YuanHongbin/Acc_Support_29V_HV2.x
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1、代码备份

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This commit is contained in:
YuanHongbin
2025-09-14 18:54:54 +08:00
parent a0f42649f4
commit 7dc8f7c6d7
9 changed files with 780 additions and 43 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+50 -10
View File
@@ -101,9 +101,7 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel>
<nTsel>2</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,9 +112,14 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JEUA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JEUA$FlashARM\HC32F460_otp.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@@ -205,6 +208,26 @@
<WinNumber>1</WinNumber>
<ItemText>App.ADTrack.RightLow_Org_AdZero,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>LeftSlopeSum,0x0A</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>RightSlopeSum,0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>LeftDiffSum,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>RightDiffSum,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@@ -250,7 +273,6 @@
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>1000000</DbgClock>
@@ -338,8 +360,6 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>-1</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
@@ -401,7 +421,7 @@
<Group>
<GroupName>common</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -421,7 +441,7 @@
<GroupNumber>1</GroupNumber>
<FileNumber>2</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\..\mcu\common\system_hc32f460.c</PathWithFileName>
@@ -433,7 +453,7 @@
<Group>
<GroupName>driver</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -1067,6 +1087,26 @@
</File>
</Group>
<Group>
<GroupName>dc_motor</GroupName>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>54</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\source\Module\dc_motor\dc_motor.c</PathWithFileName>
<FilenameWithoutPath>dc_motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>Readme</GroupName>
<tvExp>0</tvExp>
Project/HC32F460/MDK/HC32F460.uvprojx
+24 -22
View File
@@ -10,7 +10,7 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
<pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
@@ -184,9 +184,6 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2>
<StupSel>8</StupSel>
@@ -327,7 +324,6 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>3</v6Lang>
<v6LangP>5</v6LangP>
@@ -340,7 +336,7 @@
<MiscControls></MiscControls>
<Define>__DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA</Define>
<Undefine></Undefine>
<IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237</IncludePath>
<IncludePath>..\..\..\mcu\common;..\source\User\Inc;..\source\User\Src;..\..\..\driver\src;..\..\..\driver\inc;..\source\Module\CS1237;..\source\Module\dc_motor</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -353,7 +349,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@@ -666,6 +662,16 @@
</File>
</Files>
</Group>
<Group>
<GroupName>dc_motor</GroupName>
<Files>
<File>
<FileName>dc_motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\source\Module\dc_motor\dc_motor.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Readme</GroupName>
</Group>
@@ -852,9 +858,6 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2>
<StupSel>8</StupSel>
@@ -995,7 +998,6 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
@@ -1021,7 +1023,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@@ -1334,6 +1336,16 @@
</File>
</Files>
</Group>
<Group>
<GroupName>dc_motor</GroupName>
<Files>
<File>
<FileName>dc_motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\source\Module\dc_motor\dc_motor.c</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Readme</GroupName>
</Group>
@@ -1358,14 +1370,4 @@
<files/>
</RTE>
<LayerInfo>
<Layers>
<Layer>
<LayName>HC32F460</LayName>
<LayTarg>0</LayTarg>
<LayPrjMark>1</LayPrjMark>
</Layer>
</Layers>
</LayerInfo>
</Project>
Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
+1 -2
View File
@@ -1,6 +1,6 @@
/*
* Auto generated Run-Time-Environment Configuration File
* Auto generated Run-Time-Environment Component Configuration File
* *** Do not modify ! ***
*
* Project: 'HC32F460'
@@ -17,5 +17,4 @@
#define CMSIS_device_header "HC32F460JEUA.h"
#endif /* RTE_COMPONENTS_H */
Project/HC32F460/source/Module/dc_motor/dc_motor.c
+553
View File
@@ -0,0 +1,553 @@
#include "dc_motor.h"
#include "hc32_ddl.h"
