ state |= (0x01U << 0);
}
/* ��ȡ���������� V ��״̬ */
if (Get_HallSensorB_State())
{
- state |= 0x01U << 1;
+ state |= (0x01U << 1);
}
/* ��ȡ���������� W ��״̬ */
if (Get_HallSensorC_State())
{
- state |= 0x01U << 2;
+ state |= (0x01U << 2);
}
return state; // ���ش�����״̬
@@ -82,15 +87,16 @@
float f = 0;
/* �����ٶȣ�
- ���ÿתһȦ����12�����壬(1.0/(64000000.0/6400)Ϊ�����������ڣ�(1.0/(48000000.0/6400) * time)Ϊʱ�䳤��
+ ���ÿתһȦ����12�����壬(1.0/(48000000.0/6400)Ϊ�����������ڣ�(1.0/(48000000.0/6400) * time)Ϊʱ�䳤��
*/
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 +206,30 @@
*/
void HAL_HallExti_TriggerCallback(void)
{
- /* ��ȡ��������������״̬,��Ϊ��������� */
+ uint8_t step = 0;
+ motor_step = get_hall_state();
+ // /* ��ȡ��������������״̬,��Ϊ��������� */
if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // �ж��Ƿ��ɴ����жϲ���
{
- // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO ����ʱ������ü���ʱ��
+ // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1)); //TODO ����ʱ������ü���ʱ��
+ 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);
+ // // 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); // ������������¼�����ʱ�Ž�����д��
}
@@ -221,118 +244,132 @@
}
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_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_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);
- 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_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_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);
+ MOTOR_W_L_DISABLE;
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
- step++;
break;
- /* next step: step 3 configuration .B-C` breakover---------------------------- */
+ /* 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_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_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_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_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 */
- 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_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);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
+ MOTOR_W_L_DISABLE;
- step++;
break;
- /* next step: step 4 configuration .B-A` breakover---------------------------- */
+ /* 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_PWM1);
+ // 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);
+ // 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_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_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 */
- 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_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;
- step++;
break;
- /* next step: step 5 configuration .C-A` 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_PWM1);
+ // 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);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
+ MOTOR_U_L_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);
+ 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_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_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;
- step++;
break;
- /* next step: step 6 configuration .C-B` breakover---------------------------- */
+ /* 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);
+ // 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_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_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_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++;
+ // 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 1 configuration .A-B` breakover---------------------------- */
+ /* 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_PWM1);
+ 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);
+ // 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_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_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);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+ MOTOR_W_L_ENABLE;
- step = 1;
break;
}
}
@@ -345,11 +382,14 @@
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_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_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);
+ // timer_channel_complementary_output_state_config(TIMER0, TIMER_CH_2, TIMER_CCXN_DISABLE);
+ MOTOR_W_L_DISABLE;
+ MOTOR_V_L_DISABLE;
+ MOTOR_U_L_DISABLE;
}
/**
@@ -361,7 +401,10 @@
{
/* ���ö�ʱ��ͨ����� PWM ��ռ�ձ� */
motor_pluse = pulse;
- //SetPwmDuty();
+ SetPwmDuty(TIMER_CH_0, motor_pluse);
+ SetPwmDuty(TIMER_CH_1, motor_pluse);
+ SetPwmDuty(TIMER_CH_2, motor_pluse);
+
if (motor_drive.enable_flag)
{
motor_phasechange();
--
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