From b150690b6ebe42a4ffd50278d761b8994121eb94 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Mon, 14 Jun 2021 22:18:45 +0800
Subject: [PATCH] 添加霍尔外部中断 motot模块初次提交尚未调试
---
USR/SRC/Motor.c | 43 +++++++++++++++++++++++++------------------
1 files changed, 25 insertions(+), 18 deletions(-)
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index 841048d..64b2163 100644
--- a/USR/SRC/Motor.c
+++ b/USR/SRC/Motor.c
@@ -1,3 +1,7 @@
+#include "gpio.h"
+#include "motor.h"
+#include "gd32e23x_exti.h"
+static motor_rotate_t motor_drive = {0};
/**
* @brief ʹ�ܻ���������
* @param ��
@@ -6,14 +10,15 @@
void hall_enable(void)
{
/* ʹ�ܻ����������ӿ� */
- __HAL_TIM_ENABLE_IT(&htimx_hall, TIM_IT_TRIGGER);
- __HAL_TIM_ENABLE_IT(&htimx_hall, TIM_IT_UPDATE);
+ exti_interrupt_enable(HALL_A_EXTI);
+ exti_interrupt_enable(HALL_B_EXTI);
+ exti_interrupt_enable(HALL_C_EXTI);
- HAL_TIMEx_HallSensor_Start(&htimx_hall);
+ // HAL_TIMEx_HallSensor_Start(&htimx_hall);
- LED1_OFF;
+ // LED1_OFF;
- HAL_TIM_TriggerCallback(&htimx_hall); // ִ��һ�λ���
+ // HAL_TIM_TriggerCallback(&htimx_hall); // ִ��һ�λ���
motor_drive.enable_flag = 1;
}
@@ -26,9 +31,10 @@
void hall_disable(void)
{
/* ���û����������ӿ� */
- __HAL_TIM_DISABLE_IT(&htimx_hall, TIM_IT_TRIGGER);
- __HAL_TIM_DISABLE_IT(&htimx_hall, TIM_IT_UPDATE);
- HAL_TIMEx_HallSensor_Stop(&htimx_hall);
+ exti_interrupt_disable(HALL_A_EXTI);
+ exti_interrupt_disable(HALL_B_EXTI);
+ exti_interrupt_disable(HALL_C_EXTI);
+ // HAL_TIMEx_HallSensor_Stop(&htimx_hall);
motor_drive.enable_flag = 0;
motor_drive.speed = 0;
}
@@ -39,19 +45,19 @@
#if 1
/* ��ȡ���������� U ��״̬ */
- if (HAL_GPIO_ReadPin(HALL_INPUTU_GPIO_PORT, HALL_INPUTU_PIN) != GPIO_PIN_RESET)
+ if (Get_HallSensorA_State())
{
state |= 0x01U << 0;
}
/* ��ȡ���������� V ��״̬ */
- if (HAL_GPIO_ReadPin(HALL_INPUTV_GPIO_PORT, HALL_INPUTV_PIN) != GPIO_PIN_RESET)
+ if (Get_HallSensorB_State())
{
state |= 0x01U << 1;
}
/* ��ȡ���������� W ��״̬ */
- if (HAL_GPIO_ReadPin(HALL_INPUTW_GPIO_PORT, HALL_INPUTW_PIN) != GPIO_PIN_RESET)
+ if (Get_HallSensorC_State())
{
state |= 0x01U << 2;
}
@@ -61,7 +67,7 @@
return state; // ���ش�����״̬
}
-
+static uint8_t count = 0;
static void update_motor_speed(uint8_t dir_in, uint32_t time)
{
int speed_temp = 0;
@@ -69,14 +75,14 @@
float f = 0;
/* �����ٶȣ�
- ���ÿתһȦ����12�����壬(1.0/(72000000.0/128.0)Ϊ�����������ڣ�(1.0/(72000000.0/128.0) * time)Ϊʱ�䳤��
+ ���ÿתһȦ����12�����壬(1.0/(48000000.0/128.0)Ϊ�����������ڣ�(1.0/(48000000.0/128.0) * time)Ϊʱ�䳤��
*/
if (time == 0)
motor_drive.speed_group[count++] = 0;
else
{
- f = (1.0f / (72000000.0f / HALL_PRESCALER_COUNT) * time);
+ f = (1.0f / (48000000.0f / HALL_PRESCALER_COUNT) * time);
f = (1.0f / 12.0f) / (f / 60.0f);
motor_drive.speed_group[count++] = f;
}
@@ -182,19 +188,20 @@
/**
* @brief ���������������ص�����
- * @param htim:��ʱ�����
+ * @param void
* @retval ��
*/
-void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim)
+void HAL_HallExti_TriggerCallback(void)
{
/* ��ȡ��������������״̬,��Ϊ��������� */
uint8_t step = 0;
step = get_hall_state();
- if (htim == &htimx_hall) // �ж��Ƿ��ɴ����жϲ���
+ 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));
+ // update_motor_speed(step, __HAL_TIM_GET_COMPARE(htim, TIM_CHANNEL_1));//TODO ����ʱ������ü���ʱ��
motor_drive.timeout = 0;
+ exti_interrupt_flag_clear(HALL_A_EXTI | HALL_B_EXTI | HALL_C_EXTI);
}
if (get_bldcm_direction() == MOTOR_FWD)
--
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