#include "Debug.h"
// 全局变量
volatile MotorState g_motorState = MOTOR_STOPPED;
volatile MotorCommand g_motorCmd = MOTOR_CMD_STOP;
volatile MotorDirection g_motorDirection = DIR_STOPPED; // 新增运行方向标志位
volatile uint16_t g_motorSpeed = 0;
volatile uint16_t g_accelTimer = 0;
static uint16_t accelCounter = 0;
static uint8_t DcMotorDispEn = true;
#define DCMOTOR_DBG_LOG(...) { if(DcMotorDispEn) DBG_LOG(__VA_ARGS__);}
#define DCMOTOR_DBG_ARRAY(ARRAY, SIZE) { if(DcMotorDispEn) {DBG_ARRAY(ARRAY,SIZE)}}
void DCMOTORDBGOnOff(uint8_t OnOff)
{
DcMotorDispEn = OnOff;
if(OnOff)
DBG_LOG("\r\nKey Display Enable!\r\n");
else
DBG_LOG("\r\nKey Display Disable!\r\n");
}
void Timer61A_Init(void)
{
uint16_t u16Period;
// uint16_t u16Compare;
stc_timer6_basecnt_cfg_t stcTIM6BaseCntCfg;
stc_timer6_port_output_cfg_t stcTIM6PWMxCfg;
stc_timer6_gcmp_buf_cfg_t stcGCMPBufCfg;
stc_port_init_t stcPortInit;
stc_irq_regi_conf_t stcIrqRegiConf;
stc_timer6_deadtime_cfg_t stcDeadTimeCfg;
MEM_ZERO_STRUCT(stcTIM6BaseCntCfg);
MEM_ZERO_STRUCT(stcTIM6PWMxCfg);
MEM_ZERO_STRUCT(stcGCMPBufCfg);
MEM_ZERO_STRUCT(stcPortInit);
MEM_ZERO_STRUCT(stcIrqRegiConf);
MEM_ZERO_STRUCT(stcDeadTimeCfg);
/* Initialize Clock */
// BSP_CLK_Init();
PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM61, Enable);
PORT_SetFunc(PortA, Pin08, Func_Tim6, Disable); //Timer61 PWMA
PORT_SetFunc(PortB, Pin13, Func_Tim6, Disable); //Timer61 PWMB
stcTIM6BaseCntCfg.enCntMode = Timer6CntTriangularModeA; //Triangular wave mode
stcTIM6BaseCntCfg.enCntDir = Timer6CntDirUp; //Counter counting up
stcTIM6BaseCntCfg.enCntClkDiv = Timer6PclkDiv1; //Count clock: pclk
Timer6_Init(M4_TMR61, &stcTIM6BaseCntCfg); //timer6 PWM frequency, count mode and clk config
u16Period = 10000u;
Timer6_SetPeriod(M4_TMR61, Timer6PeriodA, u16Period); //period set
// u16Compare = 3000u;
// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, u16Compare); //Set General Compare RegisterA Value
// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, u16Compare); //Set General Compare RegisterC Value as buffer register of GCMAR
/*PWMA/PWMB output buf config*/
stcGCMPBufCfg.bEnGcmpTransBuf = true;
stcGCMPBufCfg.enGcmpBufTransType = Timer6GcmpPrdSingleBuf; //Single buffer transfer
Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMA, &stcGCMPBufCfg); //GCMAR buffer transfer set
Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMB, &stcGCMPBufCfg); //GCMBR buffer transfer set
stcTIM6PWMxCfg.bOutEn = true; //Output enable
stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMA port output keep former level when CNTER value match PERAR
stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareInv; //PWMA port output inverse level when CNTER value match with GCMAR
stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMA output status is decide by STACA STPCA when CNTER start and stop
stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER start
stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER stop
stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow;
Timer6_PortOutputConfig(M4_TMR61, Timer6PWMA, &stcTIM6PWMxCfg);
Timer6_SetFunc(M4_TMR61, Timer6PWMA, Timer6ModeCompareOutput); //Compare output function
stcTIM6PWMxCfg.bOutEn = true; //Output enable
stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMB port output keep former level when CNTER value match PERAR
stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareHigh; //PWMB port output inverse level when CNTER value match with GCMBR
stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMB output status is decide by STACB STPCB when CNTER start and stop
stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMB port output set high level when CNTER start
stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMB port output set low level when CNTER stop
stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow;
Timer6_PortOutputConfig(M4_TMR61, Timer6PWMB, &stcTIM6PWMxCfg);
Timer6_SetFunc(M4_TMR61, Timer6PWMB, Timer6ModeCompareOutput); //Compare output function
Timer6_SetDeadTimeValue(M4_TMR61, Timer6DeadTimUpAR, 10u); // Set dead time value (up count)
stcDeadTimeCfg.bEnDeadtime = true; //Enable Hardware DeadTime
stcDeadTimeCfg.bEnDtBufUp = false; //Disable buffer transfer
stcDeadTimeCfg.bEnDtBufDwn = false; //Disable buffer transfer
stcDeadTimeCfg.bEnDtEqualUpDwn = true; //Make the down count dead time value equal to the up count dead time setting
