420 lines
12 KiB
C
420 lines
12 KiB
C
#include "Config.h"
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#include "ls1x.h"
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#include "foc_tim.h"
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#include "test.h"
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#include "ls1c103_map.h"
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#include "ls1c103_tim.h"
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#include "ls1x_gpio.h"
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/* 定时器溢出次数 */
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volatile int Foc_Encoder_Overflow_Count = 0;
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motor_rotate_t motor_drive = {0}; // 定义电机驱动管理结构体
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static motor_dir_t direction = MOTOR_FWD; // 记录方向
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static uint32_t dutyfactor = 0; // 记录占空比
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static uint32_t is_motor_en = 0; // 电机使能
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static uint32_t bldcm_pulse = 0;
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static void GPIO_Configuration_Foc(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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AFIO_RemapConfig(AFIOA, GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5, GPIO_FUNC_MAIN);
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/* GPIOA Configuration: Channel 1, 2, 3 and 4 as alternate function push-pull */
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_2 | GPIO_Pin_4;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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/* GPIOA Configuration: Channel 1N, 2N and 3N as alternate function push-pull */
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_3 | GPIO_Pin_5;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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}
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static void GPIO_Configuration_Encoder(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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AFIO_RemapConfig(AFIOA, GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9, GPIO_FUNC_MAIN);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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}
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static void GPIO_Configuration_EN(void)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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AFIO_PORTA &= ~((uint32_t)0x0C000000);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_SetBits(GPIOA, GPIO_Pin_13);
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}
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static void TIM_MOTOR_CONFIG(){
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uint32_t tmpcr1;
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uint32_t tmpccmrx;
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uint32_t tmpccer;
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uint32_t tmpcr2;
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tmpcr1 = MOTOR_TIM->CR1;
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tmpcr1 &= ~(TIM_CR1_DIR | TIM_CR1_CMS);
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tmpcr1 |= TIM_CounterMode_Up;
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tmpcr1 &= ~TIM_CR1_CKD;
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tmpcr1 |= TIM_CKD_DIV1;
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tmpcr1 |= TIM_CR1_ARPE;
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MOTOR_TIM->CR1 = tmpcr1;
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/* Set the Autoreload value */
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MOTOR_TIM->ARR = (uint32_t)PWM_PERIOD_COUNT - 1;
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/* Set the Prescaler value */
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MOTOR_TIM->PSC = PWM_PRESCALER_COUNT - 1;
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MOTOR_TIM->RCR = 0;
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MOTOR_TIM->EGR = TIM_EGR_UG;
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/*PWM模式配置*/
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//配置为PWM模式1
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// 初始化通道 1 输出 PWM
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MOTOR_TIM->CCER &= ~TIM_CCER_CC1E;
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/* Get the TIMx CCER register value */
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tmpccer = MOTOR_TIM->CCER;
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/* Get the TIMx CR2 register value */
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tmpcr2 = MOTOR_TIM->CR2;
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/* Get the TIMx CCMR1 register value */
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tmpccmrx = MOTOR_TIM->CCMR1;
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/* Reset the Output Compare Mode Bits */
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tmpccmrx &= ~TIM_CCMR1_OC1M;
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tmpccmrx &= ~TIM_CCMR1_CC1S;
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/* Select the Output Compare Mode */
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tmpccmrx |= TIM_OCMode_PWM1;
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/* Reset the Output Polarity level */
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tmpccer &= ~TIM_CCER_CC1P;
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/* Set the Output Compare Polarity */
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tmpccer |= TIM_OCPolarity_High;
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/* Reset the Output N Polarity level */
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tmpccer &= ~TIM_CCER_CC1NP;
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/* Set the Output N Polarity */
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tmpccer |= TIM_OCNPolarity_High;
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/* Reset the Output N State */
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tmpccer &= ~TIM_CCER_CC1NE;
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/* Reset the Output Compare and Output Compare N IDLE State */
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tmpcr2 &= ~TIM_CR2_OIS1;
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tmpcr2 &= ~TIM_CR2_OIS1N;
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/* Set the Output Idle state */
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tmpcr2 |= TIM_OCIdleState_Reset;
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// /* Set the Output N Idle state */
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tmpcr2 |= TIM_OCNIdleState_Reset;
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/* Write to TIMx CR2 */
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MOTOR_TIM->CR2 = tmpcr2;
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/* Write to TIMx CCMR1 */
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MOTOR_TIM->CCMR1 = tmpccmrx;
