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fix

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This commit is contained in:
MQjehovah 2023-08-30 09:30:31 +08:00
parent cfde78e9dc
commit b5f566c940
11 changed files with 110 additions and 34 deletions
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26
project/cmake/CMakeLists.txt
View File

@ -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}
${FinSH_SRC}
#${RTThread_SRC}
#${FinSH_SRC}
${Common_SRC}
${Bsp_SRC}
${App_SRC}

20
project/cmake/toolchain-arm-none-eabi.cmake
View File

@ -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(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(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")

5
src/App/main.c
View File

@ -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);

28
src/Bsp/board.c
View File

@ -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();
}
/**

1
src/Bsp/board.h
View File

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

6
src/Foc/foc.h
View File

@ -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__ */

6
src/Foc/hall.h
View File

@ -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__ */

15
src/Foc/math.h
View File

@ -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__ */

8
src/Foc/svpwm.c
View File

@ -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
wUAlpha = v.alpha * (int32_t)(1.732051f * handle->pwm_period) * 2;
wUBeta = -(v.beta * (int32_t)(handle->pwm_period)) * 2;
// 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 = handle->Valphabeta.alpha * (int32_t)(1.732051f * handle->pwm_period) * 2;
wUBeta = -(handle->Valphabeta.beta * (int32_t)(handle->pwm_period)) * 2;
wX = wUBeta;
wY = (wUBeta + wUAlpha) / 2;

4
src/Foc/svpwm.h
View File

@ -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__ */

17
src/Foc/type.h
View File

@ -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__ */