From bc6c916bff0b8d342c1cd62da73a2a09f18d22a8 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Thu, 24 Jun 2021 22:22:49 +0800
Subject: [PATCH] 基本模块编译通过
---
USR/SRC/Clock.c | 10
USR/SRC/Motor.c | 303 ++++++++++++----------
USR/INC/bldc_ctrl.h | 2
USR/SRC/bldc_ctrl.c | 104 +++----
.vscode/settings.json | 5
USR/SRC/GPIO.c | 24 -
USR/SRC/pwm.c | 93 +++---
pid/bsp_pid.h | 27 ++
USR/SRC/main.c | 1
pid/bsp_pid.c | 90 ++++++
USR/INC/clock.h | 2
USR/INC/motor.h | 23 +
USR/INC/gpio.h | 8
USR/SRC/gd32e23x_it.c | 23 +
USR/INC/gd32e23x_it.h | 2
USR/INC/pwm.h | 12
16 files changed, 448 insertions(+), 281 deletions(-)
diff --git a/.vscode/settings.json b/.vscode/settings.json
index cfc8e1f..4918269 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,4 +1,7 @@
{
"files.autoGuessEncoding": true,
- "files.encoding": "gb2312"
+ "files.encoding": "gb2312",
+ "files.associations": {
+ "math.h": "c"
+ }
}
\ No newline at end of file
diff --git a/USR/INC/bldc_ctrl.h b/USR/INC/bldc_ctrl.h
index 3353ddb..c3e7b32 100644
--- a/USR/INC/bldc_ctrl.h
+++ b/USR/INC/bldc_ctrl.h
@@ -43,4 +43,6 @@
void set_bldcm_enable(void);
void set_bldcm_disable(void);
void bldcm_pid_control(void);
+
+// extern void BLDC_SpeedAndPID(void);
#endif
\ No newline at end of file
diff --git a/USR/INC/clock.h b/USR/INC/clock.h
index 9be6eb7..b279082 100644
--- a/USR/INC/clock.h
+++ b/USR/INC/clock.h
@@ -1,7 +1,7 @@
#ifndef _CLOCK_H_
#define _CLOCK_H_
#include "stdint.h"
-#define SYSTEM_CLOCK (48000000UL)
+#define SYSTEM_CLOCK (64000000UL)
void Clock_Config(void);
void Ostick_config(void);
void delay_1ms(uint32_t count);
diff --git a/USR/INC/gd32e23x_it.h b/USR/INC/gd32e23x_it.h
index 2aa91ff..127a7ad 100644
--- a/USR/INC/gd32e23x_it.h
+++ b/USR/INC/gd32e23x_it.h
@@ -60,5 +60,5 @@
void SysTick_Handler(void);
/* this function handles XTI4-15 exception */
void EXTI4_15_IRQHandler(void);
-
+void TIMER2_IRQHandler(void);
#endif /* GD32E23X_IT_H */
diff --git a/USR/INC/gpio.h b/USR/INC/gpio.h
index 3e25c4a..e54afdf 100644
--- a/USR/INC/gpio.h
+++ b/USR/INC/gpio.h
@@ -24,10 +24,10 @@
#define HALL_SENSOR_A_PORT GPIOB
#define HALL_SENSOR_A_PIN GPIO_PIN_4
-#define HALL_SENSOR_B_PORT GPIOB
-#define HALL_SENSOR_B_PIN GPIO_PIN_5
-#define HALL_SENSOR_C_PORT GPIOA
-#define HALL_SENSOR_C_PIN GPIO_PIN_15
+#define HALL_SENSOR_C_PORT GPIOB
+#define HALL_SENSOR_C_PIN GPIO_PIN_5
+#define HALL_SENSOR_B_PORT GPIOA
+#define HALL_SENSOR_B_PIN GPIO_PIN_15
//����ADC����
#define CURRENT_AI_PORT GPIOA
diff --git a/USR/INC/motor.h b/USR/INC/motor.h
index 0ca8444..bde2ff5 100644
--- a/USR/INC/motor.h
+++ b/USR/INC/motor.h
@@ -1,6 +1,6 @@
#ifndef MOTOR_H
#define MOTOR_H
-#include ""
+#include "gd32e23x_exti.h"
/* �������תʵ�ֽṹ�� */
#define SPEED_FILTER_NUM 30 // �ٶ��˲�����
@@ -16,16 +16,25 @@
/* �ۼ� TIM_Period�������һ�����»����ж�
����ʱ����0������65535����Ϊ65535�Σ�Ϊһ���������� */
#define HALL_PERIOD_COUNT (0xFFFF)
-
-/* ͨ�ÿ��ƶ�ʱ��ʱ��ԴTIMxCLK = HCLK = 72MHz
- �趨��ʱ��Ƶ��Ϊ = TIMxCLK / (PWM_PRESCALER_COUNT) / PWM_PERIOD_COUNT = 9.987Hz
- ���� T = 100ms */
+#define SPEED_PRESCALER_COUNT (6400u)
+#define SPEED_PERIOD_COUNT (300u)
+/* ͨ�ÿ��ƶ�ʱ��ʱ��ԴTIMxCLK = HCLK = 64MHz
+ �趨��ʱ��Ƶ��Ϊ = TIMxCLK / (SPEED_PRESCALER_COUNT) / SPEED_PERIOD_COUNT = 33.333Hz
+ ���� T = 30ms */
#define HALL_PRESCALER_COUNT (110)