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/* Set the Capture Compare Register value */
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MOTOR_TIM->CCR1 = 0;
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/* Write to TIMx CCER */
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MOTOR_TIM->CCER = tmpccer;
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MOTOR_TIM->CCMR1 |= TIM_CCMR1_OC1PE;
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// 初始化通道 2 输出 PWM
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MOTOR_TIM->CCER &= ~TIM_CCER_CC2E;
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/* Get the TIMx CCER register value */
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tmpccer = MOTOR_TIM->CCER;
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/* Get the TIMx CR2 register value */
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tmpcr2 = MOTOR_TIM->CR2;
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/* Get the TIMx CCMR1 register value */
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tmpccmrx = MOTOR_TIM->CCMR1;
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/* Reset the Output Compare Mode Bits */
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tmpccmrx &= ~TIM_CCMR1_OC2M;
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tmpccmrx &= ~TIM_CCMR1_CC2S;
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/* Select the Output Compare Mode */
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tmpccmrx |= (TIM_OCMode_PWM1 << 8);
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/* Reset the Output Polarity level */
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tmpccer &= ~TIM_CCER_CC2P;
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/* Set the Output Compare Polarity */
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tmpccer |= (TIM_OCPolarity_High << 4);
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/* Reset the Output N Polarity level */
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tmpccer &= ~TIM_CCER_CC2NP;
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/* Set the Output N Polarity */
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tmpccer |= (TIM_OCNPolarity_High << 4);
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/* Reset the Output N State */
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tmpccer &= ~TIM_CCER_CC2NE;
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/* Reset the Output Compare and Output Compare N IDLE State */
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tmpcr2 &= ~TIM_CR2_OIS2;
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tmpcr2 &= ~TIM_CR2_OIS2N;
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/* Set the Output Idle state */
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tmpcr2 |= (TIM_OCIdleState_Reset << 2);
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/* Set the Output N Idle state */
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tmpcr2 |= (TIM_OCNIdleState_Reset << 2);
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/* Write to TIMx CR2 */
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MOTOR_TIM->CR2 = tmpcr2;
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/* Write to TIMx CCMR1 */
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MOTOR_TIM->CCMR1 = tmpccmrx;
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/* Set the Capture Compare Register value */
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MOTOR_TIM->CCR2 = 0;
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/* Write to TIMx CCER */
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MOTOR_TIM->CCER = tmpccer;
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MOTOR_TIM->CCMR1 |= TIM_CCMR1_OC2PE;
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// 初始化通道 3 输出 PWM
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MOTOR_TIM->CCER &= ~TIM_CCER_CC3E;
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/* Get the TIMx CCER register value */
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tmpccer = MOTOR_TIM->CCER;
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/* Get the TIMx CR2 register value */
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tmpcr2 = MOTOR_TIM->CR2;
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/* Get the TIMx CCMR1 register value */
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tmpccmrx = MOTOR_TIM->CCMR2;
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/* Reset the Output Compare Mode Bits */
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tmpccmrx &= ~TIM_CCMR2_OC3M;
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tmpccmrx &= ~TIM_CCMR2_CC3S;
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/* Select the Output Compare Mode */
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tmpccmrx |= TIM_OCMode_PWM1;
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/* Reset the Output Polarity level */
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tmpccer &= ~TIM_CCER_CC3P;
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/* Set the Output Compare Polarity */
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tmpccer |= (TIM_OCPolarity_High << 8);
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/* Reset the Output N Polarity level */
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tmpccer &= ~TIM_CCER_CC3NP;
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/* Set the Output N Polarity */
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tmpccer |= (TIM_OCNPolarity_High << 8);
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/* Reset the Output N State */
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tmpccer &= ~TIM_CCER_CC3NE;
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/* Reset the Output Compare and Output Compare N IDLE State */
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tmpcr2 &= ~TIM_CR2_OIS3;
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tmpcr2 &= ~TIM_CR2_OIS3N;
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/* Set the Output Idle state */
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tmpcr2 |= (TIM_OCIdleState_Reset << 4);
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/* Set the Output N Idle state */
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tmpcr2 |= (TIM_OCNIdleState_Reset << 4);
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/* Write to TIMx CR2 */
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MOTOR_TIM->CR2 = tmpcr2;
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/* Write to TIMx CCMR1 */
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MOTOR_TIM->CCMR2 = tmpccmrx;
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/* Set the Capture Compare Register value */
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MOTOR_TIM->CCR3 = 0;
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/* Write to TIMx CCER */
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MOTOR_TIM->CCER = tmpccer;
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MOTOR_TIM->CCMR2 |= TIM_CCMR2_OC3PE;
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/* 配置触发源 */
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MOTOR_TIM->SMCR &= ~TIM_SMCR_TS;
