fix

src/App/main.c

@@ -14,6 +14,7 @@
 hall_handle_t hall_handle;
 foc_handle_t foc_handle;
 
+const char *data = "hello world";
 /* Function ------------------------------------------------------------------*/
 
 /**
@@ -25,6 +26,7 @@ int main(void)
     board_init();
 
     foc_handle.pwm_period = 168 * 1000000 / 16000;
+
     // while (1)
     // {
     //     int segment = 60;
@@ -55,6 +57,7 @@ int main(void)
     // // svmpw()
     while (1)
     {
+        HAL_UART_Transmit(&huart1, data, 1, 0xFFFF);
         // hall_handle.control_elec_angle++;
         // foc_handle.Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
         // svmpw(foc_handle);

src/App/main.h

@@ -22,6 +22,9 @@ extern "C"
 
     /* Functions  ----------------------------------------------------------------*/
 
+    extern hall_handle_t hall_handle;
+    extern foc_handle_t foc_handle;
+
 #ifdef __cplusplus
 }
 #endif

src/Bsp/board.c

@@ -138,12 +138,12 @@ void board_init(void)
 
     HAL_Init();
     SystemClock_Config();
-    SystemCoreClockUpdate();
+    // SystemCoreClockUpdate();
 
     MX_GPIO_Init();
     MX_USART1_UART_Init();
     MX_TIM1_Init();
-    // MX_TIM3_Init();
+    MX_TIM3_Init();
     MX_NVIC_Init();
 
     FOC_Init();

src/Bsp/board.h

@@ -17,13 +17,14 @@ extern "C"
 #endif
 
     /* Includes ------------------------------------------------------------------*/
+#include "stm32f407xx.h"
 
-#include "stm32f4xx_hal.h"
+#include "stm32f4xx_ll_gpio.h"
 #include "stm32f4xx_ll_tim.h"
+#include "stm32f4xx_hal.h"
 
-
-#include "usart.h"
 #include "gpio.h"
+#include "usart.h"
 #include "timer.h"
 
 #include "foc.h"

src/Bsp/timer.c

@@ -11,7 +11,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "timer.h"
 #include "board.h"
-#include "stm32f4xx_ll_tim.h"
+#include "main.h"
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim3;
@@ -20,7 +20,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim_base);
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim_base);
 
-
 /**
  * @brief TIM1 Initialization Function
  * @param None
@@ -118,6 +117,10 @@ void MX_TIM3_Init(void)
     TIM_HallSensor_InitTypeDef sConfig = {0};
     TIM_MasterConfigTypeDef sMasterConfig = {0};
 
+    /**
+     * 定时器主频48M
+     *
+     */
     htim3.Instance = TIM3;
     htim3.Init.Prescaler = 0;
     htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
@@ -342,6 +345,16 @@ void TIM3_IRQHandler(void)
     if (LL_TIM_IsActiveFlag_CC1(TIM3))
     {
         LL_TIM_ClearFlag_CC1(TIM3);
-        // HALL_TIMx_CC_IRQHandler(&HALL_M1);
+        uint8_t new_state = 0;
+        if (hall_handle.placement_type == HALL_TYPE_DEGREES_120)
+        {
+            new_state = (uint8_t)((LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_6) << 2) | (LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_7) << 1) | LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_8));
+        }
+        else
+        {
+            new_state = (uint8_t)(((LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_7) ^ 1) << 2) | (LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_8) << 1) | LL_GPIO_IsInputPinSet(GPIOC, GPIO_PIN_6));
+        }
+
+        calc_hall_angle(&hall_handle, new_state);
     }
 }

src/Bsp/usart.c

@@ -52,8 +52,8 @@ void MX_USART1_UART_Init(void)
 
 void HAL_UART_MspInit(UART_HandleTypeDef *uartHandle)
 {
-
     GPIO_InitTypeDef GPIO_InitStruct = {0};
+    
     if (uartHandle->Instance == USART1)
     {
         /* USER CODE BEGIN USART1_MspInit 0 */
@@ -62,17 +62,17 @@ void HAL_UART_MspInit(UART_HandleTypeDef *uartHandle)
         /* USART1 clock enable */
         __HAL_RCC_USART1_CLK_ENABLE();
 
-        __HAL_RCC_GPIOA_CLK_ENABLE();
+        __HAL_RCC_GPIOB_CLK_ENABLE();
         /**USART1 GPIO Configuration
         PA9     ------> USART1_TX
         PA10     ------> USART1_RX
         */
-        GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
+        GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7;
         GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-        GPIO_InitStruct.Pull = GPIO_NOPULL;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
         GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
         GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
-        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
         /* USART1 interrupt Init */
         HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);

src/Bsp/usart.h

@@ -18,7 +18,7 @@ extern "C"
 #endif
 
 /* Includes ------------------------------------------------------------------*/
-#include "main.h"
+#include "stm32f4xx_hal.h"
 
     extern UART_HandleTypeDef huart1;
 

src/Foc/hall.c

@@ -7,6 +7,8 @@
  */
 void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
 {
+   
+
     switch (new_state)
     {
     case HALL_STATE_5:

src/Foc/hall.h

@@ -25,6 +25,9 @@
 #define S16_120_PHASE_SHIFT (int16_t)(65536 / 3)
 #define S16_60_PHASE_SHIFT (int16_t)(65536 / 6)
 
+#define HALL_TYPE_DEGREES_120 0u
+#define HALL_TYPE_DEGREES_60 1u
+
 enum
 {
     NEGATIVE = -1,
@@ -36,6 +39,8 @@ typedef struct
 {
     uint8_t state; // 霍尔状态真值表
 
+    uint8_t placement_type; // 霍尔排列方式
+
     int16_t phase_shift; // 同步电角度
 
     int8_t direction;           // 转子方向
@@ -44,4 +49,6 @@ typedef struct
 
 } hall_handle_t;
 
+extern void calc_hall_angle(hall_handle_t *handle, uint8_t new_state);
+
 #endif /* __FOC_HALL_H__ */