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完成正反转和调速

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This commit is contained in:
MQjehovah 2020-10-22 19:35:40 +08:00
parent 9dfeaf23bb
commit f05dadf536
4 changed files with 143 additions and 98 deletions
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3
firmware/src/Driver/inc/motor.h
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@ -36,8 +36,11 @@ typedef struct _motor
/* Exported Functions --------------------------------------------------------*/ /* Exported Functions --------------------------------------------------------*/
extern motor_t motor_info; extern motor_t motor_info;
void motor_init(void);
void motor_start(void); void motor_start(void);
void motor_stop(void); void motor_stop(void);
void motor_step(void); void motor_step(void);
void motor_set_speed(s16 speed);
#endif #endif
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

201
firmware/src/Driver/motor.c
View File

@ -13,6 +13,23 @@
/* Definition ----------------------------------------------------------------*/ /* Definition ----------------------------------------------------------------*/
motor_t motor_info; motor_t motor_info;
/* Functions -----------------------------------------------------------------*/ /* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 电机初始化
* @param None
* @retval None
* @note None
*******************************************************************************/
void motor_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOB, GPIO_Pin_12, RESET); //关闭MOS输出
motor_info.dir = MOTOR_DIR_CCW;
}
/******************************************************************************* /*******************************************************************************
* @brief 启动电机 * @brief 启动电机
* @param None * @param None
@ -21,10 +38,11 @@ motor_t motor_info;
*******************************************************************************/ *******************************************************************************/
void motor_start(void) void motor_start(void)
{ {
motor_info.state = 1; motor_info.state = 1;
//TODO:开启霍尔捕捉中断 GPIO_WriteBit(GPIOB, GPIO_Pin_12, SET);
motor_info.hall_position = get_hall_position(); //TODO:开启霍尔捕捉中断
motor_step(); motor_info.hall_position = get_hall_position();
motor_step();
} }
/******************************************************************************* /*******************************************************************************
@ -35,17 +53,17 @@ void motor_start(void)
*******************************************************************************/ *******************************************************************************/
void motor_stop(void) void motor_stop(void)
{ {
motor_info.state = MOTOR_STATE_STOP; motor_info.state = MOTOR_STATE_STOP;
TIM1->CCR1 = 0; TIM1->CCR1 = 0;
TIM1->CCR2 = 0; TIM1->CCR2 = 0;
TIM1->CCR3 = 0; TIM1->CCR3 = 0;
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 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_Disable);
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_Disable); 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);
} }
/******************************************************************************* /*******************************************************************************
@ -57,78 +75,91 @@ void motor_stop(void)
*******************************************************************************/ *******************************************************************************/
void motor_step(void) void motor_step(void)
{ {
u8 step = motor_info.hall_position; u8 step = motor_info.dir == MOTOR_DIR_CCW ? motor_info.hall_position ^ 0x7 : motor_info.hall_position;
switch (step) switch (step)
{ {
case 0x03: //第二步 C+ B- case 0x03: //第二步 C+ B-
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 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_Enable); 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 0x01: //第三步 C+ A- case 0x01: //第三步 C+ A-
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); 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_Enable); TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable); 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 0x05: //第四步 B+ A- case 0x05: //第四步 B+ A-
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable); 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_1, TIM_ForcedAction_Active); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable); 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 B+ C- case 0x04: //第五步 B+ C-
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable); 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_3, 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_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
break; break;
case 0x06: //第六步 A+ C- 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_3, 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_Disable); TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable); TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
break; break;
case 0x02: //第一步 A+ B- case 0x02: //第一步 A+ B-
// GPIO_WritePin(&PB5, HIGH);
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
default:
// GPIO_WritePin(&PB5, HIGH); // GPIO_WritePin(&PB5, HIGH);
GPIO_WritePin(&PB5, LOW); TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
//motor_stop(); TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
break; TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
} TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM); TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_Active);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
break;
default:
// GPIO_WritePin(&PB5, HIGH);
GPIO_WritePin(&PB5, LOW);
//motor_stop();
break;
}
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
}
/*******************************************************************************
* @brief 设置电机运行速度
* @param None
* @retval None
* @note None
*******************************************************************************/
void motor_set_speed(s16 speed)
{
TIM1->CCR1 = speed;
TIM1->CCR2 = speed;
TIM1->CCR3 = speed;
} }
/*********************************END OF FILE**********************************/ /*********************************END OF FILE**********************************/

10
firmware/src/Driver/pwm.c
View File

@ -20,7 +20,7 @@
*******************************************************************************/ *******************************************************************************/
void PWM_Config(void) void PWM_Config(void)
{ {
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; //端口结构体变量定义
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本结构体变量定义 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本结构体变量定义
TIM_OCInitTypeDef TIM_OCInitStructure; //输出结构体变量定义 TIM_OCInitTypeDef TIM_OCInitStructure; //输出结构体变量定义
TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死区刹车结构体变量定义 TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死区刹车结构体变量定义
@ -59,23 +59,19 @@ void PWM_Config(void)
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_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 = 700; TIM_OCInitStructure.TIM_Pulse = 0;
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_OCIdleState_Reset TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure); TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = 700;
TIM_OC2Init(TIM1, &TIM_OCInitStructure); TIM_OC2Init(TIM1, &TIM_OCInitStructure);
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_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1400; TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC4Init(TIM1, &TIM_OCInitStructure); TIM_OC4Init(TIM1, &TIM_OCInitStructure);

27
firmware/src/User/main.c
View File

@ -55,18 +55,33 @@ 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);
GPIO_Config(&PB12, GPIO_Mode_Out_PP);
GPIO_WritePin(&PB12, HIGH);
// USART_Config(USART1, 9600); // USART_Config(USART1, 9600);
HALL_Config(); HALL_Config();
PWM_Config(); PWM_Config();
motor_init();
motor_start(); motor_start();
delay_ms(5000);
motor_set_speed(100);
delay_ms(5000);
motor_set_speed(300);
delay_ms(5000);
motor_set_speed(500);
delay_ms(5000);
motor_set_speed(700);
motor_info.dir=MOTOR_DIR_CW;
delay_ms(5000);
motor_set_speed(900);
delay_ms(5000);
motor_set_speed(1200);
delay_ms(5000);
motor_set_speed(1400);
delay_ms(5000);
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);
} }
} }