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