#define HALL_A_EXTI (EXTI_4)
#define HALL_B_EXTI (EXTI_5)
#define HALL_C_EXTI (EXTI_15)
-extern void HAL_HallExti_TriggerCallback(void);
+#define MOTOR_OUT_CH_U (TIMER_CH_1)
+#define MOTOR_OUT_CH_V (TIMER_CH_0)
+#define MOTOR_OUT_CH_W (TIMER_CH_2)
-#endif
\ No newline at end of file
+extern void HAL_HallExti_TriggerCallback(void);
+extern void BLDC_SpeedAndPID(void);
+extern float get_motor_speed(void);
+void hall_enable(void);
+void hall_disable(void);
+void set_pwm_pulse(uint16_t pulse);
+#endif
diff --git a/USR/INC/pwm.h b/USR/INC/pwm.h
index f4d2e75..770bbaa 100644
--- a/USR/INC/pwm.h
+++ b/USR/INC/pwm.h
@@ -1,13 +1,17 @@
#ifndef _PWM_H_
#define _PWM_H_
#include "gd32e23x_timer.h"
-//1us * 10000 = 10ms
-#define PERIOD_CAP (10000lU)
+//100us * 300 = 30ms
+#define PERIOD_CAP (300U)
-//48Mzhz / 3000 = 16Khz = 62.5us
-#define PERIOD_CMP (3000u)
+//64Mzhz / 4000 = 16Khz = 62.5us
+#define PERIOD_CMP (4000u)
void TimerInit(void);
void SetPwmDuty(uint16_t ch, uint32_t duty);
void SetPwmPeriod(uint32_t period);
+
+extern void StartSpeedTime(void);
+extern void StopSpeedTime(void);
+extern void stop_pwm_output(void);
#endif
diff --git a/USR/SRC/Clock.c b/USR/SRC/Clock.c
index 3f842de..c84e682 100644
--- a/USR/SRC/Clock.c
+++ b/USR/SRC/Clock.c
@@ -12,11 +12,11 @@
rcu_osci_on(RCU_IRC8M); //ʹ���ڲ�8MRCʱ��
rcu_osci_stab_wait(RCU_IRC8M);
rcu_system_clock_source_config(RCU_CKSYSSRC_PLL); //sysclk is PLL
- rcu_pll_config(RCU_PLLSRC_IRC8M_DIV2, RCU_PLL_MUL12); //8MHz/2 =4MHz PLL =4MHz*12 =48MHz
- rcu_ahb_clock_config(RCU_AHB_CKSYS_DIV1); //AHB 48M
- rcu_apb1_clock_config(RCU_APB1_CKAHB_DIV1); //APB1 48M
- rcu_apb2_clock_config(RCU_APB2_CKAHB_DIV1); //APB2 48M
- rcu_adc_clock_config(RCU_ADCCK_APB2_DIV4); //max 14M,current:12M
+ rcu_pll_config(RCU_PLLSRC_IRC8M_DIV2, RCU_PLL_MUL16); //8MHz/2 =4MHz PLL =4MHz*16 =64MHz
+ rcu_ahb_clock_config(RCU_AHB_CKSYS_DIV1); //AHB 64M
+ rcu_apb1_clock_config(RCU_APB1_CKAHB_DIV1); //APB1 64M
+ rcu_apb2_clock_config(RCU_APB2_CKAHB_DIV1); //APB2 64M
+ rcu_adc_clock_config(RCU_ADCCK_APB2_DIV4); //max 14M,current:64/4=16M
rcu_usart_clock_config(RCU_USART0SRC_IRC8M); //USART0 8M
rcu_rtc_clock_config(RCU_RTCSRC_NONE);
diff --git a/USR/SRC/GPIO.c b/USR/SRC/GPIO.c
index baca2a4..c95ded7 100644
--- a/USR/SRC/GPIO.c
+++ b/USR/SRC/GPIO.c
@@ -1,4 +1,6 @@
#include "gpio.h"
+#include "gd32e23x_exti.h"
+#include "gd32e23x_syscfg.h"
extern void GPIO_Init(void)
{
@@ -7,13 +9,16 @@
rcu_periph_clock_enable(RCU_GPIOF);
//初始化配置霍尔输入引脚
- gpio_mode_set(HALL_SENSOR_A_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, HALL_SENSOR_A_PIN);
- gpio_af_set(HALL_SENSOR_A_PORT, GPIO_AF_1, HALL_SENSOR_A_PIN);
-
- gpio_mode_set(HALL_SENSOR_B_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, HALL_SENSOR_B_PIN);
- gpio_af_set(HALL_SENSOR_B_PORT, GPIO_AF_1, HALL_SENSOR_B_PIN);
-
+ gpio_mode_set(HALL_SENSOR_A_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_A_PIN);
+ gpio_mode_set(HALL_SENSOR_B_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_B_PIN);
gpio_mode_set(HALL_SENSOR_C_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, HALL_SENSOR_C_PIN);
+ /* connect EXTI line to GPIO pin */
+ syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN4);
+ syscfg_exti_line_config(EXTI_SOURCE_GPIOB, EXTI_SOURCE_PIN5);
+ syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN15);
+
+ exti_init(EXTI_4 | EXTI_5 | EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_RISING); //配置外部上升沿中断
+ exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);
//初始化PWM引脚
gpio_mode_set(PWM_HIN1_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_HIN1_PIN);
@@ -39,13 +44,6 @@
gpio_mode_set(PWM_LIN3_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, PWM_LIN3_PIN);
gpio_af_set(PWM_LIN3_PORT, GPIO_AF_2, PWM_LIN3_PIN);
gpio_output_options_set(PWM_LIN3_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, PWM_LIN3_PIN);
-
- // //初始化配置LED引脚
- // gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN); //LED
- // gpio_bit_write(LED_PORT, LED_PIN, RESET); //led on
-
- // //初始化配置开关输入
- // gpio_mode_set(SW_IN_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, SW_IN_PIN);
//初始化配置SDH2136
gpio_mode_set(SDH2136_EN_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, SDH2136_EN_PIN); //EN
diff --git a/USR/SRC/Motor.c b/USR/SRC/Motor.c
index 64b2163..416681b 100644
--- a/USR/SRC/Motor.c
+++ b/USR/SRC/Motor.c
@@ -1,7 +1,13 @@
#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"
+static volatile motor_rotate_t motor_drive = {0};
+static uint32_t motor_pluse = 0;
+static void motor_phasechange(void);
+static void update_speed_dir(uint8_t dir_in);
/**
* @brief ʹ�ܻ���������
* @param ��
@@ -13,12 +19,8 @@
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 +37,7 @@
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;
}
@@ -42,8 +45,6 @@
uint8_t get_hall_state(void)
{
uint8_t state = 0;
-
-#if 1
/* ��ȡ���������� U ��״̬ */
if (Get_HallSensorA_State())
{
@@ -61,9 +62,6 @@
{
state |= 0x01U << 2;
}
-#else
- state = (GPIOH->IDR >> 10) & 7; // �� 3 ��������������״̬
-#endif
return state; // ���ش�����״̬
}
@@ -75,14 +73,14 @@
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/(48000000.0/6400) * 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 / (64000000.0f / SPEED_PRESCALER_COUNT) * time);
f = (1.0f / 12.0f) / (f / 60.0f);
motor_drive.speed_group[count++] = f;
}
@@ -194,159 +192,188 @@
void HAL_HallExti_TriggerCallback(void)
{
/* ��ȡ��������������״̬,��Ϊ��������� */
- uint8_t step = 0;
- step = get_hall_state();
-
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��
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 2 configuration .A-C` breakover---------------------------- */
+ case 1:
+ /* channel U configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
- __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�
+ /* channel V configuration */
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, 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 W configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_ENABLE);
- 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�
+ step++;
+ break;
- __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�
+ /* next step: step 3 configuration .B-C` breakover---------------------------- */
+ case 2:
+ /* channel U configuration */
+ 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_DISABLE);
- __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�
+ /* channel V configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_DISABLE);
- break;
+ /* channel W configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_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�
+ step++;
+ break;
- __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�
+ /* next step: step 4 configuration .B-A` breakover---------------------------- */
+ case 3:
+ /* channel U configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
+ 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);
- __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;
+ /* channel V configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_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 W configuration */
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
- __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�
+ step++;
+ break;
- __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;
+ /* next step: step 5 configuration .C-A` breakover---------------------------- */
+ case 4:
+ /* channel U configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
+ 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);
- 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�
+ /* channel V configuration */
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_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 W configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_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;
+ step++;
+ break;
- 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�
+ /* next step: step 6 configuration .C-B` breakover---------------------------- */
+ case 5:
+ /* channel U configuration */
+ 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_DISABLE);
- __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�
+ /* channel V configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_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 W configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_W, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+
+ step++;
+ break;
+
+ /* next step: step 1 configuration .A-B` breakover---------------------------- */
+ case 6:
+ /* channel U configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_U, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCX_ENABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_U, TIMER_CCXN_DISABLE);
+
+ /* channel V configuration */
+ timer_channel_output_mode_config(TIMER0, MOTOR_OUT_CH_V, TIMER_OC_MODE_PWM1);
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_V, TIMER_CCXN_ENABLE);
+
+ /* channel W configuration */
+ timer_channel_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCX_DISABLE);
+ timer_channel_complementary_output_state_config(TIMER0, MOTOR_OUT_CH_W, TIMER_CCXN_DISABLE);
+
+ step = 1;
+ 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);
+}
+
+/**
+ * @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();
+ 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
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
+ }
}
diff --git a/USR/SRC/gd32e23x_it.c b/USR/SRC/gd32e23x_it.c
index 441dd97..3d538c2 100644
--- a/USR/SRC/gd32e23x_it.c
+++ b/USR/SRC/gd32e23x_it.c
@@ -151,5 +151,26 @@
*/
void EXTI4_15_IRQHandler(void)
{
- HAL_HallExti_TriggerCallback();
+
+ if (RESET != exti_interrupt_flag_get(EXTI_4 | EXTI_5 | EXTI_15))
+ {
+ HAL_HallExti_TriggerCallback();
+ }
+
+ exti_interrupt_flag_clear(EXTI_4 | EXTI_5 | EXTI_15);
+}
+
+/*!
