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QQT912/CW32F030/原项目程序/SW/12 CW32 BLDC haLL pid OK/USER/MAIN.c

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Initial: CW32F030 reference + CW32L012 BLDC port Add working CW32F030 BLDC Hall PID reference firmware and port the application to CW32L012 with Keil MDK project QQT912_L012. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-05 04:31:26 +08:00
/*
2ҳ<EFBFBD>˵<EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶȡ<EFBFBD>ʵʱ<EFBFBD>ٶȣ<EFBFBD> 2<EFBFBD><EFBFBD>ĸ<EFBFBD>ߵ<EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>
KEY1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˵<EFBFBD>
KEY2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱҲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD>LED2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>ͬ<EFBFBD>ķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
KEY3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD>LED3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD> LED3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ״̬<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȲ˵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>ǰ<EFBFBD>趨ת<EFBFBD>١<EFBFBD>
Designed by Cache.lee from UET company
Tel:18129915976
*/
#include "main.h"
#include "motor.h"
#include "globalv.h"
#include "init.h"
#include "pid.h"
#include "compu.h"
#include "control.h"
//#include "OLED_I2C.h"
unsigned int Menu=0;
//UARTx
#define DEBUG_USARTx CW_UART3
#define DEBUG_USART_CLK RCC_APB1_PERIPH_UART3
#define DEBUG_USART_APBClkENx RCC_APBPeriphClk_Enable1
#define DEBUG_USART_BaudRate 115200
#define DEBUG_USART_UclkFreq 64000000
//UARTx GPIO
#define DEBUG_USART_GPIO_CLK RCC_AHB_PERIPH_GPIOB
#define DEBUG_USART_TX_GPIO_PORT CW_GPIOB
#define DEBUG_USART_TX_GPIO_PIN GPIO_PIN_6
#define DEBUG_USART_RX_GPIO_PORT CW_GPIOB
#define DEBUG_USART_RX_GPIO_PIN GPIO_PIN_7
//GPIO AF
#define DEBUG_USART_AFTX PB06_AFx_UART3TXD()
#define DEBUG_USART_AFRX PB07_AFx_UART3RXD()
#ifdef __GNUC__
/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
/**
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD>UART
*
*/
void UART_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
//<2F><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ʹ<EFBFBD><CAB9>
RCC_AHBPeriphClk_Enable(DEBUG_USART_GPIO_CLK, ENABLE);
DEBUG_USART_APBClkENx(DEBUG_USART_CLK, ENABLE);
//UART TX RX <20><><EFBFBD><EFBFBD>
DEBUG_USART_AFTX;
DEBUG_USART_AFRX;
GPIO_InitStructure.Pins = DEBUG_USART_TX_GPIO_PIN;
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_Init(DEBUG_USART_TX_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.Pins = DEBUG_USART_RX_GPIO_PIN;
GPIO_InitStructure.Mode = GPIO_MODE_INPUT_PULLUP;
GPIO_Init(DEBUG_USART_RX_GPIO_PORT, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = DEBUG_USART_BaudRate;
USART_InitStructure.USART_Over = USART_Over_16;
USART_InitStructure.USART_Source = USART_Source_PCLK;
USART_InitStructure.USART_UclkFreq = DEBUG_USART_UclkFreq;
USART_InitStructure.USART_StartBit = USART_StartBit_FE;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(DEBUG_USARTx, &USART_InitStructure);
}
/**
* @brief Retargets the C library printf function to the USART.
*
*/
PUTCHAR_PROTOTYPE
{
USART_SendData_8bit(DEBUG_USARTx, (uint8_t)ch);
while (USART_GetFlagStatus(DEBUG_USARTx, USART_FLAG_TXE) == RESET);
return ch;
}
/******************************************************************************
* EOF (not truncated)
******************************************************************************/
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
void PowerOnDelay(void)
{
unsigned int i;
for(i=0;i<60000;i++);
for(i=0;i<60000;i++);
for(i=0;i<60000;i++);
for(i=0;i<60000;i++);
for(i=0;i<60000;i++);
for(i=0;i<60000;i++);
KKN=(MAXSPEED-MINSPEED);
KKN=KKN/(NMAXVD-NMINVD);
}
unsigned int hte=0;
int main()
{
unsigned char DZCount=0;
char temp_buff[100],temp_buff1[50];
// unsigned char key_1=0;
PowerOnDelay();
RCC_Configuration(); //ʱ<><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
UART_Configuration();
GPIOInit(); //GPIO<49><4F><EFBFBD><EFBFBD>
LEDON();
ADC_Configuration(); //AD<41><44><EFBFBD><EFBFBD>
PWMtimer_init();
BTIM_init();
Halltimer_init();
//printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
PWM_AL_ON;
PWM_BL_ON;
