fix

project/cmake/CMakeLists.txt

@@ -6,8 +6,6 @@ SET(CMAKE_CXX_COMPILER_WORKS TURE)
 
 project(stm32_template)
 
-
-
 ENABLE_LANGUAGE(ASM C)
 
 add_definitions(
@@ -15,22 +13,11 @@ add_definitions(
 -DUSE_HAL_DRIVER
 )
 
-set(MCU_FLAGS "-mcpu=cortex-m4 -mthumb -mthumb-interwork -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections")
-
-set(CMAKE_ASM_FLAGS "-c ${MCU_FLAGS} -x assembler-with-cpp -Wa,-mimplicit-it=thumb -gdwarf-2")
-
-set(CMAKE_C_FLAGS "${MCU_FLAGS} -Dgcc -w -Wno-unknown-pragmas -O0 -gdwarf-2 -g")
-set(CMAKE_C_FLAGS_DEBUG "-O0 -gdwarf-2 -g")
-set(CMAKE_C_FLAGS_RELEASE "-O3")
-
-set(LINKER_SCRIPT STM32F407ZGTX_FLASH.ld)
-set(CMAKE_EXE_LINKER_FLAGS "${MCU_FLAGS} -Wl,--gc-sections,-Map=${PROJECT_NAME}.map,--cref,-u,Reset_Handler -T${LINKER_SCRIPT}")
-#set(CMAKE_EXE_LINKER_FLAGS "--specs=nano.specs -specs=nosys.specs -nostartfiles -T${LINKER_SCRIPT} -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map,--cref -Wl,--gc-sections")
-
 set(SRC_PATH ../../src)
 
 include_directories(${SRC_PATH}/App)
 include_directories(${SRC_PATH}/Bsp)
+include_directories(${SRC_PATH}/Foc)
 include_directories(${SRC_PATH}/Common)
 include_directories(${SRC_PATH}/CMSIS/Include)
 include_directories(${SRC_PATH}/CMSIS/Device/ST/STM32F4xx/Include)
@@ -100,9 +87,16 @@ set(Bsp_SRC
 ${SRC_PATH}/Bsp/board.c
 ${SRC_PATH}/Bsp/gpio.c
 ${SRC_PATH}/Bsp/usart.c
+${SRC_PATH}/Bsp/timer.c
 ${SRC_PATH}/Bsp/stm32f4xx_it.c
 )
 
+set(Foc_SRC 
+${SRC_PATH}/Foc/math.c
+${SRC_PATH}/Foc/hall.c
+${SRC_PATH}/Foc/svpwm.c
+)
+
 set(Common_SRC 
 
 )
@@ -114,8 +108,8 @@ ${SRC_PATH}/App/main.c
 add_executable(${PROJECT_NAME}.elf 
     ${CMSIS_SRC}
     ${STM32F4xx_HAL_Driver_SRC}
-    ${RTThread_SRC}
+    #${RTThread_SRC}
-    ${FinSH_SRC}
+    #${FinSH_SRC}
     ${Common_SRC}
     ${Bsp_SRC}
     ${App_SRC}

project/cmake/toolchain-arm-none-eabi.cmake

@@ -28,16 +28,16 @@ elseif(UNIX)
 endif()
 
 
-# set(MCU_FLAGS "-mcpu=cortex-m4 -mthumb -mthumb-interwork -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections")
+set(MCU_FLAGS "-mcpu=cortex-m4 -mthumb -mthumb-interwork -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections")
-# 
+
-# set(CMAKE_ASM_FLAGS "-c ${MCU_FLAGS} -x assembler-with-cpp -Wa,-mimplicit-it=thumb -gdwarf-2")
+set(CMAKE_ASM_FLAGS "-c ${MCU_FLAGS} -x assembler-with-cpp -Wa,-mimplicit-it=thumb -gdwarf-2")
-# 
+
-# set(CMAKE_C_FLAGS "${MCU_FLAGS} -Dgcc -w -Wno-unknown-pragmas -O0 -gdwarf-2 -g")
+set(CMAKE_C_FLAGS "${MCU_FLAGS} -Dgcc -w -Wno-unknown-pragmas -O0 -gdwarf-2 -g")
-# set(CMAKE_C_FLAGS_DEBUG "-O0 -gdwarf-2 -g")
+set(CMAKE_C_FLAGS_DEBUG "-O0 -gdwarf-2 -g")
-# set(CMAKE_C_FLAGS_RELEASE "-O3")
+set(CMAKE_C_FLAGS_RELEASE "-O3")
-# 
+
-# set(LINKER_SCRIPT STM32F407ZGTX_FLASH.ld)
+set(LINKER_SCRIPT STM32F407ZGTX_FLASH.ld)
-# set(CMAKE_EXE_LINKER_FLAGS "${MCU_FLAGS} -Wl,--gc-sections,-Map=${PROJECT_NAME}.map,--cref,-u,Reset_Handler -T${LINKER_SCRIPT}")
+set(CMAKE_EXE_LINKER_FLAGS "${MCU_FLAGS} -Wl,--gc-sections,-Map=${PROJECT_NAME}.map,--cref,-u,Reset_Handler -T${LINKER_SCRIPT}")
 #set(CMAKE_EXE_LINKER_FLAGS "--specs=nano.specs -specs=nosys.specs -nostartfiles -T${LINKER_SCRIPT} -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map,--cref -Wl,--gc-sections")
 