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MOTOR_TIM->SMCR |= TIM_COM_TS_ITRx;
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/* Select the Capture Compare preload feature */
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//MOTOR_TIM->CR2 |= TIM_CR2_CCPC;
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/* Select the Commutation event source */
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MOTOR_TIM->CR2 &= ~TIM_CR2_CCUS;
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// MOTOR_TIM->CR2 |= TIM_COMMUTATION_SOFTWARE;
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/* Disable Commutation Interrupt */
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MOTOR_TIM->DIER &= ~TIM_IT_COM;
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/* Disable Commutation DMA request */
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MOTOR_TIM->DIER &= ~TIM_DMA_COM;
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/* 开启定时器通道1输出PWM */
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/* Reset the CCxE Bit */
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MOTOR_TIM->CCER &= ~(uint32_t)(TIM_CCER_CC1E);
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/* Set or reset the CCxE Bit */
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC1E);
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/* 开启定时器通道2输出PWM */
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/* Reset the CCxE Bit */
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MOTOR_TIM->CCER &= ~(uint32_t)(TIM_CCER_CC2E);
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/* Set or reset the CCxE Bit */
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC2E);
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/* 开启定时器通道3输出PWM */
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/* Reset the CCxE Bit */
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MOTOR_TIM->CCER &= ~(uint32_t)(TIM_CCER_CC3E);
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/* Set or reset the CCxE Bit */
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC3E);
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC1NE);
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC2NE);
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MOTOR_TIM->CCER |= (uint32_t)(TIM_CCER_CC3NE);
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MOTOR_TIM->SR &= ~TIM_IT_Update;
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MOTOR_TIM->DIER &= ~TIM_IT_Update;
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MOTOR_TIM->BDTR &= ~(TIM_BDTR_MOE);
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MOTOR_TIM->CR1 &= ~TIM_CR1_CEN;
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}
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/**
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* @brief 配置TIMx
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* @param 无
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* @retval 无
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*/
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static void TIM_Encoder_Init(void)
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{
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uint32_t tmpcr1;
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uint32_t tmpsmcr;
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uint32_t tmpccmr1;
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uint32_t tmpccer;
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ENCODER_TIM->SMCR &= ~(TIM_SMCR_SMS | TIM_SMCR_ECE);
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/* Configure the Time base in the Encoder Mode */
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tmpcr1 = ENCODER_TIM->CR1;
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tmpcr1 &= ~(TIM_CR1_DIR | TIM_CR1_CMS);
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tmpcr1 |= TIM_CounterMode_Up;
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tmpcr1 &= ~TIM_CR1_CKD;
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tmpcr1 |= (uint32_t)TIM_CKD_DIV1;
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ENCODER_TIM->CR1 = tmpcr1;
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/* Set the Autoreload value */
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ENCODER_TIM->ARR = (uint32_t)ENCODER_TIM_PERIOD - 1 ;
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/* Set the Prescaler value */
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ENCODER_TIM->PSC = ENCODER_TIM_PRESCALER;
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ENCODER_TIM->RCR = 0;
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ENCODER_TIM->EGR = TIM_EGR_UG;
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/* Get the TIMx SMCR register value */
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tmpsmcr = ENCODER_TIM->SMCR;
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/* Get the TIMx CCMR1 register value */
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tmpccmr1 = ENCODER_TIM->CCMR1;
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/* Get the TIMx CCER register value */
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tmpccer = ENCODER_TIM->CCER;
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/* Set the encoder Mode */
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tmpsmcr |= TIM_EncoderMode_TI12;
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/* Select the Capture Compare 1 and the Capture Compare 2 as input */
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tmpccmr1 &= ~(TIM_CCMR1_CC1S | TIM_CCMR1_CC2S);
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tmpccmr1 |= (TIM_ICSelection_DirectTI | (TIM_ICSelection_DirectTI << 8U));
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/* Set the Capture Compare 1 and the Capture Compare 2 prescalers and filters */
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tmpccmr1 &= ~(TIM_CCMR1_IC1PSC | TIM_CCMR1_IC2PSC);
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tmpccmr1 &= ~(TIM_CCMR1_IC1F | TIM_CCMR1_IC2F);
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tmpccmr1 |= TIM_ICPSC_DIV1 | (TIM_ICPSC_DIV1 << 8U);
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tmpccmr1 |= (0 << 4U) | (0 << 12U);
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/* Set the TI1 and the TI2 Polarities */
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tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC2P);
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tmpccer |= TIM_ICPolarity_Rising | (TIM_ICPolarity_Rising << 4U);
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/* Write to TIMx SMCR */
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ENCODER_TIM->SMCR = tmpsmcr;
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/* Write to TIMx CCMR1 */
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ENCODER_TIM->CCMR1 = tmpccmr1;
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/* Write to TIMx CCER */
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ENCODER_TIM->CCER = tmpccer;
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/* 清零计数器 */
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ENCODER_TIM->CNT = 0;
