#include "main.h" //LED灯 #define LED_GPIO_PIN GPIO_PIN_13 #define LED_GPIO_PORT CW_GPIOC #define LEDON() {GPIO_WritePin(LED_GPIO_PORT,LED_GPIO_PIN,GPIO_Pin_RESET);} #define LEDOFF() {GPIO_WritePin(LED_GPIO_PORT,LED_GPIO_PIN,GPIO_Pin_SET);} #define LEDTOG() {GPIO_TogglePin(LED_GPIO_PORT,LED_GPIO_PIN);} //BKIN端口定义 #define BKIN_GPIO_PIN GPIO_PIN_11 #define BKIN_GPIO_PORT CW_GPIOA //方向控制按键IO定义 #define DR_GPIO_PIN GPIO_PIN_5 #define DR_GPIO_PORT CW_GPIOB //使能控制端按键IO定义 #define EN_GPIO_PIN GPIO_PIN_14 #define EN_GPIO_PORT CW_GPIOC //电源输出使能IO定义 #define VOUT_EN_GPIO_PIN GPIO_PIN_6 #define VOUT_EN_GPIO_PORT CW_GPIOF //方向指示灯IO定义 #define LEDDIR_GPIO_PIN GPIO_PIN_12 #define LEDDIR_GPIO_PORT CW_GPIOA //启停指示灯IO定义 #define LEDSTSTO_GPIO_PIN GPIO_PIN_11 #define LEDSTSTO_GPIO_PORT CW_GPIOB //六路PWM IO定义 #define PWM_AP_PORT (CW_GPIOA) #define PWM_AP_PIN (GPIO_PIN_8) #define PWM_AN_PORT (CW_GPIOB) #define PWM_AN_PIN (GPIO_PIN_13) #define PWM_BP_PORT (CW_GPIOA) #define PWM_BP_PIN (GPIO_PIN_9) #define PWM_BN_PORT (CW_GPIOB) #define PWM_BN_PIN (GPIO_PIN_14) #define PWM_CP_PORT (CW_GPIOA) #define PWM_CP_PIN (GPIO_PIN_10) #define PWM_CN_PORT (CW_GPIOB) #define PWM_CN_PIN (GPIO_PIN_15) #define PWM_AH_OFF GPIO_WritePin(PWM_AP_PORT,PWM_AP_PIN,GPIO_Pin_RESET) #define PWM_BH_OFF GPIO_WritePin(PWM_BP_PORT,PWM_BP_PIN,GPIO_Pin_RESET) #define PWM_CH_OFF GPIO_WritePin(PWM_CP_PORT,PWM_CP_PIN,GPIO_Pin_RESET) #define PWM_AH_ON GPIO_WritePin(PWM_AP_PORT,PWM_AP_PIN,GPIO_Pin_SET) #define PWM_BH_ON GPIO_WritePin(PWM_BP_PORT,PWM_BP_PIN,GPIO_Pin_SET) #define PWM_CH_ON GPIO_WritePin(PWM_CP_PORT,PWM_CP_PIN,GPIO_Pin_SET) //上管调制，下管开关控制, 上高电平下低电平 #define PWM_AL_OFF GPIO_WritePin(PWM_AN_PORT,PWM_AN_PIN,GPIO_Pin_RESET) #define PWM_BL_OFF GPIO_WritePin(PWM_BN_PORT,PWM_BN_PIN,GPIO_Pin_RESET) #define PWM_CL_OFF GPIO_WritePin(PWM_CN_PORT,PWM_CN_PIN,GPIO_Pin_RESET) #define PWM_AL_ON GPIO_WritePin(PWM_AN_PORT,PWM_AN_PIN,GPIO_Pin_SET) #define PWM_BL_ON GPIO_WritePin(PWM_BN_PORT,PWM_BN_PIN,GPIO_Pin_SET) #define PWM_CL_ON GPIO_WritePin(PWM_CN_PORT,PWM_CN_PIN,GPIO_Pin_SET) //载波频率20k #define PWM_PERIOD 2399 // (48000000 / 20000 ) - 1; #define OnepercentPWM (PWM_PERIOD+1)/100 #define STATESTARTCHECK 0 #define STATESTARTPID 1 #define STATERUNPID 2 #define STATESTOP 3 #define STATEERROR 5 #define STATEERROROVER 6 //电位器 #define NMAXVD 2950 #define NMINVD 750 //0.4V~3.2V进行调节 #define RS (float)0.005 //取样电阻 #define AP 21 //放大倍数 #define Ikvalue (float)1200/(float)AP/RS //电流计算常数 内部参考1.2V #define NumErr 2 //过流过压错误认定次数 //#define VSh 60 //过压值设定 #define RV1 1 #define RV2 20 //输入电压与总线电压之比：为RV1:(RV1+RV2) #define Kvvalue (float)1.2/RV1*(RV1+RV2) extern uint8_t ADC_CR1Array[4] ; // 通过更改ADC的CR1寄存器实现ADC通道自动切换 extern uint8_t ADC_Start ; extern unsigned int TimeCountCompuSpeed,TimeCountTemp,TimeCountkey; extern unsigned int TimeCountRealSpd,TimeCountPID,TimeCountAvgSpd,TimeCountVI; extern unsigned char MOTORSTATE; extern const unsigned int PWM_EN_TAB[6]; extern const unsigned char STEP_TAB[2][6]; extern uint16_t SampleData[4]; extern unsigned char ErrorCode; //故障状态 extern unsigned int Motor_Start_F; //电机启停状态 extern unsigned int Cur_step; //当前换相相序 extern unsigned char Dir; //方向控制 extern unsigned int HALLcount,HALLcount1,HALLcountTemp; // 霍尔脉冲计数值，用于计算平均速度和瞬时速度 extern unsigned int TargS1;//PID目标速度 extern unsigned int RealS1;//实时瞬时速度 extern unsigned int RealS;//平均速度 extern unsigned int SetSpeed; extern float KKN,KPWMN;//计算电位器速度时的斜率 extern unsigned int OutPwmValue;//输出占空比值 extern unsigned char ErrCleFlag; extern unsigned int SpeedD;// extern unsigned int DIin; //电流偏置 extern unsigned int CanshuV;//母线电压100mV为单位 extern unsigned int CanshuI;//母线电流mA //、、、、、、、、、、、、、、、、、以下参数为掉电保存参数 extern unsigned int MPolePairs; //极对数 extern unsigned int MAXSPEED; //额定转速 extern unsigned int CanshuTimeDelay;//启动延时间MS extern unsigned int ISH;//过流报警值 A extern unsigned int VSH;//过压报警值 V extern unsigned int LSH;//欠压报警值 V //开环参数 extern unsigned int PWMMin;//最低占空比 extern unsigned int PWMMax;//最大占空比输出 extern unsigned int TImeUP;//从最小占空比到最大占空比的时间 //速度闭环参数 实际缩小1000倍 extern unsigned int MINSPEED; //最低转速 extern unsigned int CanshuSTT;//启动时间MS 时间参数 extern unsigned int SP,SI,SD; extern unsigned int STEP_last; extern unsigned int startflag,dirflag; extern unsigned int LevelSet;