+ \brief this function handles time2
+ \param[in] none
+ \param[out] none
+ \retval none
+*/
+void TIMER2_IRQHandler(void)
+{
+ if (SET == timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP)) //time2 count up overflow
+ {
+ BLDC_SpeedAndPID();
+ timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
+ }
}
diff --git a/USR/SRC/main.c b/USR/SRC/main.c
index ef743d2..7730d79 100644
--- a/USR/SRC/main.c
+++ b/USR/SRC/main.c
@@ -1,6 +1,7 @@
#include "gd32e23x.h"
#include <stdio.h>
#include "gpio.h"
+#include "adc.h"
#include "pwm.h"
#include "uart.h"
#include "clock.h"
diff --git a/USR/SRC/pwm.c b/USR/SRC/pwm.c
index 3c4c5e5..fc83065 100644
--- a/USR/SRC/pwm.c
+++ b/USR/SRC/pwm.c
@@ -11,8 +11,8 @@
#include "pwm.h"
/*****************************************************************************************************
-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 +20,19 @@
*****************************************************************************************************/
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 = 6399; //64Mhz /6400 =0.01Mhz = 100us
+ timercontralcfg.alignedmode = TIMER_COUNTER_EDGE;
+ timercontralcfg.counterdirection = TIMER_COUNTER_UP;
+ timercontralcfg.period = PERIOD_CAP; //100us*10000=1s
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
}
/*****************************************************************************************************
@@ -70,16 +48,17 @@
*****************************************************************************************************/
static void Timer0Init(void)
{
- uint16_t Duty = 0;
+ uint16_t Duty = PERIOD_CMP + 1;
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
@@ -87,21 +66,21 @@
timeroutcfg[0].outputstate = TIMER_CCX_ENABLE; //channel enable
timeroutcfg[0].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
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].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
timeroutcfg[1].outputstate = TIMER_CCX_ENABLE; //channel enable
timeroutcfg[1].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
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].ocnpolarity = TIMER_OCN_POLARITY_HIGH;
timeroutcfg[2].outputstate = TIMER_CCX_ENABLE; //channel enable
timeroutcfg[2].outputnstate = TIMER_CCXN_ENABLE; //channel complementary enable
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 +90,25 @@
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_0, TIMER_OC_MODE_PWM1); //set pwm1 mode first low then high
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_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE); //shadow disable
- 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_channel_output_shadow_config(TIMER0, TIMER_CH_0, TIMER_OC_SHADOW_ENABLE); //shadow ENable
+ timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_ENABLE);
+ timer_channel_output_shadow_config(TIMER0, TIMER_CH_2, TIMER_OC_SHADOW_ENABLE);
- 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 = 255;
