YuanHongbin/Acc_Support_29V_HV2.x
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Merge branch 'Motor_Test' into 双柱双电机S型传感器独立分支

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# Conflicts:
#	Project/HC32F460/MDK/HC32F460.uvoptx
This commit is contained in:
cui635
2025-10-25 19:25:03 +08:00
parent 5abc24f215 8f2b61e436
commit 291a41e850
1 changed files with 146 additions and 18 deletions
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Project/HC32F460/source/Module/dc_motor/dc_motor.c
+146 -18
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@@ -65,6 +65,9 @@ void DCMOTORDBGOnOff(uint8_t OnOff)
#define TIMER4_PWM_H_PIN (Pin09)
#define TIMER4_PWM_L_PORT (PortB) /* TIM4_1_OUL_B:PE8 TIM4_1_OVL_B:PE10 TIM4_1_OWL_B:PE12 */
#define TIMER4_PWM_L_PIN (Pin14)
en_timer4_oco_ch_t enOcoLowCh = (en_timer4_oco_ch_t)(TIMER4_OCO_HIGH_CH + 1);
#endif
@@ -375,7 +378,7 @@ void AdcLoopHander(void)
#if(0)
void Timer41_Init(uint8_t dir)
{
uint8_t E_OC_Port = 0;
@@ -516,9 +519,131 @@ void Timer41_Init(uint8_t dir)
TIMER4_CNT_Start(TIMER4_UNIT);
}
#endif
#if(1)
void Timer41_Init(void)
{
stc_timer4_cnt_init_t stcCntInit;
stc_timer4_oco_init_t stcOcoInit;
stc_timer4_pwm_init_t stcPwmInit;
stc_oco_low_ch_compare_mode_t stcLowChCmpMode;
stc_oco_high_ch_compare_mode_t stcHighChCmpMode;
uint16_t u8OcoOccrVal = TIMER4_CNT_CYCLE_VAL/10u;
en_timer4_oco_ch_t enOcoLowCh = (en_timer4_oco_ch_t)(TIMER4_OCO_HIGH_CH + 1);
/* Clear structures */
MEM_ZERO_STRUCT(stcCntInit);
MEM_ZERO_STRUCT(stcOcoInit);
MEM_ZERO_STRUCT(stcLowChCmpMode);
MEM_ZERO_STRUCT(stcHighChCmpMode);
MEM_ZERO_STRUCT(stcPwmInit);
/* Enable peripheral clock */
PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM41, Enable);
/* Timer4 CNT : Initialize CNT configuration structure */
stcCntInit.enBufferCmd = Disable;
stcCntInit.enClk = Timer4CntPclk;
stcCntInit.enClkDiv = Timer4CntPclkDiv4; /* CNT clock divide */
stcCntInit.u16Cycle = TIMER4_CNT_CYCLE_VAL;
// stcCntInit.enCntMode = Timer4CntSawtoothWave; //锯齿波模式
stcCntInit.enCntMode = Timer4CntTriangularWave; //三角波模式Timer4CntTriangularWave
stcCntInit.enZeroIntCmd = Disable;
stcCntInit.enPeakIntCmd = Disable;
stcCntInit.enZeroIntMsk = Timer4CntIntMask0;
stcCntInit.enPeakIntMsk = Timer4CntIntMask0;
TIMER4_CNT_Init(TIMER4_UNIT, &stcCntInit); /* Initialize CNT */
/* Timer4 OCO : Initialize OCO configuration structure */
stcOcoInit.enOccrBufMode = OccrBufDisable;
stcOcoInit.enOcmrBufMode = OcmrBufDisable;
stcOcoInit.enPortLevel = OcPortLevelHigh; /*输出高电平到OC端口*/
stcOcoInit.enOcoIntCmd = Disable;
TIMER4_OCO_Init(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, &stcOcoInit); /* Initialize OCO high channel */
TIMER4_OCO_Init(TIMER4_UNIT, enOcoLowCh, &stcOcoInit); /* Initialize OCO low channel */
if (!(TIMER4_OCO_HIGH_CH % 2))
{
/* ocmr[15:0] = 0x225F */
