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完成6步

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This commit is contained in:
MQjehovah 2020-10-21 17:28:47 +08:00
parent 0260bad0a7
commit 33c7200dde
8 changed files with 71 additions and 52 deletions
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2
firmware/build/MDK/project.uvprojx
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@ -16,7 +16,7 @@
<TargetCommonOption> <TargetCommonOption>
<Device>STM32F103C8</Device> <Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID> <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IROM(0x08000000,0x10000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu> <Cpu>IROM(0x08000000,0x10000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>

3
firmware/src/Driver/hall.c
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@ -83,11 +83,12 @@ void TIM2_IRQHandler(void)
if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET) if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)
{ {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC1); TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
motor_info.hall_position = get_hall_position();
motor_step();
} }
else if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET) else if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)
{ {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2); TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
motor_info.hall_position = get_hall_position();
//换相 //换相
// pwm_Commute(hallpos); // pwm_Commute(hallpos);
} }

4
firmware/src/Driver/inc/motor.h
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@ -29,11 +29,15 @@ typedef struct _motor
u8 state; //运行状态 u8 state; //运行状态
u8 hall_position; //霍尔位置 u8 hall_position; //霍尔位置
s16 speed; //转速 s16 speed; //转速
u32 step;
} motor_t; } motor_t;
/* Exported Functions --------------------------------------------------------*/ /* Exported Functions --------------------------------------------------------*/
extern motor_t motor_info; extern motor_t motor_info;
void motor_start(void);
void motor_stop(void);
void motor_step(void);
#endif #endif
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

2
firmware/src/Driver/inc/pwm.h
View File

@ -14,6 +14,6 @@
/* Definition ----------------------------------------------------------------*/ /* Definition ----------------------------------------------------------------*/
/* Exported Functions --------------------------------------------------------*/ /* Exported Functions --------------------------------------------------------*/
void PWM_Config(void);
#endif #endif
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

72
firmware/src/Driver/motor.c
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@ -18,14 +18,15 @@ motor_t motor_info;
* @retval None * @retval None
* @note 开启霍尔捕捉中断，提供启动力 * @note 开启霍尔捕捉中断，提供启动力
*******************************************************************************/ *******************************************************************************/
void motor_start() void motor_start(void)
{ {
motor_info.state = 1; motor_info.state = 1;
TIM1->CCR1 = 0; TIM1->CCR1 = 0;
TIM1->CCR2 = 0; TIM1->CCR2 = 0;
TIM1->CCR3 = 0; TIM1->CCR3 = 0;
//TODO:开启霍尔捕捉中断 //TODO:开启霍尔捕捉中断
motor_step(motor_info.hall_position); motor_info.hall_position = get_hall_position();
motor_step();
} }
/******************************************************************************* /*******************************************************************************
@ -34,7 +35,7 @@ void motor_start()
* @retval None * @retval None
* @note None * @note None
*******************************************************************************/ *******************************************************************************/
void motor_stop() void motor_stop(void)
{ {
motor_info.state = MOTOR_STATE_STOP; motor_info.state = MOTOR_STATE_STOP;
TIM1->CCR1 = 0; TIM1->CCR1 = 0;
@ -56,12 +57,12 @@ void motor_stop()
* @note H-PWM, L-ON * @note H-PWM, L-ON
* 电流始终由正极流向负极，所以PWM总是出现在A+、B+、C+,负极保持导通 * 电流始终由正极流向负极，所以PWM总是出现在A+、B+、C+,负极保持导通
*******************************************************************************/ *******************************************************************************/
void motor_step() void motor_step(void)
{ {
u8 step = 0; u8 step = motor_info.hall_position;
switch (step) switch (step)
{ {
case 0x00: //第一步 A+ B- case 0x01: //第一步 A+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
@ -71,60 +72,61 @@ void motor_step()
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break; break;
case 0x01: //第二步 A+ B- case 0x02: //第二步 C+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break; break;
case 0x02: //第三步 A+ B- case 0x03: //第三步 C+ A-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break; break;
case 0x03: //第四步 A+ B- case 0x04: //第四步 B+ A-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break; break;
case 0x04: //第五步 A+ B- case 0x05: //第五步 B+ C-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
break; break;
case 0x05: //第六步 A+ B- case 0x06: //第六步 A+ C-
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
break; break;
default: default:
motor_stop(); motor_stop();
break; break;
} }
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
} }
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

