From 82e38738a4d532cc3d56cbf80c1a4093f23cdd6a Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Wed, 14 Jul 2021 07:01:42 +0800
Subject: [PATCH] 调整时钟64MHz。 RTT任务增加马达开启和关闭功能
---
USR/SRC/Motor.c | 185 +++++++++++++++++++++++-----------------------
1 files changed, 93 insertions(+), 92 deletions(-)
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index ca17a04..13f4768 100644
--- a/USR/SRC/Motor.c
+++ b/USR/SRC/Motor.c
@@ -18,9 +18,10 @@
motor_drive.timeout = 0;
motor_drive.speed = 0;
motor_drive.enable_flag = 0;
+ motor_pluse = 0;
memset(motor_drive.speed_group, 0, SPEED_FILTER_NUM);
- hall_enable();
+ // hall_enable();
};
/**
* @brief ʹ�ܻ���������
@@ -33,8 +34,8 @@
exti_interrupt_enable(HALL_A_EXTI);
exti_interrupt_enable(HALL_B_EXTI);
exti_interrupt_enable(HALL_C_EXTI);
- StartSpeedTime(); //start speed timer
- // motor_phasechange(); // ִ��һ�λ���
+ StartSpeedTime(); //start speed timer
+ motor_phasechange(); // ִ��һ�λ���
motor_drive.enable_flag = 1;
}
@@ -87,14 +88,14 @@
float f = 0;
/* �����ٶȣ�
- ���ÿתһȦ����12�����壬(1.0/(48000000.0/6400)Ϊ�����������ڣ�(1.0/(48000000.0/6400) * time)Ϊʱ�䳤��
+ ���ÿתһȦ����12�����壬(1.0/(64000000.0/6400)Ϊ�����������ڣ�(1.0/(64000000.0/6400) * time)Ϊʱ�䳤��
*/
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;
@@ -207,34 +208,16 @@
void HAL_HallExti_TriggerCallback(void)
{
uint8_t step = 0;
-
- // /* ��ȡ��������������״̬,��Ϊ��������� */
- // if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // �ж��Ƿ��ɴ����жϲ���
- // {
-
- // // 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 ����ʱ������ü���ʱ��
- // 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;
- // 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();
+ // /* ��ȡ��������������״̬,��Ϊ��������� */
+ if (exti_interrupt_flag_get(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI)) // �ж��Ƿ��ɴ����жϲ���
+ {
+ // 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;
+ }
+ motor_phasechange();
// HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // ������������¼�����ʱ�Ž�����д��
}
@@ -248,135 +231,150 @@
}
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);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
+ 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_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
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_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
+ SetPwmDuty(MOTOR_OUT_CH_W, motor_pluse);
+ 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);
+ SetPwmDuty(MOTOR_OUT_CH_U, motor_pluse);
+ // 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_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);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
- MOTOR_V_L_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_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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
- MOTOR_W_L_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_PWM0);
- 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_DISABLE);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
- MOTOR_U_L_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_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_CCX_DISABLE);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
- MOTOR_V_L_DISABLE;
+ MOTOR_V_L_ENABLE;
/* channel W configuration */
- timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_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);
+ SetPwmDuty(MOTOR_OUT_CH_W, motor_pluse);
// 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_PWM0);
- 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_DISABLE);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
- MOTOR_U_L_ENABLE;
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
+ MOTOR_U_L_DISABLE;
/* channel V configuration */
- timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_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);
+ SetPwmDuty(MOTOR_OUT_CH_V, motor_pluse);
// 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_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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
- MOTOR_W_L_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_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
- MOTOR_U_L_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_CCX_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);
+ SetPwmDuty(MOTOR_OUT_CH_V, motor_pluse);
// 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_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_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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
// 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 4 configuration .U-W` breakover---------------------------- */
case 6:
/* 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);
+ // 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);
+ SetPwmDuty(MOTOR_OUT_CH_U, motor_pluse);
// 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_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);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
// 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_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
// 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;
}
}
@@ -388,12 +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;
@@ -408,9 +409,9 @@
{
/* ���ö�ʱ��ͨ����� PWM ��ռ�ձ� */
motor_pluse = pulse;
- SetPwmDuty(TIMER_CH_0, motor_pluse);
- SetPwmDuty(TIMER_CH_1, motor_pluse);
- SetPwmDuty(TIMER_CH_2, motor_pluse);
+ // SetPwmDuty(TIMER_CH_0, motor_pluse);
+ // SetPwmDuty(TIMER_CH_1, motor_pluse);
+ // SetPwmDuty(TIMER_CH_2, motor_pluse);
if (motor_drive.enable_flag)
{
--
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