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/pwm.c | 131 ++++++++++++++++++++++++-------------------
1 files changed, 72 insertions(+), 59 deletions(-)
diff --git a/USR/SRC/pwm.c b/USR/SRC/pwm.c
index 3c4c5e5..e94f7f5 100644
--- a/USR/SRC/pwm.c
+++ b/USR/SRC/pwm.c
@@ -9,10 +9,11 @@
*
*/
#include "pwm.h"
-
+#include "bldc_ctrl.h"
+static volatile uint32_t timer_outcnt = 0;
/*****************************************************************************************************
-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 +21,19 @@
*****************************************************************************************************/
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 = TIMER2_PERIOD; //64Mhz /64 =1Mhz = 1us
+ timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;
+ timercontralcfg.counterdirection = TIMER_COUNTER_UP;
+ timercontralcfg.period = PERIOD_CAP; //1us*30000=30ms
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
}
/*****************************************************************************************************
@@ -70,38 +49,39 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
- uint16_t Duty = 0;
+ uint16_t Duty = PERIOD_CMP / 2;
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
+ timeroutcfg[0].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is low
timeroutcfg[0].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
- timeroutcfg[0].outputstate = TIMER_CCX_ENABLE; //channel enable
- timeroutcfg[0].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
+ timeroutcfg[0].outputstate = TIMER_CCX_ENABLE; //channel enable
+ timeroutcfg[0].outputnstate = TIMER_CCXN_DISABLE; //channel complementary DISABLE
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].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is LOW
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].outputstate = TIMER_CCX_ENABLE; //channel enable
+ timeroutcfg[1].outputnstate = TIMER_CCXN_DISABLE; //channel complementary DISABLE
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].ocpolarity = TIMER_OC_POLARITY_HIGH; //channel output polarity is LOW
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].outputstate = TIMER_CCX_ENABLE; //channel enable
+ timeroutcfg[2].outputnstate = TIMER_CCXN_DISABLE; //channel complementary DISABLE
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 +91,25 @@
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_1, TIMER_OC_MODE_PWM1);
- timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM1);
+ timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0); //set pwm1 mode first low then high
+ timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
+ timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
- timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow disable
+ timer_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow ENable
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_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 = 32;
+ // 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_DISABLE;
+ // timer_break_config(TIMER0, &timer_breakpara);
timer_primary_output_config(TIMER0, ENABLE);
timer_auto_reload_shadow_enable(TIMER0);
@@ -129,16 +117,16 @@
void TimerInit(void)
{
- // rcu_periph_clock_enable(RCU_TIMER2);
+ 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 +134,28 @@
{
TIMER_CAR(TIMER0) = period;
}
+
+extern void StartSpeedTime(void)
+{
+ timer_enable(TIMER2);
+}
+
+extern void StopSpeedTime(void)
+{
+ timer_disable(TIMER2);
+}
+extern void TIMER2_IRQHandler_CallBack(void)
+{
+ if (++timer_outcnt > SPEED_TIMEOUT)
+ {
+ //to do
+ set_bldcm_disable();
+ }
+}
+
+extern uint32_t GetSpeedTimerOutcnt(void)
+{
+ uint32_t rtn = timer_outcnt;
+ timer_outcnt = 0;
+ return rtn;
+}
--
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