FOC开环调试成功
This commit is contained in:
+125
-107
@@ -3,29 +3,36 @@
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#include "adc.h"
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#include "gd32c10x.h"
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#include "gd32c10x_gpio.h"
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#include "gd32c10x_rcu.h"
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#include "gd32c10x_timer.h"
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#include "initial.h"
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#include "DengFOC.h"
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#include <cstdio>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include "Timer.h"
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// 配置定时器每100微秒中断一次
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// 系统时钟为120MHz，要得到100微秒的中断周期
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// 可以使用预分频器119，定时器时钟为120MHz/(119+1) = 1MHz
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// 然后设置周期为99，即计数100次，1MHz/100 = 10kHz = 100微秒
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constexpr int TIMER1_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER1_PERIOD = 99; // 1MHz / 100 = 100us
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constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
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constexpr int TIMER2_PERIOD = 99; // 1MHz / 100 = 100us
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constexpr int TIMER0_PRESCALER = 5999;
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constexpr int TIMER0_PERIOD = 15999;
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constexpr int TIMER0_CH0_PULSE = 4000;
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constexpr int TIMER0_CH1_PULSE = 6000;
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constexpr int TIMER0_CH2_PULSE = 8000;
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constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
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constexpr int TIMER1_PERIOD = 2999; // 120MHz / (0+1) / (5999+1) = 20kHz
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constexpr int TIMER1_CH0_PULSE = 0;
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constexpr int TIMER1_CH1_PULSE = 0;
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constexpr int TIMER1_CH2_PULSE = 0;
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static u32 total_us100_counter = 0; // 总计数器，每100微秒增加1
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extern u16 adc_value[7];
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extern CAN_transmiter CAN0_transmiter;
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// 添加系统运行时间计数器
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static volatile std::u64 system_runtime_us = 0;
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// 声明外部FOC控制器对象
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extern FOC_Controlroller FOC;
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/**
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* @brief 设置引脚中断优先级
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@@ -36,8 +43,8 @@ extern CAN_transmiter CAN0_transmiter;
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void nvic_config(void) {
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/* 设置NVIC优先级分组，1位抢占优先级，3位响应优先级 */
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nvic_priority_group_set(NVIC_PRIGROUP_PRE2_SUB2);
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/* 使能TIMER1中断，设置抢占优先级为1，子优先级为1 */
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nvic_irq_enable(TIMER1_IRQn, 1, 1);
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/* 使能TIMER2中断，设置抢占优先级为1，子优先级为1 */
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nvic_irq_enable(TIMER2_IRQn, 1, 1);
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}
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/**
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@@ -46,73 +53,88 @@ void nvic_config(void) {
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*
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*配置定时器1
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*/
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void timer1_config(void) {
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void TIMER2_config(void) {
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/* ----------------------------------------------------------------------------
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TIMER1 Configuration:
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TIMER1CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
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TIMER2 Configuration:
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TIMER2CLK = SystemCoreClock/120 = 1MHz, the period is 100us(100/1000000 =
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100us).
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----------------------------------------------------------------------------
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*/
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timer_parameter_struct timer_struct;
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/* 使能TIMER1时钟 */
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rcu_periph_clock_enable(RCU_TIMER1);
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/* 使能TIMER2时钟 */
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rcu_periph_clock_enable(RCU_TIMER2);
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/* 复位TIMER1外设到默认状态 */
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timer_deinit(TIMER1);
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/* 复位TIMER2外设到默认状态 */
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timer_deinit(TIMER2);
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/* 初始化TIMER初始化参数结构体 */
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timer_struct_para_init(&timer_struct);
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/* TIMER1配置参数设置 */
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/* TIMER2配置参数设置 */
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timer_struct.prescaler =
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TIMER1_PRESCALER; /* 预分频值：120分频(从0开始计数) */
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TIMER2_PRESCALER; /* 预分频值：120分频(从0开始计数) */
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timer_struct.alignedmode = TIMER_COUNTER_EDGE; /* 边沿对齐模式 */
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timer_struct.counterdirection = TIMER_COUNTER_UP; /* 向上计数模式 */
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timer_struct.period =
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TIMER1_PERIOD; /* 自动重装载值：100次计数(从0开始计数) */
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TIMER2_PERIOD; /* 自动重装载值：100次计数(从0开始计数) */
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timer_struct.clockdivision = TIMER_CKDIV_DIV1; /* 时钟分频值：1分频 */
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timer_init(TIMER1, &timer_struct);
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timer_init(TIMER2, &timer_struct);
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/* 清除更新中断标志位 */
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timer_interrupt_flag_clear(TIMER1, TIMER_INT_FLAG_UP);
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
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/* 使能更新中断 */
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timer_interrupt_enable(TIMER1, TIMER_INT_UP);
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timer_interrupt_enable(TIMER2, TIMER_INT_UP);
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/* 使能TIMER1 */
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timer_enable(TIMER1);
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/* 使能TIMER2 */
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timer_enable(TIMER2);
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}
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/**
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* @brief 配置TIMER1中断
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* @brief 配置TIMER2中断
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* @return void
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*/
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void User_timer_init(void) {
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/* 配置TIMER1 */
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timer1_config();
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/* 配置TIMER1中断 */
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/* 配置TIMER2 */
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TIMER2_config();
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/* 配置TIMER2中断 */
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nvic_config();
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}
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/*!