26
firmware/src/Driver/pwm.c
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@ -46,9 +46,6 @@ void PWM_Config(void)
// GPIO_SetBits(GPIOB, GPIO_Pin_12); // GPIO_SetBits(GPIOB, GPIO_Pin_12);
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
// GPIO_Init(GPIOA, &GPIO_InitStructure);
//PWM频率:12k //PWM频率:12k
TIM_DeInit(TIM1); TIM_DeInit(TIM1);
@ -59,24 +56,25 @@ void PWM_Config(void)
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_ForcedAction_InActive; //PWM2:递增计数时CNT<CCRx,OC输出无效电平;递减计数时CNT>CCRx,OC输出有效电平 TIM_OCInitStructure.TIM_OCMode = TIM_ForcedAction_InActive; //PWM2:递增计数时CNT<CCRx,OC输出无效电平;递减计数时CNT>CCRx,OC输出有效电平 TIM_ForcedAction_InActive
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1400; TIM_OCInitStructure.TIM_Pulse = 700;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High; TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure); TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 1400; TIM_OCInitStructure.TIM_Pulse = 700;
TIM_OC2Init(TIM1, &TIM_OCInitStructure); TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 1400; TIM_OCInitStructure.TIM_Pulse = 700;
TIM_OC3Init(TIM1, &TIM_OCInitStructure); TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化，用来触发AD注入采样 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM输出通道4初始化，用来触发AD注入采样
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1400; TIM_OCInitStructure.TIM_Pulse = 1400;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC4Init(TIM1, &TIM_OCInitStructure); TIM_OC4Init(TIM1, &TIM_OCInitStructure);
@ -110,4 +108,14 @@ void PWM_Config(void)
TIM_Cmd(TIM1, ENABLE); TIM_Cmd(TIM1, ENABLE);
} }
/*******************************************************************************
* @brief 高级定时器TIM1 COM中断初始化
* @param None
* @retval None
* @note None
*******************************************************************************/
void TIM1_TRG_COM_IRQHandler(void)
{
TIM1->SR &= 0xff9f;
}
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

2
firmware/src/User/inc/main.h
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@ -15,6 +15,8 @@
#include "USART.h" #include "USART.h"
#include "GPIO.h" #include "GPIO.h"
#include "hall.h" #include "hall.h"
#include "pwm.h"
#include "motor.h"
/* Definition ----------------------------------------------------------------*/ /* Definition ----------------------------------------------------------------*/
/* Exported Functions --------------------------------------------------------*/ /* Exported Functions --------------------------------------------------------*/

12
firmware/src/User/main.c
View File

@ -21,7 +21,8 @@
void RCC_Config() void RCC_Config()
{ {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_USART1, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_USART1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4, ENABLE);
} }
/******************************************************************************* /*******************************************************************************
@ -54,17 +55,18 @@ int main(void)
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //关闭jtag，保留swd。 GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //关闭jtag，保留swd。
SysTick_init(); SysTick_init();
GPIO_Config(&PB5, GPIO_Mode_Out_PP); GPIO_Config(&PB5, GPIO_Mode_Out_PP);
USART_Config(USART1, 9600); GPIO_Config(&PB12, GPIO_Mode_Out_PP);
GPIO_WritePin(&PB12, HIGH);
// USART_Config(USART1, 9600);
HALL_Config(); HALL_Config();
PWM_Config();
USART_SendStr(USART1, "Init OK\n"); motor_start();
while (1) while (1)
{ {
GPIO_WritePin(&PB5, HIGH); GPIO_WritePin(&PB5, HIGH);
delay_ms(500); delay_ms(500);
GPIO_WritePin(&PB5, LOW); GPIO_WritePin(&PB5, LOW);
delay_ms(500); delay_ms(500);
USART_SendStr(USART1, "usart test\n");
} }
} }
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/