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电机开环跑

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This commit is contained in:
MQjehovah 2023-08-31 17:40:10 +08:00
parent b5f566c940
commit 2676f1efe1
14 changed files with 220 additions and 72 deletions
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5
project/cmake/CMakeLists.txt
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@ -51,6 +51,8 @@ ${SRC_PATH}/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
${SRC_PATH}/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
${SRC_PATH}/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
${SRC_PATH}/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
${SRC_PATH}/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c
)
set(RTThread_SRC
@ -92,7 +94,7 @@ ${SRC_PATH}/Bsp/stm32f4xx_it.c
)
set(Foc_SRC
${SRC_PATH}/Foc/math.c
${SRC_PATH}/Foc/foc_math.c
${SRC_PATH}/Foc/hall.c
${SRC_PATH}/Foc/svpwm.c
)
@ -111,6 +113,7 @@ add_executable(${PROJECT_NAME}.elf
#${RTThread_SRC}
#${FinSH_SRC}
${Common_SRC}
${Foc_SRC}
${Bsp_SRC}
${App_SRC}
)

22
src/App/main.c
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@ -23,6 +23,26 @@ foc_handle_t foc_handle;
int main(void)
{
board_init();
foc_handle.pwm_period = 168 * 1000000 / 16000;
// while (1)
// {
// int segment = 60;
// for (int i = 0; i <= segment; i++)
// {
// foc_handle.Vqd.d = 0;
// foc_handle.Vqd.q = (int16_t)(13.86f * 32767); // 24 / SQRT_3 = 13.86f
// // 电角度归一化[-PI, PI] -> Q15 [-32767, 32767]
// hall_handle.control_elec_angle = (int16_t)((i - (float)(segment / 2)) / (float)(segment / 2) * 32767);
// foc_handle.Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
// svpwm(&foc_handle);
// LL_TIM_OC_SetCompareCH1(TIM1, foc_handle.pwmA);
// LL_TIM_OC_SetCompareCH2(TIM1, foc_handle.pwmB);
// LL_TIM_OC_SetCompareCH3(TIM1, foc_handle.pwmC);
// HAL_Delay(2);
// }
// }
// // FOC控制流程
// foc_handle.Vqd.d = 0;
// foc_handle.Vqd.q = 1;
@ -39,7 +59,7 @@ int main(void)
// foc_handle.Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
// svmpw(foc_handle);
// 测试PWM输出
// __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 42 * 1000000 / 16000);
led_ctrl(1);
HAL_Delay(500);
led_ctrl(0);

57
src/Bsp/board.c
View File

@ -71,11 +71,11 @@ static void MX_NVIC_Init(void)
// HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
// HAL_NVIC_EnableIRQ(ADC_IRQn);
/* TIM1_UP_TIM10_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
// HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
/* TIM1_BRK_TIM9_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 4, 1);
// HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 4, 1);
HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
/* TIM3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(TIM3_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
@ -87,6 +87,47 @@ static void MX_NVIC_Init(void)
// HAL_NVIC_EnableIRQ(EXTI2_IRQn);
}
void FOC_Init()
{
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // 开启三个PWM通道输出
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); // 开启三个PWM通道输出
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); // 开启三个PWM通道输出
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);
// LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
// LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
// LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
// LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
// __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);
// __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);
// HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
// HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
/* wait for a new PWM period */
// LL_TIM_ClearFlag_UPDATE(TIM1);
// // while (LL_TIM_IsActiveFlag_UPDATE(TIM1) == 0)
// // {
// // }
// /* Clear Update Flag */
// LL_TIM_ClearFlag_UPDATE(TIM1);
/* Main PWM Output Enable */
// TIM1->BDTR |= LL_TIM_OSSI_ENABLE;
// LL_TIM_EnableAllOutputs(TIM1);
// /* Clear Update Flag */
// LL_TIM_ClearFlag_UPDATE(TIM1);
// /* Enable Update IRQ */
// LL_TIM_EnableIT_UPDATE(TIM1);
// LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
// LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
// LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
}
/**
* This function will initial your board.
*/
@ -98,10 +139,14 @@ void board_init(void)
HAL_Init();
SystemClock_Config();
SystemCoreClockUpdate();
MX_GPIO_Init();
MX_USART1_UART_Init();
// MX_TIM1_Init();
MX_TIM3_Init();
MX_TIM1_Init();
// MX_TIM3_Init();
MX_NVIC_Init();
FOC_Init();
}
/**