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\brief 获取系统运行时间(毫秒)
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\param[in] none
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\param[out] none
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\retval 系统运行时间，单位为毫秒
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*/
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uint64_t get_system_runtime_us(void)
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{
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return system_runtime_us;
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}
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/**
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* @brief TIMER1中断处理函数
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* @brief TIMER2中断处理函数
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* @return void
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*/
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void TIMER1_IRQHandler(void) {
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void TIMER2_IRQHandler(void) {
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// 检查更新中断标志并处理
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if (timer_interrupt_flag_get(TIMER1, TIMER_INT_UP) != RESET) {
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if (timer_interrupt_flag_get(TIMER2, TIMER_INT_UP) != RESET) {
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// 清除更新中断标志
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timer_interrupt_flag_clear(TIMER1, TIMER_INT_UP);
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timer_interrupt_flag_clear(TIMER2, TIMER_INT_UP);
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// 增加总计数器
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total_us100_counter++;
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system_runtime_us += 100;
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// 每100us执行一次的操作可以放在这里
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// 在定时器中断中执行FOC控制，确保控制频率稳定
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FOC.velocity_open_loop(FOC.target_velocity);
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if (total_us100_counter % 10 == 0) {
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// 每1ms执行的代码可以放在这里
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CAN0_transmiter.can0_send_flag = SET;
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if (total_us100_counter % 100 == 0) {
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// 每10ms执行的代码可以放在这里
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}
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if (total_us100_counter % 1000 == 0) {
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// 每100ms执行的代码可以放在这里
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}
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@@ -128,99 +150,77 @@ void TIMER1_IRQHandler(void) {
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}
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/**
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* @brief TIMER0 GPIO配置函数
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* @brief TIMER1 GPIO配置函数
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*/
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void timer0_gpio_config(void) {
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void timer1_gpio_config(void) {
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// 时钟使能
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_AF);
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rcu_periph_clock_enable(RCU_TIMER1);
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// TIMER0 GPIO初始化
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// TIMER1 GPIO初始化
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);
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/* 配置TIMER0完全重映射 */
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gpio_pin_remap_config(GPIO_TIMER0_FULL_REMAP, ENABLE);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0|GPIO_PIN_12);
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gpio_bit_set(GPIOB, GPIO_PIN_0);
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gpio_bit_set(GPIOB, GPIO_PIN_12);
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/* 配置TIMER1完全重映射 - 应该使用DISABLE，因为我们使用的是默认引脚 */
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gpio_pin_remap_config(GPIO_TIMER1_FULL_REMAP, DISABLE);
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}
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/**
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* @brief TIMER0 配置函数
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* @brief TIMER1 配置函数
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*/
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void timer0_config(void) {
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/* -----------------------------------------------------------------------
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TIMER0配置：
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生成3路具有不同占空比的互补PWM信号：
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TIMER0CLK固定为systemcoreclock，TIMER0预分频器设置为6000，因此
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TIMER0计数器时钟为20KHz。
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三个占空比的计算如下：
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通道0的占空比设置为25%，因此通道1N设置为75%。
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通道1的占空比设置为50%，因此通道2N设置为50%。
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通道2的占空比设置为75%，因此通道3N设置为25%。
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----------------------------------------------------------------------- */
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timer_oc_parameter_struct timer_ocinitpara;
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timer_parameter_struct timer_initpara;
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void timer1_pwm_config(void) {
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocinitpara;
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rcu_periph_clock_enable(RCU_TIMER0);
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// 使能TIMER1时钟
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rcu_periph_clock_enable(RCU_TIMER1);
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timer_deinit(TIMER0);
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/* initialize TIMER init parameter struct */
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timer_struct_para_init(&timer_initpara);
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/* TIMER0 configuration */
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timer_initpara.prescaler = TIMER0_PRESCALER;
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = TIMER0_PERIOD;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_initpara.repetitioncounter = 0;
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timer_init(TIMER0, &timer_initpara);
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// 复位TIMER1
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timer_deinit(TIMER1);