PWM_CL_ON;
TimeCountTemp=0;
while(TimeCountTemp<50);
TimeCountTemp=0;
PWM_AL_OFF;
PWM_BL_OFF;
PWM_CL_OFF;
// I2C_init(); //OLED init
// I2C_OLED_Init();
// I2C_OLED_Clear(1);
// I2C_OLED_UPdata();
//
printf("Update %s %s\r\n",__DATE__,__TIME__);
printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
SampleVI(); //<2F>ɼ<EFBFBD><C9BC><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD>
startflag=1;
EnDirCheck();
DIin=0x500; //ƫ<>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>趨 0.9V-1.1V<EFBFBD>м䣬<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ȷ
if(SampleData[1]>1117&&SampleData[1]<=1500)DIin=SampleData[1];
else printf("Current read err\r\n");
if(SampleData[2]>3000|| SampleData[2]<700) printf("Speed read err\r\n");
if(HALL_Check()==0|| HALL_Check()==7) printf("HALL Read Err\r\n");
if(CanshuV<30) printf("Votage read err\r\n");
sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾռ<CABE>ձ<EFBFBD>
sprintf(temp_buff,"Real:%4d RPM ",RealS); //<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
printf("%s\r\n",temp_buff);
printf("%s\r\n",temp_buff1);
sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾռ<CABE>ձ<EFBFBD>
sprintf(temp_buff,"I(MA):%d ",CanshuI); //<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
printf("%s\r\n",temp_buff);
printf("%s\r\n",temp_buff1);
GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_SET); //12V<32><56><EFBFBD><EFBFBD>
while(1)
{
if(TimeCountCompuSpeed>20) //20MS<4D>ɼ<EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ٶ<EFBFBD><D9B6>趨ֵ,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>HALL<4C>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
{
TimeCountCompuSpeed=0;
SampleSpeed();
HALL_Check();
}
if(TimeCountVI>=200)//100MS<4D><53><EFBFBD><EFBFBD>һ<EFBFBD>ε<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ʵʱ<CAB5>ٶȼ<D9B6><C8BC><EFBFBD>
{
printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
TimeCountVI=0;
SampleVI();
RealS=hte*50/MPolePairs;//HALLcount1*10*60/6/MPolePairs; 100MS<4D>洢һ<E6B4A2>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(MOTORSTATE==STATESTARTPID||MOTORSTATE==STATERUNPID)
{
if(RealS==0)
{
DZCount++;
if(DZCount>=10)//2S<32><53><EFBFBD><EFBFBD>
{
DZCount=0;ErrorCode=7;//<2F><>ת
}
}
else DZCount=0;
}
}
if(ErrorCode!=0&&MOTORSTATE!=STATEERROR&&MOTORSTATE!=STATEERROROVER)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
MOTORSTATE=STATEERROR;
printf("ErrorCode=%d\r\n",ErrorCode);
GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_RESET); //12V<32><56><EFBFBD><EFBFBD>
}
if(TimeCountkey>=500) //500msˢ<73><CBA2><EFBFBD><EFBFBD>ʾ
{
LEDTOG();
TimeCountkey=0;
// if(Menu==0)
// {
sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾռ<CABE>ձ<EFBFBD>
sprintf(temp_buff,"Real:%4d RPM ",RealS); //<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
printf("%s\r\n",temp_buff);
printf("%s\r\n",temp_buff1);
// }
// else
// {
sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾռ<CABE>ձ<EFBFBD>
sprintf(temp_buff,"I(MA):%d ",CanshuI); //<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
// }
printf("%s\r\n",temp_buff);
printf("%s\r\n",temp_buff1);
// printf("MOTORSTATE=%d\r\n",MOTORSTATE);
// I2C_OLED_ShowString(0,0,temp_buff1);
// I2C_OLED_ShowString(0,15,temp_buff);
// I2C_OLED_UPdata();
}
MotorBreak();
EnDirCheck();
//״̬<D7B4><CCAC>
switch(MOTORSTATE)
{
case STATESTARTCHECK:
MotorStartCheck();
break;
case STATESTARTPID:
MotorStartPID();
break;
case STATERUNPID:
MotorRunPID();
break;
case STATESTOP: MotorStop();break;
case STATEERROR: MotorError();break;
case STATEERROROVER: MotorErrorOver();break;
}
}
}
//1ms <20><>ʱ<EFBFBD><CAB1>
void BTIM1_IRQHandler(void)
{
/* USER CODE BEGIN */
if(BTIM_GetITStatus(CW_BTIM1, BTIM_IT_OV))
{ //1MS timer
BTIM_ClearITPendingBit(CW_BTIM1, BTIM_IT_OV);
TimeCountTemp++;
TimeCountCompuSpeed++; //<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
TimeCountRealSpd++; //˲ʱ<CBB2>ٶ<EFBFBD>
if(TimeCountAvgSpd>=200){hte=HALLcount1;HALLcount1=0;TimeCountAvgSpd=0;}//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD>ٶ<EFBFBD>ֵ
if(TimeCountRealSpd>=20){HALLcountTemp=HALLcount;HALLcount=0;TimeCountRealSpd=0;}
TimeCountPID++; //PID
TimeCountAvgSpd++; //ƽ<><C6BD><EFBFBD>ٶ<EFBFBD>
TimeCountVI++;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD>
TimeCountkey++;
}
/* USER CODE END */
}