1
src/Bsp/board.h
View File

@ -19,6 +19,7 @@ extern "C"
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx_ll_tim.h"
#include "usart.h"

9
src/Bsp/gpio.c
View File

@ -13,15 +13,16 @@
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(SD_GPIO_Port, SD_Pin, GPIO_PIN_SET);
/*Configure GPIO pins : PFPin PFPin */
GPIO_InitStruct.Pin = LED0_Pin;
@ -35,6 +36,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED1_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = SD_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(SD_GPIO_Port, &GPIO_InitStruct);
}
// INIT_BOARD_EXPORT(MX_GPIO_Init);

3
src/Bsp/gpio.h
View File

@ -25,6 +25,9 @@ extern "C"
#define LED1_Pin GPIO_PIN_2
#define LED1_GPIO_Port GPIOE
#define SD_Pin GPIO_PIN_12
#define SD_GPIO_Port GPIOG
void MX_GPIO_Init(void);
void led_ctrl(uint8_t cmd);

125
src/Bsp/timer.c
View File

@ -16,6 +16,11 @@
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
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
@ -46,12 +51,12 @@ void MX_TIM1_Init(void)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
sSlaveConfig.InputTrigger = TIM_TS_ITR1;
if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
// sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
// sSlaveConfig.InputTrigger = TIM_TS_ITR1;
// if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
// {
// Error_Handler();
// }
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
@ -86,7 +91,6 @@ void MX_TIM1_Init(void)
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_1;
// sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
sBreakDeadTimeConfig.DeadTime = 100;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
@ -95,6 +99,11 @@ void MX_TIM1_Init(void)
{
Error_Handler();
}
// if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
// {
// Error_Handler();
// }
HAL_TIM_MspPostInit(&htim1);
}
/**
@ -138,6 +147,62 @@ void MX_TIM3_Init(void)
{
Error_Handler();
}
/* Set IC filter for Channel 1 (ICF1) */
LL_TIM_IC_SetFilter(TIM3, LL_TIM_CHANNEL_CH1, (uint32_t)(11) << 20);
/* Force the TIMx prescaler with immediate access (gen update event)
*/
LL_TIM_SetPrescaler(TIM3, 65535);
LL_TIM_GenerateEvent_UPDATE(TIM3);
LL_TIM_SetUpdateSource(TIM3, LL_TIM_UPDATESOURCE_COUNTER);
LL_TIM_EnableIT_CC1(TIM3);
LL_TIM_EnableIT_UPDATE(TIM3);
LL_TIM_SetCounter(TIM3, 0);
LL_TIM_CC_EnableChannel(TIM3, LL_TIM_CHANNEL_CH1);
LL_TIM_EnableCounter(TIM3);
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (htim->Instance == TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PB13 ------> TIM1_CH1N
PB14 ------> TIM1_CH2N
PB15 ------> TIM1_CH3N
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
PA10 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
}
/**
@ -151,32 +216,32 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim_base)
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (htim_base->Instance == TIM1)
{
/* Peripheral clock enable */
// /* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
// __HAL_RCC_GPIOA_CLK_ENABLE();
// __HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA10 ------> TIM1_CH3
PA9 ------> TIM1_CH2
PA8 ------> TIM1_CH1
PB13 ------> TIM1_CH1N
PB14 ------> TIM1_CH2N
PB15 ------> TIM1_CH3N
*/
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// /**TIM1 GPIO Configuration
// PA10 ------> TIM1_CH3
// PA9 ------> TIM1_CH2
// PA8 ------> TIM1_CH1
// PB13 ------> TIM1_CH1N
// PB14 ------> TIM1_CH2N
// PB15 ------> TIM1_CH3N
// */
// GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_PULLDOWN;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
// GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
// GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
// GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
// GPIO_InitStruct.Pull = GPIO_PULLDOWN;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
// GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
else if (htim_base->Instance == TIM3)
{

