311 lines
7.7 KiB
C
311 lines
7.7 KiB
C
/*
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2页菜单：1：设定速度、实时速度； 2：母线电压、电流显示。
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Designed by Cache.lee from UET company
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Ported to CW32L012
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*/
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#include "main.h"
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#include "motor.h"
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#include "globalv.h"
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#include "init.h"
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#include "pid.h"
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#include "compu.h"
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#include "control.h"
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unsigned int Menu = 0;
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#define DEBUG_UARTx CW_UART3
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#define DEBUG_UART_CLK SYSCTRL_APB1_PERIPH_UART3
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#define DEBUG_UART_APBClkENx SYSCTRL_APBPeriphClk_Enable1
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#define DEBUG_UART_BaudRate 115200
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#define DEBUG_UART_UclkFreq 64000000
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#define DEBUG_UART_GPIO_CLK SYSCTRL_AHB_PERIPH_GPIOB
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#define DEBUG_UART_TX_GPIO_PORT CW_GPIOB
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#define DEBUG_UART_TX_GPIO_PIN GPIO_PIN_6
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#define DEBUG_UART_RX_GPIO_PORT CW_GPIOB
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#define DEBUG_UART_RX_GPIO_PIN GPIO_PIN_7
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#define DEBUG_UART_AFTX PB06_AFx_UART3TXD()
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#define DEBUG_UART_AFRX PB07_AFx_UART3RXD()
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#ifdef __GNUC__
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#endif
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void UART_Configuration(void)
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{
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UART_InitTypeDef UART_InitStructure = {0};
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GPIO_InitTypeDef GPIO_InitStructure = {0};
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SYSCTRL_AHBPeriphClk_Enable(DEBUG_UART_GPIO_CLK, ENABLE);
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DEBUG_UART_APBClkENx(DEBUG_UART_CLK, ENABLE);
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DEBUG_UART_AFTX;
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DEBUG_UART_AFRX;
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GPIO_InitStructure.Pins = DEBUG_UART_TX_GPIO_PIN;
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GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(DEBUG_UART_TX_GPIO_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.Pins = DEBUG_UART_RX_GPIO_PIN;
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GPIO_InitStructure.Mode = GPIO_MODE_INPUT_PULLUP;
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GPIO_Init(DEBUG_UART_RX_GPIO_PORT, &GPIO_InitStructure);
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UART_InitStructure.UART_BaudRate = DEBUG_UART_BaudRate;
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UART_InitStructure.UART_Over = UART_Over_16;
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UART_InitStructure.UART_Source = UART_Source_PCLK;
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UART_InitStructure.UART_UclkFreq = DEBUG_UART_UclkFreq;
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UART_InitStructure.UART_StartBit = UART_StartBit_FE;
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UART_InitStructure.UART_StopBits = UART_StopBits_1;
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UART_InitStructure.UART_Parity = UART_Parity_No;
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UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None;
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UART_InitStructure.UART_Mode = UART_Mode_Rx | UART_Mode_Tx;
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UART_Init(DEBUG_UARTx, &UART_InitStructure);
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}
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PUTCHAR_PROTOTYPE
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{
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UART_SendData(DEBUG_UARTx, (uint8_t)ch);
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while (UART_GetFlagStatus(DEBUG_UARTx, UART_FLAG_TXE) == RESET)
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{
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}
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return ch;
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}
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size_t __write(int handle, const unsigned char *buffer, size_t size)
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{
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size_t nChars = 0;
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if (buffer == 0)
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{
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return 0;
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}
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if (handle != 1 && handle != 2)
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{
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return -1;
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}
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for (; size != 0; --size)
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{
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UART_SendData(DEBUG_UARTx, *buffer++);
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while (UART_GetFlagStatus(DEBUG_UARTx, UART_FLAG_TXE) == RESET)
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{
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}
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++nChars;
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}
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return nChars;
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}
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#ifdef USE_FULL_ASSERT
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void assert_failed(uint8_t *file, uint32_t line)
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{
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(void)file;
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(void)line;
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}
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#endif
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void PowerOnDelay(void)
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{
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unsigned int i;
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for (i = 0; i < 6; i++)
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{
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volatile unsigned int j;
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for (j = 0; j < 60000; j++)
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{
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}
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}
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KKN = (MAXSPEED - MINSPEED);
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KKN = KKN / (NMAXVD - NMINVD);
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}
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unsigned int hte = 0;
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int main(void)
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{
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unsigned char DZCount = 0;
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char temp_buff[100], temp_buff1[50];
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PowerOnDelay();
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RCC_Configuration();
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UART_Configuration();
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GPIOInit();
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LEDON();
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ADC_Configuration();
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PWMtimer_init();
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BTIM_init();
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Halltimer_init();
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PWM_AL_ON;
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PWM_BL_ON;
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PWM_CL_ON;
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TimeCountTemp = 0;
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while (TimeCountTemp < 50)
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{
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}
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TimeCountTemp = 0;
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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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printf("Update %s %s\r\n", __DATE__, __TIME__);
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printf("CW32L012 BLDC Hall PID\r\n");
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printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",
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SampleData[0], SampleData[1], SampleData[2], SampleData[3]);
