From 945ba42f7550d5a203e43d82b43ed82dc981d9e9 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Wed, 30 Jun 2021 22:05:52 +0800
Subject: [PATCH] 霍尔输入中断正常，需要调试马达转动
---
USR/SRC/bldc_ctrl.c | 104 +++++++++++++++++++++++-----------------------------
1 files changed, 46 insertions(+), 58 deletions(-)
diff --git a/USR/SRC/bldc_ctrl.c b/USR/SRC/bldc_ctrl.c
index 04f1b7d..2f3d428 100644
--- a/USR/SRC/bldc_ctrl.c
+++ b/USR/SRC/bldc_ctrl.c
@@ -1,6 +1,11 @@
#include <math.h>
#include <stdlib.h>
+#include "bldc_ctrl.h"
+#include "motor.h"
+#include "gpio.h"
+#include "pwm.h"
+#include "bsp_pid.h"
/* ˽�б��� */
static bldcm_data_t bldcm_data;
@@ -15,9 +20,9 @@
*/
void bldcm_init(void)
{
- PWM_TIMx_Configuration(); // ������ƶ�ʱ�������ų�ʼ��
- hall_tim_config(); // ������������ʼ��
- sd_gpio_config(); // sd ���ų�ʼ��
+ // PWM_TIMx_Configuration(); // ������ƶ�ʱ�������ų�ʼ��
+ // hall_tim_config(); // ������������ʼ��
+ sd_gpio_config(); // sd ���ų�ʼ��
}
/**
@@ -27,24 +32,7 @@
*/
static void sd_gpio_config(void)
{
- GPIO_InitTypeDef GPIO_InitStruct;
-
- /* ��ʱ��ͨ���������Ŷ˿�ʱ��ʹ�� */
- SHUTDOWN_GPIO_CLK_ENABLE();
-
- /* ����IO��ʼ�� */
- /*�����������*/
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- /*������������ */
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
- /*ѡ��Ҫ���Ƶ�GPIO����*/
- GPIO_InitStruct.Pin = SHUTDOWN_PIN;
-
- /*���ÿ⺯����ʹ���������õ�GPIO_InitStructure��ʼ��GPIO*/
- HAL_GPIO_Init(SHUTDOWN_GPIO_PORT, &GPIO_InitStruct);
-
- BLDCM_ENABLE_SD(); // Ĭ�Ͽ���
- HAL_Delay(1);
+ Set_SDH2136_Disable();
}
/**
@@ -54,9 +42,9 @@
*/
void set_bldcm_speed(uint16_t v)
{
- bldcm_data.dutyfactor = v;
+ bldcm_data.dutyfactor = v;
- set_pwm_pulse(v); // �����ٶ�
+ set_pwm_pulse(v); // �����ٶ�
}
/**
@@ -66,7 +54,7 @@
*/
void set_bldcm_direction(motor_dir_t dir)
{
- bldcm_data.direction = dir;
+ bldcm_data.direction = dir;
}
/**
@@ -76,7 +64,7 @@
*/
motor_dir_t get_bldcm_direction(void)
{
- return bldcm_data.direction;
+ return bldcm_data.direction;
}
/**
@@ -86,8 +74,8 @@
*/
void set_bldcm_enable(void)
{
- bldcm_data.is_enable = 1;
- hall_enable();
+ bldcm_data.is_enable = 1;
+ hall_enable();
}
/**
@@ -97,14 +85,14 @@
*/
void set_bldcm_disable(void)
{
- /* ���û����������ӿ� */
- hall_disable();
+ /* ���û����������ӿ� */
+ hall_disable();
- /* ֹͣ PWM ��� */
- stop_pwm_output();
+ /* ֹͣ PWM ��� */
+ stop_pwm_output();
- /* �ر� MOS �� */
- bldcm_data.is_enable = 0;
+ /* �ر� MOS �� */
+ bldcm_data.is_enable = 0;
}
/**
@@ -114,32 +102,32 @@
*/
void bldcm_pid_control(void)
{
- int32_t speed_actual = get_motor_speed(); // �����ת�ĵ�ǰ�ٶ�
+ int32_t speed_actual = get_motor_speed(); // �����ת�ĵ�ǰ�ٶ�
- if (bldcm_data.is_enable)
+ if (bldcm_data.is_enable)
+ {
+ float cont_val = 0; // ��ǰ����ֵ
+
+ cont_val = PID_realize(speed_actual);
+
+ if (cont_val < 0)
{
- float cont_val = 0; // ��ǰ����ֵ
-
- cont_val = PID_realize(speed_actual);
-
- if (cont_val < 0)
- {
- cont_val = -cont_val;
- bldcm_data.direction = MOTOR_REV;
- }
- else
- {
- bldcm_data.direction = MOTOR_FWD;
- }
-
- cont_val = (cont_val > PWM_PERIOD_COUNT) ? PWM_PERIOD_COUNT : cont_val; // ������
-
- set_bldcm_speed(cont_val);
-
-#ifdef PID_ASSISTANT_EN
- set_computer_value(SEND_FACT_CMD, CURVES_CH1, &speed_actual, 1); // ��ͨ�� 1 ����ʵ��ֵ
-#else
- printf("ʵ��ֵ��%d, Ŀ��ֵ��%.0f������ֵ: %.0f\n", speed_actual, get_pid_target(), cont_val);
-#endif
+ cont_val = -cont_val;
+ bldcm_data.direction = MOTOR_REV;
}
+ else
+ {
+ bldcm_data.direction = MOTOR_FWD;
+ }
+
+ cont_val = (cont_val > PERIOD_CMP) ? PERIOD_CMP : cont_val; // ������
+
+ set_bldcm_speed(cont_val);
+
+ // #ifdef PID_ASSISTANT_EN
+ // set_computer_value(SEND_FACT_CMD, CURVES_CH1, &speed_actual, 1); // ��ͨ�� 1 ����ʵ��ֵ
+ // #else
+ // printf("ʵ��ֵ��%d, Ŀ��ֵ��%.0f������ֵ: %.0f\n", speed_actual, get_pid_target(), cont_val);
+ // #endif
+ }
}
--
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