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/* initialize TIMER channel output parameter struct */
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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/* CH0, CH1 and CH2 configuration in PWM mode */
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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// 配置TIMER1基本参数
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timer_struct_para_init(&timer_initpara);
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timer_initpara.prescaler = TIMER1_PRESCALER; // 预分频器
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timer_initpara.counterdirection = TIMER_COUNTER_UP; // 向上计数
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timer_initpara.period = TIMER1_PERIOD; // 计数周期
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_init(TIMER1, &timer_initpara);
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timer_channel_output_config(TIMER0, TIMER_CH_0, &timer_ocinitpara);
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timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocinitpara);
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timer_channel_output_config(TIMER0, TIMER_CH_2, &timer_ocinitpara);
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// 配置通道输出参数
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timer_channel_output_struct_para_init(&timer_ocinitpara);
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timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0,
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TIMER0_CH0_PULSE);
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timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER0, TIMER_CH_0,
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TIMER_OC_SHADOW_DISABLE);
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// 配置三个通道为PWM模式
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timer_channel_output_config(TIMER1, TIMER_CH_0, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_1, &timer_ocinitpara);
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timer_channel_output_config(TIMER1, TIMER_CH_2, &timer_ocinitpara);
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timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1,
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TIMER0_CH1_PULSE);
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timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER0, TIMER_CH_1,
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TIMER_OC_SHADOW_DISABLE);
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// 设置PWM模式和占空比
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timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);
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timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);
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timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2,
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TIMER0_CH2_PULSE);
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timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER0, TIMER_CH_2,
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TIMER_OC_SHADOW_DISABLE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, TIMER1_CH0_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, TIMER1_CH1_PULSE);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, TIMER1_CH2_PULSE);
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timer_primary_output_config(TIMER0, ENABLE);
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// 自动重载模式使能和启动TIMER0
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timer_auto_reload_shadow_enable(TIMER0);
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timer_enable(TIMER0);
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// 使能主输出和自动重载
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timer_primary_output_config(TIMER1, ENABLE);
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timer_auto_reload_shadow_enable(TIMER1);
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// 启动TIMER1
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timer_enable(TIMER1);
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}
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/**
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* @brief TIMER0 GPIO config
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*/
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void Timer0_init(void) {
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timer0_gpio_config();
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timer0_config();
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}
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/*!
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\brief set PWM
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@@ -231,9 +231,27 @@ void Timer0_init(void) {
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\retval none
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\note The channel parameter must be between 0 and 3 inclusive.
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*/
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void Set_Pwm(u16 channel, u32 palse) {
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void Set_Pwm(u16 channel, float duty_cycle) {
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float pulse = duty_cycle * TIMER1_PERIOD;
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if (channel <= 3) {
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timer_channel_output_pulse_value_config(TIMER0, channel, palse);
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timer_channel_output_pulse_value_config(TIMER1, channel, pulse);
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} else {
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} // Ensure channel is within valid range
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}
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/*!
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\brief set PWM
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\param[in] channel: TIMER_CH_0/TIMER_CH_1/TIMER_CH_2/TIMER_CH_3 (valid
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values: 0, 1, 2, 3)
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\param[in] pulse: PWM pulse value
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\param[out] none
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\retval none
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\note The channel parameter must be between 0 and 3 inclusive.
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*/
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void Set_3Pwm(float duty_cycle0, float duty_cycle1,float duty_cycle2) {
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, duty_cycle0 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, duty_cycle1 * TIMER1_PERIOD);
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timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, duty_cycle2 * TIMER1_PERIOD);
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}
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