235 lines
6.5 KiB
C++
235 lines
6.5 KiB
C++
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#include "motor.h"
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#include "globalv.h"
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void PWMtimer_init(void)
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{
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ATIM_InitTypeDef ATIM_InitStruct;
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ATIM_OCInitTypeDef ATIM_OCInitStruct;
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GPIO_InitTypeDef GPIO_InitStruct;
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__RCC_ATIM_CLK_ENABLE();
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__RCC_GPIOA_CLK_ENABLE();
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__RCC_GPIOB_CLK_ENABLE();
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PA08_AFx_ATIMCH1A();
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PA09_AFx_ATIMCH2A();
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PA10_AFx_ATIMCH3A();
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GPIO_InitStruct.IT = GPIO_IT_NONE;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pins = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(CW_GPIOB, &GPIO_InitStruct);
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PWM_AH_OFF;
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PWM_BH_OFF;
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PWM_CH_OFF;
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GPIO_InitStruct.IT = GPIO_IT_NONE;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pins = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(CW_GPIOA, &GPIO_InitStruct);
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PWM_AL_OFF;
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PWM_BL_OFF;
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PWM_CL_OFF;
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ATIM_InitStruct.BufferState = ENABLE;//;//;
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ATIM_InitStruct.ClockSelect = ATIM_CLOCK_PCLK;
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ATIM_InitStruct.CounterAlignedMode = ATIM_COUNT_MODE_EDGE_ALIGN;
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ATIM_InitStruct.CounterDirection = ATIM_COUNTING_UP;
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ATIM_InitStruct.CounterOPMode = ATIM_OP_MODE_REPETITIVE;
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ATIM_InitStruct.OverFlowMask = ENABLE;
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ATIM_InitStruct.Prescaler = ATIM_Prescaler_DIV1; // <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>1MHz
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ATIM_InitStruct.ReloadValue = PWM_PERIOD; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>100us
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ATIM_InitStruct.RepetitionCounter = 0;
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ATIM_InitStruct.UnderFlowMask = DISABLE;
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ATIM_Init(&ATIM_InitStruct);
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ATIM_OCInitStruct.BufferState = DISABLE;
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ATIM_OCInitStruct.OCDMAState = DISABLE;
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ATIM_OCInitStruct.OCInterruptSelect = ATIM_OC_IT_NONE;
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ATIM_OCInitStruct.OCInterruptState = DISABLE;
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ATIM_OCInitStruct.OCMode = ATIM_OCMODE_PWM1;
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ATIM_OCInitStruct.OCPolarity = ATIM_OCPOLARITY_NONINVERT;
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ATIM_OC1AInit(&ATIM_OCInitStruct);
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ATIM_OC2AInit(&ATIM_OCInitStruct);
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ATIM_OC3AInit(&ATIM_OCInitStruct);
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ATIM_SetCompare1A(0);
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ATIM_SetCompare2A(0);
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ATIM_SetCompare3A(0);
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ATIM_PWMOutputConfig(OCREFA_TYPE_SINGLE, OUTPUT_TYPE_ALONE, -1);
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ATIM_CtrlPWMOutputs(ENABLE);
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ATIM_Cmd(ENABLE);
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CW_ATIM->MSCR_f.CCDS = 1; // DMA <20>ܿ<EFBFBD><DCBF><EFBFBD>
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ATIM_OC4Init(ENABLE, ATIM_OC_IT_UP_COUNTER, ENABLE, DISABLE, DISABLE);
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ATIM_SetCompare4(PWM_PERIOD/2); // <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
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ATIM_Cmd(ENABLE);
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}
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void ATIM_IRQHandler(void)
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{
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if (ATIM_GetITStatus(ATIM_IT_OVF))
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{
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ATIM_ClearITPendingBit(ATIM_IT_OVF);
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}
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}
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//steP,Ϊ<><CEAA>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>PWM_ON_flag=1ʱ<31><CAB1><EFBFBD><EFBFBD>PWM<57><4D><EFBFBD><EFBFBD>
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void Commutation(unsigned int step,unsigned int PWM_ON_flag)
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{
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if(PWM_ON_flag==0||MOTORSTATE==STATEERROR||MOTORSTATE==STATEERROROVER)
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{
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CW_ATIM->CH1CCRA=0;CW_ATIM->CH2CCRA=0;CW_ATIM->CH3CCRA=0;
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PWM_AL_OFF; PWM_BL_OFF; PWM_CL_OFF;
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return;
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}
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if(step==0||step==5){ PWM_AL_OFF; PWM_CL_OFF;}//AB
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else if(step==1||step==2){ PWM_AL_OFF; PWM_BL_OFF; }//AC
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else if(step==3||step==4){ PWM_BL_OFF; PWM_CL_OFF; }//BA
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if(step==0||step==1){ CW_ATIM->CH2CCRA=0;CW_ATIM->CH3CCRA=0;CW_ATIM->CH1CCRA=OutPwmValue; }
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if(step==2||step==3){ CW_ATIM->CH1CCRA=0;CW_ATIM->CH3CCRA=0;CW_ATIM->CH2CCRA=OutPwmValue; }
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if(step==4||step==5){ CW_ATIM->CH1CCRA=0;CW_ATIM->CH2CCRA=0;CW_ATIM->CH3CCRA=OutPwmValue; }
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if(step==0||step==5){PWM_BL_ON;}//AB
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else if(step==1||step==2){PWM_CL_ON;}//AC
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else if(step==3||step==4){PWM_AL_ON;}//BA
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STEP_last=step;
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}
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//<2F><><EFBFBD><EFBFBD>ռ<EFBFBD>ձ<EFBFBD>
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void UPPWM(void)
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{
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if(STEP_last==0||STEP_last==1){ CW_ATIM->CH2CCRA=0;CW_ATIM->CH3CCRA=0; CW_ATIM->CH1CCRA=OutPwmValue; }
