fix

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

@@ -28,6 +28,19 @@ 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${LINKER_SCRIPT}")
+# set(CMAKE_EXE_LINKER_FLAGS "--specs=nano.specs -specs=nosys.specs -nostartfiles -T${LINKER_SCRIPT} -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map,--cref -Wl,--gc-sections")
+
+
 # find additional toolchain executables
 find_program(ARM_SIZE_EXECUTABLE arm-none-eabi-size)
 find_program(ARM_GDB_EXECUTABLE arm-none-eabi-gdb)

src/App/main.c

@@ -12,7 +12,7 @@
 #include "main.h"
 
 hall_handle_t hall_handle;
-
+foc_handle_t foc_handle;
 
 /* Function ------------------------------------------------------------------*/
 
@@ -23,7 +23,16 @@ hall_handle_t hall_handle;
 int main(void)
 {
     board_init();
-
+    // // FOC控制流程
+    // foc_handle.Vqd.d = 0;
+    // foc_handle.Vqd.q = 1;
+    // // 获取电角度
+    // // int16_t control_elec_angle = hall_handle.control_elec_angle;
+    // hall_handle.control_elec_angle++;
+    // // 计算Valpha Vbeta
+    // alphabeta_t Valphabeta = math_rev_park(foc_handle.Vqd, hall_handle.control_elec_angle);
+    // // 计算SVPWM输出
+    // // svmpw()
     while (1)
     {
         led_ctrl(1);

src/Bsp/board.h

@@ -20,10 +20,11 @@ extern "C"
 
 #include "stm32f4xx_hal.h"
 
+
 #include "usart.h"
 #include "gpio.h"
 
-#include "hall.h"
+#include "foc.h"
 
     /* Functions  ----------------------------------------------------------------*/
 

src/Foc/foc.h

@@ -0,0 +1,29 @@
+/**
+ * @file foc.h
+ * @author jimingqing
+ * @date 2023-08-29
+ * @version 0.0.1
+ * @copyright XiazhiTech Copyright (c) 2023
+ *
+ * @brief
+ */
+
+#include "stm32f407xx.h"
+
+#include "type.h"
+#include "math.h"
+#include "hall.h"
+#include "svpwm.h"
+
+typedef struct
+{
+    uint8_t sector; // 扇区
+    
+    qd_t Vqd;
+
+    uint16_t pwmA;
+    uint16_t pwmB;
+    uint16_t pwmC;
+    uint16_t pwm_period;
+
+} foc_handle_t;

src/Foc/svpwm.c

@@ -1,11 +1,12 @@
-#include "svpwm.h"
+#include "foc.h"
 
-void svpwm(foc_handle_t *handle, int16_t alpha, int16_t beta)
+void svpwm(foc_handle_t *handle, alphabeta_t v)
 {
     int32_t wX, wY, wZ, wUAlpha, wUBeta, wTimePhA, wTimePhB, wTimePhC;
 
-    wUAlpha = alpha * (int32_t)handle->hT_Sqrt3;
+    // 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
-    wUBeta = -(beta * (int32_t)(handle->PWMperiod)) * 2;
+    wUAlpha = v.alpha * (int32_t)(1.732051f * handle->pwm_period) * 2;
+    wUBeta = -(v.beta * (int32_t)(handle->pwm_period)) * 2;
 
     wX = wUBeta;
     wY = (wUBeta + wUAlpha) / 2;
@@ -17,33 +18,24 @@ void svpwm(foc_handle_t *handle, int16_t alpha, int16_t beta)
         if (wZ < 0)
         {
             handle->sector = SECTOR_5;
-            wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
+            wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wY - wZ) / (int32_t)262144);
             wTimePhB = wTimePhA + wZ / 131072;
             wTimePhC = wTimePhA - wY / 131072;
-            pHandle->lowDuty = wTimePhC;
-            pHandle->midDuty = wTimePhA;
-            pHandle->highDuty = wTimePhB;
         }
         else /* wZ >= 0 */
             if (wX <= 0)
             {
                 handle->sector = SECTOR_4;
-                wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
+                wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wX - wZ) / (int32_t)262144);
                 wTimePhB = wTimePhA + wZ / 131072;
                 wTimePhC = wTimePhB - wX / 131072;
-                pHandle->lowDuty = wTimePhC;
-                pHandle->midDuty = wTimePhB;
-                pHandle->highDuty = wTimePhA;
             }
             else /* wX > 0 */
             {
                 handle->sector = SECTOR_3;
-                wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
+                wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wY - wX) / (int32_t)262144);
                 wTimePhC = wTimePhA - wY / 131072;
                 wTimePhB = wTimePhC + wX / 131072;
-                pHandle->lowDuty = wTimePhB;
-                pHandle->midDuty = wTimePhC;
-                pHandle->highDuty = wTimePhA;
             }
     }
     else /* wY > 0 */
@@ -51,33 +43,24 @@ void svpwm(foc_handle_t *handle, int16_t alpha, int16_t beta)
         if (wZ >= 0)
         {
             handle->sector = SECTOR_2;
-            wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
+            wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wY - wZ) / (int32_t)262144);
             wTimePhB = wTimePhA + wZ / 131072;
             wTimePhC = wTimePhA - wY / 131072;
-            pHandle->lowDuty = wTimePhB;
-            pHandle->midDuty = wTimePhA;
-            pHandle->highDuty = wTimePhC;
         }
         else /* wZ < 0 */
             if (wX <= 0)
             {
                 handle->sector = SECTOR_6;
-                wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
+                wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wY - wX) / (int32_t)262144);
                 wTimePhC = wTimePhA - wY / 131072;
                 wTimePhB = wTimePhC + wX / 131072;
-                pHandle->lowDuty = wTimePhA;
-                pHandle->midDuty = wTimePhC;
-                pHandle->highDuty = wTimePhB;
             }
             else /* wX > 0 */
             {
                 handle->sector = SECTOR_1;
-                wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
+                wTimePhA = (int32_t)(handle->pwm_period) / 4 + ((wX - wZ) / (int32_t)262144);
                 wTimePhB = wTimePhA + wZ / 131072;
                 wTimePhC = wTimePhB - wX / 131072;
-                pHandle->lowDuty = wTimePhA;
-                pHandle->midDuty = wTimePhB;
-                pHandle->highDuty = wTimePhC;
             }
     }
 

src/Foc/svpwm.h

@@ -17,12 +17,3 @@
 #define SECTOR_5 4u
 #define SECTOR_6 5u
 
-typedef struct
-{
-    uint8_t sector; // 扇区
-
-    uint16_t pwmA;
-    uint16_t pwmB;
-    uint16_t pwmC;
-
-} foc_handle_t;