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SampleVI();
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startflag = 1;
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EnDirCheck();
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DIin = 0x500;
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if (SampleData[1] > 1117 && SampleData[1] <= 1500)
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{
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DIin = SampleData[1];
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}
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else
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{
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printf("Current read err\r\n");
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}
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if (SampleData[2] > 3000 || SampleData[2] < 700)
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{
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printf("Speed read err\r\n");
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}
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if (HALL_Check() == 0 || HALL_Check() == 7)
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{
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printf("HALL Read Err\r\n");
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}
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if (CanshuV < 30)
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{
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printf("Votage read err\r\n");
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}
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sprintf(temp_buff1, "Set :%4d RPM ", SetSpeed);
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sprintf(temp_buff, "Real:%4d RPM ", RealS);
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printf("%s\r\n", temp_buff);
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printf("%s\r\n", temp_buff1);
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sprintf(temp_buff1, "Vbus :%d.%d V ", CanshuV / 10, CanshuV % 10);
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sprintf(temp_buff, "I(MA):%d ", CanshuI);
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printf("%s\r\n", temp_buff);
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printf("%s\r\n", temp_buff1);
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GPIO_WritePin(VOUT_EN_GPIO_PORT, VOUT_EN_GPIO_PIN, GPIO_Pin_SET);
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while (1)
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{
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if (TimeCountCompuSpeed > 20)
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{
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TimeCountCompuSpeed = 0;
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SampleSpeed();
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HALL_Check();
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}
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if (TimeCountVI >= 200)
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{
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printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",
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SampleData[0], SampleData[1], SampleData[2], SampleData[3]);
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TimeCountVI = 0;
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SampleVI();
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RealS = hte * 50 / MPolePairs;
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if (MOTORSTATE == STATESTARTPID || MOTORSTATE == STATERUNPID)
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{
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if (RealS == 0)
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{
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DZCount++;
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if (DZCount >= 10)
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{
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DZCount = 0;
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ErrorCode = 7;
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}
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}
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else
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{
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DZCount = 0;
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}
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}
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}
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if (ErrorCode != 0 && MOTORSTATE != STATEERROR && MOTORSTATE != STATEERROROVER)
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{
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MOTORSTATE = STATEERROR;
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printf("ErrorCode=%d\r\n", ErrorCode);
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GPIO_WritePin(VOUT_EN_GPIO_PORT, VOUT_EN_GPIO_PIN, GPIO_Pin_RESET);
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}
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if (TimeCountkey >= 500)
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{
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LEDTOG();
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TimeCountkey = 0;
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sprintf(temp_buff1, "Set :%4d RPM ", SetSpeed);
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sprintf(temp_buff, "Real:%4d RPM ", RealS);
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printf("%s\r\n", temp_buff);
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printf("%s\r\n", temp_buff1);
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sprintf(temp_buff1, "Vbus :%d.%d V ", CanshuV / 10, CanshuV % 10);
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sprintf(temp_buff, "I(MA):%d ", CanshuI);
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printf("%s\r\n", temp_buff);
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printf("%s\r\n", temp_buff1);
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}
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MotorBreak();
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EnDirCheck();
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switch (MOTORSTATE)
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{
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case STATESTARTCHECK:
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MotorStartCheck();
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break;
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case STATESTARTPID:
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MotorStartPID();
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break;
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case STATERUNPID:
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MotorRunPID();
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break;
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case STATESTOP:
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MotorStop();
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break;
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case STATEERROR:
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MotorError();
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break;
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case STATEERROROVER:
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MotorErrorOver();
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break;
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default:
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break;
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}
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}
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}
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void BTIM1_IRQHandler(void)
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{
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if (BTIM_GetITStatus(CW_BTIM1, BTIM_IT_UPDATE) != RESET)
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{
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BTIM_ClearITPendingBit(CW_BTIM1, BTIM_IT_UPDATE);
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TimeCountTemp++;
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TimeCountCompuSpeed++;
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TimeCountRealSpd++;
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if (TimeCountAvgSpd >= 200)
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{
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hte = HALLcount1;
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HALLcount1 = 0;
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TimeCountAvgSpd = 0;
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}
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if (TimeCountRealSpd >= 20)
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{
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HALLcountTemp = HALLcount;
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HALLcount = 0;
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TimeCountRealSpd = 0;
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}
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TimeCountPID++;
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TimeCountAvgSpd++;
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TimeCountVI++;
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TimeCountkey++;
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}
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}
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