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/* 清零中断标志位 */
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ENCODER_TIM->SR = ~(TIM_IT_Update);
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/* 使能定时器的更新事件中断 */
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ENCODER_TIM->DIER |= (TIM_IT_Update);
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/* 设置更新事件请求源为：计数器溢出 */
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ENCODER_TIM->CR1|= TIM_CR1_URS;
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/* 使能编码器接口 */
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/* Reset the CCxE Bit */
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ENCODER_TIM->CCER &= ~TIM_CCER_CC1E;
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/* Set or reset the CCxE Bit */
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ENCODER_TIM->CCER |= TIM_CCER_CC1E; /* 0x1FU = 31 bits max shift */
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/* Reset the CCxE Bit */
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ENCODER_TIM->CCER &= ~TIM_CCER_CC2E;
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/* Set or reset the CCxE Bit */
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ENCODER_TIM->CCER |= TIM_CCER_CC2E; /* 0x1FU = 31 bits max shift */
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ENCODER_TIM->CR1 &= ~(TIM_CR1_CEN);
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}
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static void TIM_BASIC_CONFIG(void)
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{
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uint32_t tmpcr1;
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tmpcr1 = BASIC_TIM->CR1;
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tmpcr1 &= ~(TIM_CR1_DIR | TIM_CR1_CMS);
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tmpcr1 |= TIM_CounterMode_Up;
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tmpcr1 &= ~TIM_CR1_CKD;
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tmpcr1 |= (uint32_t)TIM_CKD_DIV1;
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tmpcr1 |= TIM_CR1_ARPE;
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BASIC_TIM->CR1 = tmpcr1;
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/* Set the Autoreload value */
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BASIC_TIM->ARR = (uint32_t)BASIC_PERIOD_COUNT ;
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/* Set the Prescaler value */
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BASIC_TIM->PSC = BASIC_PRESCALER_COUNT ;
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BASIC_TIM->EGR = TIM_EGR_UG;
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// 开启定时器更新中断
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BASIC_TIM->SR = ~TIM_IT_Update;
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//BASIC_TIM->DIER |= (TIM_IT_Update);
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//BASIC_TIM->CR1|=(TIM_CR1_CEN);
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// intc enable
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INT_EN = 0x1;
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}
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void FocMotor_Init(){
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GPIO_Configuration_Foc();
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TIM_MOTOR_CONFIG();
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GPIO_Configuration_EN();
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printf("Motor config complete\n");
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}
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/**
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* @brief HALL接口初始化
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* @param 无
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* @retval 无
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*/
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void FocEncoder_Init(void)
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{
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GPIO_Configuration_Encoder();
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TIM_Encoder_Init();
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printf("Encoder config complete\n");
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}
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void FocBasicTim_Init(){
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TIM_BASIC_CONFIG();
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printf("Basic config complete\n");
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}
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/**
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* @brief 停止pwm输出
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* @param 无
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* @retval 无
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*/
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void foc_stop_pwm_output(void)
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{
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MOTOR_TIM->BDTR &= ~(TIM_BDTR_MOE);
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/* 关闭定时器通道1输出PWM */
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MOTOR_TIM->CCR1 = 0;
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/* 关闭定时器通道2输出PWM */
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MOTOR_TIM->CCR2 = 0;
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/* 关闭定时器通道3输出PWM */
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MOTOR_TIM->CCR3 = 0;
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}
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void mc_angle_init()
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{
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ENCODER_TIM->CNT = 0;
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Foc_Encoder_Overflow_Count = 0;
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}
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/*******************************************************************************
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* Description : 返回电机转子的电角度
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* Return : Rotor electrical angle: 0 -> 0 degrees,
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* S16_MAX-> 180 degrees,
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* S16_MIN-> -180 degrees
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*******************************************************************************/
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int Get_Electrical_Angle(void)
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{
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int temp;
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temp = (int)(ENCODER_TIM->CNT) * (int)(UINT32_MAX / (4*ENCODER_RESOLUTION));
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temp *= POLE_PAIR_NUM;
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return((int)(temp/65536)); //s16 result
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}
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