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 | 375 +++++++++++++++++++++++++++++++++--------------------
1 files changed, 231 insertions(+), 144 deletions(-)
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index 64b2163..13f4768 100644
--- a/USR/SRC/Motor.c
+++ b/USR/SRC/Motor.c
@@ -1,7 +1,28 @@
#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"
+#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 = 1500;
+static volatile uint8_t motor_step = 0;
+static void motor_phasechange(void);
+static void update_speed_dir(uint8_t dir_in);
+
+extern void Motor_Init(void)
+{
+ 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();
+};
/**
* @brief ʹ�ܻ���������
* @param ��
@@ -13,12 +34,8 @@
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); // ִ��һ�λ���
+ StartSpeedTime(); //start speed timer
+ motor_phasechange(); // ִ��һ�λ���
motor_drive.enable_flag = 1;
}
@@ -35,6 +52,7 @@
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;
}
@@ -42,28 +60,23 @@
uint8_t get_hall_state(void)
{
uint8_t state = 0;
-
-#if 1
/* ��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);
}
-#else
- state = (GPIOH->IDR >> 10) & 7; // �� 3 ��������������״̬
-#endif
return state; // ���ش�����״̬
}
@@ -75,15 +88,16 @@
float f = 0;
/* �����ٶȣ�
- ���ÿתһȦ����12�����壬(1.0/(48000000.0/128.0)Ϊ�����������ڣ�(1.0/(48000000.0/128.0) * 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 / HALL_PRESCALER_COUNT) * time);
- f = (1.0f / 12.0f) / (f / 60.0f);
+ // 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;
}
update_speed_dir(dir_in);
@@ -193,160 +207,233 @@
*/
void HAL_HallExti_TriggerCallback(void)
{
- /* ��ȡ��������������״̬,��Ϊ��������� */
uint8_t step = 0;
- step = get_hall_state();
-
+ 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(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);
}
+ motor_phasechange();
+ // HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // ������������¼�����ʱ�Ž�����д��
+}
+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); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
+ step = 7u - step;
+ }
+ switch (step)
+ {
+ /* next step: step 3 configuration .W-U` breakover---------------------------- */
+ case 1:
+ /* channel U configuration */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
+ // 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);
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse); // ͨ�� 1 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // �������ű�
- break;
+ /* channel V configuration */
+ // 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);
- case 2: /* V+ U- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ 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);
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
+ break;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse); // ͨ�� 2 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // �������ű�
+ /* 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);
+ 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;
- break;
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
+ MOTOR_V_L_ENABLE;
- case 3: /* V+ W- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
+ MOTOR_W_L_DISABLE;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
+ break;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse); // ͨ�� 2 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // �������ű�
- break;
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
+ MOTOR_U_L_DISABLE;
- case 4: /* W+ V- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_V, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
+ MOTOR_V_L_ENABLE;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ 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;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse); // ͨ�� 3 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // �������ű�
- break;
+ break;
- case 5: /* U+ V -*/
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_ENABLE);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
+ MOTOR_U_L_DISABLE;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ 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;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse); // ͨ�� 1 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // �������ű�
- break;
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+ MOTOR_W_L_ENABLE;
- case 6: /* W+ U- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
+ break;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
+ /* 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);
+ SetPwmDuty(MOTOR_OUT_CH_U, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
+ MOTOR_U_L_ENABLE;
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse); // ͨ�� 3 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // �������ű�
- break;
- }
+ /* 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);
+ 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);
+ 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;
+
+ /* 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);
+ 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);
+ 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);
+ SetPwmDuty(MOTOR_OUT_CH_W, 0);
+ // timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+ MOTOR_W_L_ENABLE;
+
+ break;
+ }
+}
+
+/**
+ * @brief ֹͣpwm���
+ * @param ��
+ * @retval ��
+ */
+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);
+ 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;
+}
+
+/**
+ * @brief ����pwm�����ռ�ձ�
+ * @param pulse:Ҫ���õ�ռ�ձ�
+ * @retval ��
+ */
+void set_pwm_pulse(uint16_t pulse)
+{
+ /* ���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);
+
+ if (motor_drive.enable_flag)
+ {
+ motor_phasechange();
+ }
+}
+
+extern void BLDC_SpeedAndPID(void)
+{
+ if (motor_drive.timeout++ > 100) // ��һ���ڲ��������ж�ǰ����������û�в���ֵ
+ {
+ // printf("��ת��ʱ\r\n");
+ motor_drive.timeout = 0;
+
+ /* ��ת��ʱֹͣ PWM ��� */
+ hall_disable(); // ���û����������ӿ�
+ stop_pwm_output(); // ֹͣ PWM ���
+ set_bldcm_disable();
+ motor_drive.speed = 0;
}
else
{
- switch (step)
- {
- case 1: /* W+ U- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse); // ͨ�� 3 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // �������ű�
- break;
-
- case 2: /* U+ V -*/
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse); // ͨ�� 1 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // �������ű�
- break;
-
- case 3: /* W+ V- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, bldcm_pulse); // ͨ�� 3 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_SET); // �������ű�
-
- break;
-
- case 4: /* V+ W- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse); // ͨ�� 2 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // �������ű�
- break;
-
- case 5: /* V+ U- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, 0); // ͨ�� 1 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, bldcm_pulse); // ͨ�� 2 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_SET); // �������ű�
- break;
-
- case 6: /* U+ W- */
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_2, 0); // ͨ�� 2 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM2_GPIO_PORT, MOTOR_OCNPWM2_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_3, 0); // ͨ�� 3 ����Ϊ 0
- HAL_GPIO_WritePin(MOTOR_OCNPWM1_GPIO_PORT, MOTOR_OCNPWM1_PIN, GPIO_PIN_RESET); // �ر����ű�
-
- __HAL_TIM_SET_COMPARE(&htimx_bldcm, TIM_CHANNEL_1, bldcm_pulse); // ͨ�� 1 ���õ�ռ�ձ�
- HAL_GPIO_WritePin(MOTOR_OCNPWM3_GPIO_PORT, MOTOR_OCNPWM3_PIN, GPIO_PIN_SET); // �������ű�
- break;
- }
+ bldcm_pid_control();
}
- HAL_TIM_GenerateEvent(&htimx_bldcm, TIM_EVENTSOURCE_COM); // ������������¼�����ʱ�Ž�����д��
}
\ No newline at end of file
--
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