 

src/App/main.c

@@ -35,6 +35,11 @@ int main(void)
     // // svmpw()
     while (1)
     {
+        // hall_handle.control_elec_angle++;
+        // foc_handle.Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
+        // svmpw(foc_handle);
+        // 测试PWM输出
+
         led_ctrl(1);
         HAL_Delay(500);
         led_ctrl(0);

src/Bsp/board.c

@@ -61,6 +61,32 @@ void SystemClock_Config(void)
     }
 }
 
+/**
+ * @brief NVIC Configuration.
+ * @retval None
+ */
+static void MX_NVIC_Init(void)
+{
+    /* ADC_IRQn interrupt configuration */
+    // 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);
+    /* TIM1_BRK_TIM9_IRQn interrupt configuration */
+    // 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);
+    /* USART1_IRQn interrupt configuration */
+    // HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
+    // HAL_NVIC_EnableIRQ(USART1_IRQn);
+    /* EXTI2_IRQn interrupt configuration */
+    // HAL_NVIC_SetPriority(EXTI2_IRQn, 3, 0);
+    // HAL_NVIC_EnableIRQ(EXTI2_IRQn);
+}
+
 /**
  * This function will initial your board.
  */
@@ -74,6 +100,8 @@ void board_init(void)
     SystemCoreClockUpdate();
     MX_GPIO_Init();
     MX_USART1_UART_Init();
+    // MX_TIM1_Init();
+    MX_TIM3_Init();
 }
 
 /**

src/Bsp/board.h

@@ -23,6 +23,7 @@ extern "C"
 
 #include "usart.h"
 #include "gpio.h"
+#include "timer.h"
 
 #include "foc.h"
 

src/Foc/foc.h

@@ -8,6 +8,9 @@
  * @brief
  */
 
+#ifndef __FOC_H__
+#define __FOC_H__
+
 #include "stm32f407xx.h"
 
 #include "type.h"
@@ -20,6 +23,7 @@ typedef struct
     uint8_t sector; // 扇区
 
     qd_t Vqd;
+    alphabeta_t Valphabeta;
 
     uint16_t pwmA;
     uint16_t pwmB;
@@ -27,3 +31,5 @@ typedef struct
     uint16_t pwm_period;
 
 } foc_handle_t;
+
+#endif /* __FOC_H__ */

src/Foc/hall.h

@@ -7,6 +7,10 @@
  *
  * @brief
  */
+
+#ifndef __FOC_HALL_H__
+#define __FOC_HALL_H__
+
 #include "stm32f407xx.h"
 
 #define HALL_STATE_0 (uint8_t)0
@@ -39,3 +43,5 @@ typedef struct
     int16_t control_elec_angle; // 控制转子电角度
 
 } hall_handle_t;
+
+#endif /* __FOC_HALL_H__ */

src/Foc/math.h

@@ -1,3 +1,16 @@
+/**
+ * @file math.h
+ * @author jimingqing
+ * @date 2023-08-29
+ * @version 0.0.1
+ * @copyright XiazhiTech Copyright (c) 2023
+ * 
+ * @brief 
+ */
+
+#ifndef __FOC_MATH_H__
+#define __FOC_MATH_H__
+
 #include "type.h"
 
 #define SQRT_2 1.4142
@@ -51,3 +64,5 @@ alphabeta_t math_rev_park(qd_t Input, int16_t Theta);
  * @retval int32_t Square root of Input (0 if Input<0)
  */
 int32_t math_sqrt(int32_t wInput);
+
+#endif /* __FOC_MATH_H__ */

src/Foc/svpwm.c

@@ -1,12 +1,12 @@
 #include "foc.h"
 
-void svpwm(foc_handle_t *handle, alphabeta_t v)
+void svpwm(foc_handle_t *handle)
 {
     int32_t wX, wY, wZ, wUAlpha, wUBeta, wTimePhA, wTimePhB, wTimePhC;
 
-    // 后续还要根据该变量算三相占空比，所以这里乘以了周期T
+    // 后续还要根据该变量算三相占空比，所以这里乘了系数2T
-    wUAlpha = v.alpha * (int32_t)(1.732051f * handle->pwm_period) * 2;
+    wUAlpha = handle->Valphabeta.alpha * (int32_t)(1.732051f * handle->pwm_period) * 2;
-    wUBeta = -(v.beta * (int32_t)(handle->pwm_period)) * 2;
+    wUBeta = -(handle->Valphabeta.beta * (int32_t)(handle->pwm_period)) * 2;
 
     wX = wUBeta;
     wY = (wUBeta + wUAlpha) / 2;

src/Foc/svpwm.h

@@ -8,6 +8,9 @@
  * @brief
  */
 
+#ifndef __FOC_SVPWM_H__
+#define __FOC_SVPWM_H__
+
 #include "stm32f407xx.h"
 
 #define SECTOR_1 0u
@@ -17,3 +20,4 @@
 #define SECTOR_5 4u
 #define SECTOR_6 5u
 
+#endif /* __FOC_SVPWM_H__ */

src/Foc/type.h

@@ -1,5 +1,20 @@
+/**
+ * @file type.h
+ * @author jimingqing
+ * @date 2023-08-29
+ * @version 0.0.1
+ * @copyright XiazhiTech Copyright (c) 2023
+ * 
+ * @brief 
+ */
+
+#ifndef __FOC_TYPE_H__
+#define __FOC_TYPE_H__
+
 #include "stm32f407xx.h"
 
+
+
 /**
  * @brief Two components q, d type definition
  */
@@ -24,3 +39,5 @@ typedef struct
     int16_t alpha;
     int16_t beta;
 } alphabeta_t;
+
+#endif /* __FOC_TYPE_H__ */