stcHighChCmpMode.enCntZeroNotMatchOpState = OcoOpOutputHold; ///< b15~b14
stcHighChCmpMode.enCntPeakNotMatchOpState = OcoOpOutputLow; ///< b13~b12
stcHighChCmpMode.enCntZeroMatchOpState = OcoOpOutputHold; ///< b11~b10
stcHighChCmpMode.enCntUpCntMatchOpState = OcoOpOutputLow; ///< b9~b8
stcHighChCmpMode.enCntPeakMatchOpState = OcoOpOutputHigh; ///< b7~b6
stcHighChCmpMode.enCntDownCntMatchOpState = OcoOpOutputHigh; ///< b5~b4
stcHighChCmpMode.enCntZeroMatchOcfState = OcoOcfSet; ///< b3
stcHighChCmpMode.enCntUpCntMatchOcfState = OcoOcfSet; ///< b2
stcHighChCmpMode.enCntPeakMatchOcfState = OcoOcfSet; ///< b1
stcHighChCmpMode.enCntDownCntMatchOcfState = OcoOcfSet; ///< b0
stcHighChCmpMode.enMatchConditionExtendCmd = Disable;
TIMER4_OCO_SetHighChCompareMode(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, &stcHighChCmpMode); /* Set OCO high channel compare mode */
}
/*************Timer4 OCO ocmr1[31:0] = 0x0FF0 0FFF*****************************/
if (enOcoLowCh % 2)
{
/* OCMR[31:0] Ox 2250 225F 0000 1111 1111 0000 0000 1111 1111 1111 */
stcLowChCmpMode.enCntZeroLowMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[27:26] 00 */
stcLowChCmpMode.enCntZeroLowMatchHighNotMatchLowChOpState = OcoOpOutputHold; /* bit[11:10] 00 */
stcLowChCmpMode.enCntZeroLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[31:30] 00 */
stcLowChCmpMode.enCntZeroLowNotMatchHighNotMatchLowChOpState = OcoOpOutputHold; /* bit[15:14] 00 */
stcLowChCmpMode.enCntUpCntLowMatchHighMatchLowChOpState = OcoOpOutputLow; /* bit[25:24] 10 */
stcLowChCmpMode.enCntUpCntLowMatchHighNotMatchLowChOpState = OcoOpOutputLow; /* bit[9:8] 10 */
stcLowChCmpMode.enCntUpCntLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[19:18] 00 */
stcLowChCmpMode.enCntPeakLowMatchHighMatchLowChOpState = OcoOpOutputHigh; /* bit[23:22] 01 */
stcLowChCmpMode.enCntPeakLowMatchHighNotMatchLowChOpState = OcoOpOutputHigh; /* bit[7:6] 01 */
stcLowChCmpMode.enCntPeakLowNotMatchHighMatchLowChOpState = OcoOpOutputLow; /* bit[29:28] 10 */
stcLowChCmpMode.enCntPeakLowNotMatchHighNotMatchLowChOpState = OcoOpOutputLow; /* bit[13:12] 10 */
stcLowChCmpMode.enCntDownLowMatchHighMatchLowChOpState = OcoOpOutputHigh; /* bit[21:20] 01 */
stcLowChCmpMode.enCntDownLowMatchHighNotMatchLowChOpState = OcoOpOutputHigh; /* bit[5:4] 01 */
stcLowChCmpMode.enCntDownLowNotMatchHighMatchLowChOpState = OcoOpOutputHold; /* bit[17:16] 00 */
stcLowChCmpMode.enCntZeroMatchOcfState = OcoOcfSet; /* bit[3] 1 */
stcLowChCmpMode.enCntUpCntMatchOcfState = OcoOcfSet; /* bit[2] 1 */
stcLowChCmpMode.enCntPeakMatchOcfState = OcoOcfSet; /* bit[1] 1 */
stcLowChCmpMode.enCntDownCntMatchOcfState = OcoOcfSet; /* bit[0] 1 */
TIMER4_OCO_SetLowChCompareMode(TIMER4_UNIT, enOcoLowCh, &stcLowChCmpMode); /* Set OCO low channel compare mode */
}
// /* Set OCO compare value */
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0);