+ 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_ENABLE;
+ timer_break_config(TIMER0, &timer_breakpara);
timer_primary_output_config(TIMER0, ENABLE);
timer_auto_reload_shadow_enable(TIMER0);
@@ -132,13 +119,13 @@
// 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 +133,13 @@
{
TIMER_CAR(TIMER0) = period;
}
+
+extern void StartSpeedTime(void)
+{
+ timer_enable(TIMER2);
+}
+
+extern void StopSpeedTime(void)
+{
+ timer_disable(TIMER2);
+}
diff --git a/pid/bsp_pid.c b/pid/bsp_pid.c
new file mode 100644
index 0000000..3207263
--- /dev/null
+++ b/pid/bsp_pid.c
@@ -0,0 +1,90 @@
+#include "bsp_pid.h"
+#include "bldc_ctrl.h"
+
+//����ȫ�ֱ���
+pid_t pid;
+
+/**
+ * @brief PID������ʼ��
+ * @note ��
+ * @retval ��
+ */
+void PID_param_init()
+{
+ /* ��ʼ������ */
+ pid.target_val = 0.0;
+ pid.actual_val = 0.0;
+ pid.err = 0.0;
+ pid.err_last = 0.0;
+ pid.integral = 0.0;
+
+ pid.Kp = 0.07; //24
+ pid.Ki = 0.03;
+ pid.Kd = 0.0;
+
+#if defined(PID_ASSISTANT_EN)
+ float pid_temp[3] = {pid.Kp, pid.Ki, pid.Kd};
+ set_computer_value(SEND_P_I_D_CMD, CURVES_CH1, pid_temp, 3); // ��ͨ�� 1 ���� P I D ֵ
+#endif
+}
+
+/**
+ * @brief ����Ŀ��ֵ
+ * @param val Ŀ��ֵ
+ * @note ��
+ * @retval ��
+ */
+void set_pid_target(float temp_val)
+{
+ pid.target_val = temp_val; // ���õ�ǰ��Ŀ��ֵ
+}
+
+/**
+ * @brief ��ȡĿ��ֵ
+ * @param ��
+ * @note ��
+ * @retval Ŀ��ֵ
+ */
+float get_pid_target(void)
+{
+ return pid.target_val; // ���õ�ǰ��Ŀ��ֵ
+}
+
+/**
+ * @brief ���ñ��������֡���ϵ��
+ * @param p������ϵ�� P
+ * @param i������ϵ�� i
+ * @param d����ϵ�� d
+ * @note ��
+ * @retval ��
+ */
+void set_p_i_d(float p, float i, float d)
+{
+ pid.Kp = p; // ���ñ���ϵ�� P
+ pid.Ki = i; // ���û���ϵ�� I
+ pid.Kd = d; // ������ϵ�� D
+}
+
+/**
+ * @brief PID�㷨ʵ��
+ * @param actual_val:ʵ��ֵ
+ * @note ��
+ * @retval ͨ��PID���������
+ */
+float PID_realize(float actual_val)
+{
+ /*����Ŀ��ֵ��ʵ��ֵ�����*/
+ pid.err = pid.target_val - actual_val;
+ pid.integral += pid.err;
+
+ /*PID�㷨ʵ��*/
+ pid.actual_val = pid.Kp * pid.err +
+ pid.Ki * pid.integral +
+ pid.Kd * (pid.err - pid.err_last);
+
+ /*����*/
+ pid.err_last = pid.err;
+
+ /*���ص�ǰʵ��ֵ*/
+ return pid.actual_val;
+}
diff --git a/pid/bsp_pid.h b/pid/bsp_pid.h
new file mode 100644
index 0000000..6411731
--- /dev/null
+++ b/pid/bsp_pid.h
@@ -0,0 +1,27 @@
+#ifndef __BSP_PID_H
+#define __BSP_PID_H
+#include "gd32e23x.h"
+// #include "stm32f1xx.h"
+// #include "./usart/bsp_debug_usart.h"
+// #include <stdio.h>
+// #include <stdlib.h>
+// #include <math.h>
+
+typedef struct
+{
+ float target_val; //Ŀ��ֵ
+ float actual_val; //ʵ��ֵ
+ float err; //����ƫ��ֵ
+ float err_last; //������һ��ƫ��ֵ
+ float Kp, Ki, Kd; //������������֡���ϵ��
+ float integral; //�������ֵ
+} pid_t;
+
+void PID_param_init(void);
+void set_pid_target(float temp_val);
+float get_pid_target(void);
+void set_p_i_d(float p, float i, float d);
+float PID_realize(float actual_val);
+void time_period_fun(void);
+
+#endif
--
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