59 lines
1.7 KiB
C
59 lines
1.7 KiB
C
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#ifndef __MOTOR_TIM_H_
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#define __MOTOR_TIM_H_
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#include "test.h"
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#include "ls1c103_map.h"
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#include "foc_ctrl.h"
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#include "foc.h"
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/***************************PWM CHANNEL*******************************/
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#define MOTOR_TIM TIM1
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/* 累计 2*TIM_Period个后产生一个更新或者中断,当定时器从0计数到PWM_PERIOD到0，为一个定时周期 */
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#define PWM_PERIOD_COUNT PWM_PERIOD_CYCLES
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#define PWM_MAX_PERIOD_COUNT (PWM_PERIOD_COUNT - 10)
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#define PWM_PRESCALER_COUNT (1)
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#define TIM_COM_TS_ITRx TIM_TS_ITR3 // 内部触发配置(TIM4->TRGO->TIM1->ITR3)
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/**************************ENCODER CHANNEL****************************/
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/* 定时器选择 */
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#define ENCODER_TIM TIM2
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/* 定时器溢出值 */
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#define ENCODER_TIM_PERIOD ENCODER_TOTAL_RESOLUTION
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/* 定时器预分频值 */
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#define ENCODER_TIM_PRESCALER 0
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/* 编码器物理分辨率 */
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#define ENCODER_RESOLUTION 1000
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/* 经过倍频之后的总分辨率 */
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#define ENCODER_TOTAL_RESOLUTION (ENCODER_RESOLUTION * 4) /* 4倍频后的总分辨率 */
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#define POLE_PAIR_NUM (4) //极对数
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extern volatile int Encoder_Overflow_Count;
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/***************************PID CHANNEL*******************************/
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#define BASIC_TIM TIM6
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//PID计算周期:1ms计算一次--频率1KHz
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#define BASIC_PERIOD_MS (1)
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#define BASIC_PERIOD_COUNT (BASIC_PERIOD_MS*1000 - 1)
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#define BASIC_PRESCALER_COUNT (30)
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void FocMotor_Init(void);
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void FocEncoder_Init(void);
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void FocBasicTim_Init(void);
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void foc_stop_pwm_output(void);
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void mc_angle_init(void);
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int Get_Electrical_Angle(void);
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#endif
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