/* Enable OCO */
TIMER4_OCO_OutputCompareCmd(TIMER4_UNIT, enOcoLowCh, Enable);
TIMER4_OCO_OutputCompareCmd(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, Enable);
/* Initialize PWM I/O */
PORT_SetFunc(TIMER4_PWM_H_PORT, TIMER4_PWM_H_PIN, Func_Tim4, Disable);
PORT_SetFunc(TIMER4_PWM_L_PORT, TIMER4_PWM_L_PIN, Func_Tim4, Disable);
/* Timer4 PWM: Initialize PWM configuration structure */
//重载定时器中断
stcPwmInit.enRtIntMaskCmd = Enable;
//计数时钟分频
stcPwmInit.enClkDiv = PwmPlckDiv1; /*滤波计数器和死区计数器的计数时钟分频*/
//PWM输出极性控制
stcPwmInit.enOutputState = PwmHPwmLReverse; /*输出PWMH信号不改变电平，输出PWML信号反转*/
//PWM输出模式
stcPwmInit.enMode = PwmThroughMode; /*直通模式*/
TIMER4_PWM_Init(TIMER4_UNIT, TIMER4_PWM_CH, &stcPwmInit); /* Initialize timer4 pwm */
/* Clear && Start CNT */
TIMER4_CNT_Start(TIMER4_UNIT);
}
#endif
void Timer61A_Init(void)
{
@@ -691,10 +816,12 @@ void dcmotor_init(void)
// PORT_SetBits(PortA, Pin03);
// /* SD拉低，关闭输出 */
//
// dcmotor_stop(); /* 停止电机 */
// dcmotor_dir(0); /* 设置正转 */
// dcmotor_speed(0); /* 速度设置为0 */
// dcmotor_start(); /* 开启电机 */
Timer41_Init();
dcmotor_stop(); /* 停止电机 */
dcmotor_dir(0); /* 设置正转 */
dcmotor_speed(0); /* 速度设置为0 */
dcmotor_start(); /* 开启电机 */
}
/**
@@ -719,7 +846,10 @@ void dcmotor_stop(void)
#endif
#if(TIMER == TIMER4)
TIMER4_CNT_Stop(TIMER4_UNIT);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
DISABLE_MOTOR;
#endif
}
@@ -751,17 +881,19 @@ void dcmotor_dir(uint8_t para)
#endif
#if(TIMER == TIMER4)
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
if (para == 0) /* 正转 */
{
Timer41_Init(1);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
}
else if (para == 1) /* 反转 */
{
Timer41_Init(0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, 0);
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, 0u);
}
dcmotor_start();
#endif
}
@@ -782,8 +914,8 @@ void dcmotor_speed(uint16_t para)
#endif
#if(TIMER == TIMER4)
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //正转
TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, g_motorSpeed); //正转
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, g_motorSpeed); //反转
#endif
dcmotor_stop();
return;
@@ -797,10 +929,7 @@ void dcmotor_speed(uint16_t para)
#endif
#if(TIMER == TIMER4)
// TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //正转
// TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, g_motorSpeed); //反转
TIMER4_OCO_WriteOccr(TIMER4_UNIT, enOcoLowCh, g_motorSpeed); //反转
#endif
DCMOTOR_DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed);
@@ -814,7 +943,6 @@ void dcmotor_speed(uint16_t para)
#if(TIMER == TIMER4)
TIMER4_OCO_WriteOccr(TIMER4_UNIT, TIMER4_OCO_HIGH_CH, g_motorSpeed); //正转
// TIMER4_OCO_WriteOccr(TIMER4_UNIT, Timer4OcoOul, TIMER4_CNT_CYCLE_VAL - g_motorSpeed); //反转
#endif
DCMOTOR_DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed);
}