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 | 108 +++++++++++++++++++++++++++++-------------------------
1 files changed, 58 insertions(+), 50 deletions(-)
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index c65a3fa..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�ܻ���������
@@ -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;
@@ -211,25 +212,11 @@
// /* ��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(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); // ������������¼�����ʱ�Ž�����д��
}
@@ -248,18 +235,21 @@
case 1:
/* 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);
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_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);
+ 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);
@@ -268,20 +258,23 @@
/* next step: step 6 configuration .u-v` breakover---------------------------- */
case 2:
/* 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_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_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_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_DISABLE;
@@ -291,19 +284,22 @@
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_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_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_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_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_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);
+ 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;
@@ -313,19 +309,22 @@
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_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_DISABLE);
// timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
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_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);
+ 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_CCXN_DISABLE);
+ // 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_ENABLE;
@@ -334,19 +333,22 @@
/* 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_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_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);
+ SetPwmDuty(MOTOR_OUT_CH_V, motor_pluse);
// 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_PWM0);
- timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+ // 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;
break;
@@ -354,19 +356,22 @@
/* 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_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_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_ENABLE;
@@ -381,12 +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;
@@ -401,9 +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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