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if(STEP_last==2||STEP_last==3){ CW_ATIM->CH1CCRA=0;CW_ATIM->CH3CCRA=0;CW_ATIM->CH2CCRA=OutPwmValue; }
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if(STEP_last==4||STEP_last==5){ CW_ATIM->CH1CCRA=0;CW_ATIM->CH2CCRA=0;CW_ATIM->CH3CCRA=OutPwmValue; }
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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void Halltimer_init(void)
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{
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GTIM_InitTypeDef GTIM_InitStruct;
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GTIM_ICInitTypeDef GTIM_ICInitStruct;
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GPIO_InitTypeDef GPIO_InitStruct;
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__RCC_GTIM2_CLK_ENABLE();
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__RCC_GPIOA_CLK_ENABLE();
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__RCC_GPIOB_CLK_ENABLE();
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GPIO_InitStruct.IT = GPIO_IT_NONE;
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GPIO_InitStruct.Mode =GPIO_MODE_INPUT_PULLUP;// GPIO_MODE_INPUT;
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GPIO_InitStruct.Pins = GPIO_PIN_15 |GPIO_PIN_1;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(CW_GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.IT = GPIO_IT_NONE;
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GPIO_InitStruct.Mode =GPIO_MODE_INPUT_PULLUP;// GPIO_MODE_INPUT;
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GPIO_InitStruct.Pins = GPIO_PIN_10;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(CW_GPIOB, &GPIO_InitStruct);
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PA15_AFx_GTIM2CH1();
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PA01_AFx_GTIM2CH2();
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PB10_AFx_GTIM2CH3();
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__disable_irq();
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NVIC_EnableIRQ(GTIM2_IRQn);
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__enable_irq();
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GTIM_InitStruct.Mode = GTIM_MODE_TIME;
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GTIM_InitStruct.OneShotMode = GTIM_COUNT_CONTINUE;
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GTIM_InitStruct.Prescaler = GTIM_PRESCALER_DIV1;
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GTIM_InitStruct.ReloadValue = 0xFFFF;
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GTIM_InitStruct.ToggleOutState = DISABLE;
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GTIM_TimeBaseInit(CW_GTIM2, >IM_InitStruct);
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GTIM_ICInitStruct.CHx = GTIM_CHANNEL1;
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GTIM_ICInitStruct.ICFilter = GTIM_CHx_FILTER_PCLK_N2;
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GTIM_ICInitStruct.ICInvert = GTIM_CHx_INVERT_OFF;
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GTIM_ICInitStruct.ICPolarity = GTIM_ICPolarity_BothEdge;
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GTIM_ICInit(CW_GTIM2, >IM_ICInitStruct);
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GTIM_ICInitStruct.CHx = GTIM_CHANNEL2;
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GTIM_ICInit(CW_GTIM2, >IM_ICInitStruct);
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GTIM_ICInitStruct.CHx = GTIM_CHANNEL3;
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GTIM_ICInit(CW_GTIM2, >IM_ICInitStruct);
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GTIM_ITConfig(CW_GTIM2, GTIM_IT_CC1 | GTIM_IT_CC2 | GTIM_IT_CC3, ENABLE);
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GTIM_Cmd(CW_GTIM2, ENABLE);
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD>źŶ<C5BA>ȡ
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unsigned char HALL_Check(void)
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{
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static unsigned char hallerrnum=0;
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unsigned char x=0;
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if(GPIO_ReadPin(CW_GPIOA,GPIO_PIN_15)!=0)x=1;
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if(GPIO_ReadPin(CW_GPIOA,GPIO_PIN_1)!=0)x|=0x2;
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if(GPIO_ReadPin(CW_GPIOB,GPIO_PIN_10)!=0)x|=0x4;
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// printf("X=%x\n",x);
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if(x==0||x==7)
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{hallerrnum++;if(hallerrnum>=10){hallerrnum=10;ErrorCode=2;}}
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else hallerrnum=0;
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return x;
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD>źű任<C5B1><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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void GTIM2_IRQHandler(void)
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{
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unsigned char x = 0;
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/* USER CODE BEGIN */
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if (GTIM_GetITStatus(CW_GTIM2, GTIM_IT_CC1))
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{
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GTIM_ClearITPendingBit(CW_GTIM2, GTIM_IT_CC1);
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}
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if (GTIM_GetITStatus(CW_GTIM2, GTIM_IT_CC2))
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{
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GTIM_ClearITPendingBit(CW_GTIM2, GTIM_IT_CC2);
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}
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if (GTIM_GetITStatus(CW_GTIM2, GTIM_IT_CC3))
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{
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GTIM_ClearITPendingBit(CW_GTIM2, GTIM_IT_CC3);
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}
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x=HALL_Check();
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if(x==0||x==7){return;}
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HALLcount++;HALLcount1++;
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Cur_step=STEP_TAB[Dir][x-1];
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if(Motor_Start_F==1&&ErrorCode==0)
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Commutation(Cur_step,Motor_Start_F);
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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void HALL_MOTOR_START(void)
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{
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unsigned char x=0;
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x=HALL_Check();
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if(x==0||x==7){return;}
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Cur_step=STEP_TAB[Dir][x-1];
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RealS1=0;
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Motor_Start_F=1;
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Commutation(Cur_step,Motor_Start_F);
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}
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//<2F><><EFBFBD><EFBFBD>ֹͣ
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void MOTOR_STOP0(void)
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{
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Motor_Start_F=0;
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Commutation(0,0);
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}
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