3
src/Bsp/timer.h
View File

@ -20,6 +20,9 @@ extern "C"
#include "stm32f4xx_hal.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim3;
void MX_TIM1_Init(void);
#ifdef __cplusplus

19
src/Foc/foc.h
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@ -13,23 +13,10 @@
#include "stm32f407xx.h"
#include "type.h"
#include "math.h"
#include "foc_type.h"
#include "foc_math.h"
#include "hall.h"
#include "svpwm.h"
typedef struct
{
uint8_t sector; // 扇区
qd_t Vqd;
alphabeta_t Valphabeta;
uint16_t pwmA;
uint16_t pwmB;
uint16_t pwmC;
uint16_t pwm_period;
} foc_handle_t;
#endif /* __FOC_H__ */

12
src/Foc/math.c → src/Foc/foc_math.c
View File

@ -1,4 +1,4 @@
#include "math.h"
#include "foc_math.h"
#define SIN_MASK 0x0300u
#define U0_90 0x0200u
@ -41,14 +41,12 @@ const int16_t hSin_Cos_Table[256] = {
0x7FD8, 0x7FE1, 0x7FE9, 0x7FF0, 0x7FF5, 0x7FF9, 0x7FFD, 0x7FFE};
/**
* @brief This function transforms stator voltage qVq and qVd, that belong to
* a rotor flux synchronous rotating frame, to a stationary reference
* frame, so as to obtain qValpha and qVbeta:
* Valfa= Vq*Cos(theta)+ Vd*Sin(theta)
* Vbeta=-Vq*Sin(theta)+ Vd*Cos(theta)
* @brief 反Park变换
* Valpha= Vq*Cos(theta)+ Vd*Sin(theta)
* Vbeta=-Vq*Sin(theta)+ Vd*Cos(theta)
* @param Input: stator voltage Vq and Vd in qd_t format
* @param Theta: rotating frame angular position in q1.15 format
* @retval Stator voltage Valpha and Vbeta in qd_t format
* @retval stator voltage Valpha and Vbeta in qd_t format
*/
alphabeta_t math_rev_park(qd_t input, int16_t theta)
{

5
src/Foc/math.h → src/Foc/foc_math.h
View File

@ -11,10 +11,11 @@
#ifndef __FOC_MATH_H__
#define __FOC_MATH_H__
#include "type.h"
#include "foc_type.h"
#define PI (3.1415926f)
#define SQRT_2 1.4142
#define SQRT_3 1.732
#define SQRT_3 (1.732051f)
/**
* @brief Macro to compute logarithm of two

16
src/Foc/type.h → src/Foc/foc_type.h
View File

@ -13,8 +13,6 @@
#include "stm32f407xx.h"
/**
* @brief Two components q, d type definition
*/
@ -40,4 +38,18 @@ typedef struct
int16_t beta;
} alphabeta_t;
typedef struct
{
uint8_t sector; // 扇区
qd_t Vqd;
alphabeta_t Valphabeta;
uint16_t pwmA;
uint16_t pwmB;
uint16_t pwmC;
uint16_t pwm_period;
} foc_handle_t;
#endif /* __FOC_TYPE_H__ */

4
src/Foc/svpwm.c
View File

@ -65,6 +65,6 @@ void svpwm(foc_handle_t *handle)
}
handle->pwmA = (uint16_t)wTimePhA;
handle->pwmA = (uint16_t)wTimePhB;
handle->pwmA = (uint16_t)wTimePhC;
handle->pwmB = (uint16_t)wTimePhB;
handle->pwmC = (uint16_t)wTimePhC;
}

3
src/Foc/svpwm.h
View File

@ -12,6 +12,7 @@
#define __FOC_SVPWM_H__
#include "stm32f407xx.h"
#include "foc_type.h"
#define SECTOR_1 0u
#define SECTOR_2 1u
@ -20,4 +21,6 @@
#define SECTOR_5 4u
#define SECTOR_6 5u
extern void svpwm(foc_handle_t *handle);
#endif /* __FOC_SVPWM_H__ */