Timer6_ConfigDeadTime(M4_TMR61, &stcDeadTimeCfg); // Hardware dead time function config
}
void Timer61B_Init(void)
{
uint16_t u16Period;
// uint16_t u16Compare;
stc_timer6_basecnt_cfg_t stcTIM6BaseCntCfg;
stc_timer6_port_output_cfg_t stcTIM6PWMxCfg;
stc_timer6_gcmp_buf_cfg_t stcGCMPBufCfg;
stc_port_init_t stcPortInit;
stc_irq_regi_conf_t stcIrqRegiConf;
stc_timer6_deadtime_cfg_t stcDeadTimeCfg;
MEM_ZERO_STRUCT(stcTIM6BaseCntCfg);
MEM_ZERO_STRUCT(stcTIM6PWMxCfg);
MEM_ZERO_STRUCT(stcGCMPBufCfg);
MEM_ZERO_STRUCT(stcPortInit);
MEM_ZERO_STRUCT(stcIrqRegiConf);
MEM_ZERO_STRUCT(stcDeadTimeCfg);
PWC_Fcg2PeriphClockCmd(PWC_FCG2_PERIPH_TIM61, Enable);
PORT_SetFunc(PortA, Pin08, Func_Tim6, Disable); //Timer61 PWMA
PORT_SetFunc(PortB, Pin13, Func_Tim6, Disable); //Timer61 PWMB
stcTIM6BaseCntCfg.enCntMode = Timer6CntTriangularModeA; //Triangular wave mode
stcTIM6BaseCntCfg.enCntDir = Timer6CntDirUp; //Counter counting up
stcTIM6BaseCntCfg.enCntClkDiv = Timer6PclkDiv1; //Count clock: pclk
Timer6_Init(M4_TMR61, &stcTIM6BaseCntCfg); //timer6 PWM frequency, count mode and clk config
u16Period = 10000u;
Timer6_SetPeriod(M4_TMR61, Timer6PeriodA, u16Period); //period set
// u16Compare = 3000u;
// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, u16Compare); //Set General Compare RegisterA Value
// Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, u16Compare); //Set General Compare RegisterC Value as buffer register of GCMAR
/*PWMA/PWMB output buf config*/
stcGCMPBufCfg.bEnGcmpTransBuf = true;
stcGCMPBufCfg.enGcmpBufTransType = Timer6GcmpPrdSingleBuf; //Single buffer transfer
Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMA, &stcGCMPBufCfg); //GCMAR buffer transfer set
Timer6_SetGeneralBuf(M4_TMR61, Timer6PWMB, &stcGCMPBufCfg); //GCMBR buffer transfer set
stcTIM6PWMxCfg.bOutEn = true; //Output enable
stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMA port output keep former level when CNTER value match PERAR
stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareHigh; //PWMA port output inverse level when CNTER value match with GCMAR
stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMA output status is decide by STACA STPCA when CNTER start and stop
stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER start
stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMA port output set low level when CNTER stop
stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow;
Timer6_PortOutputConfig(M4_TMR61, Timer6PWMA, &stcTIM6PWMxCfg);
Timer6_SetFunc(M4_TMR61, Timer6PWMA, Timer6ModeCompareOutput); //Compare output function
stcTIM6PWMxCfg.bOutEn = true; //Output enable
stcTIM6PWMxCfg.enPerc = Timer6PWMxCompareKeep; //PWMB port output keep former level when CNTER value match PERAR
stcTIM6PWMxCfg.enCmpc = Timer6PWMxCompareInv; //PWMB port output inverse level when CNTER value match with GCMBR
stcTIM6PWMxCfg.enStaStp = Timer6PWMxStateSelSS; //PWMB output status is decide by STACB STPCB when CNTER start and stop
stcTIM6PWMxCfg.enStaOut = Timer6PWMxPortOutLow; //PWMB port output set high level when CNTER start
stcTIM6PWMxCfg.enStpOut = Timer6PWMxPortOutLow; //PWMB port output set low level when CNTER stop
stcTIM6PWMxCfg.enDisVal = Timer6PWMxDisValLow;
Timer6_PortOutputConfig(M4_TMR61, Timer6PWMB, &stcTIM6PWMxCfg);
Timer6_SetFunc(M4_TMR61, Timer6PWMB, Timer6ModeCompareOutput); //Compare output function
Timer6_SetDeadTimeValue(M4_TMR61, Timer6DeadTimUpAR, 10u); // Set dead time value (up count)
stcDeadTimeCfg.bEnDeadtime = true; //Enable Hardware DeadTime
stcDeadTimeCfg.bEnDtBufUp = false; //Disable buffer transfer
stcDeadTimeCfg.bEnDtBufDwn = false; //Disable buffer transfer
stcDeadTimeCfg.bEnDtEqualUpDwn = true; //Make the down count dead time value equal to the up count dead time setting
Timer6_ConfigDeadTime(M4_TMR61, &stcDeadTimeCfg); // Hardware dead time function config
}
/**
* @brief 电机初始化
* @param 无
* @retval 无
*/
void dcmotor_init(void)
{
stc_port_init_t stcPortInit;
stcPortInit.enPinMode = Pin_Mode_Out;
stcPortInit.enPinOType = Pin_OType_Cmos;
stcPortInit.enPinDrv = Pin_Drv_H;
stcPortInit.enPullUp = Disable;
PORT_Init(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin, &stcPortInit);
PORT_SetBits(SHUTDOWN1_GPIO_Port, SHUTDOWN1_Pin);
PORT_Init(PortA, Pin03, &stcPortInit);
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 */
}
/**
* @brief 电机开启
* @param 无
* @retval 无
*/
void dcmotor_start(void)
{
ENABLE_MOTOR; /* 拉高SD引脚，开启电机 */
}
/**
* @brief 电机停止
* @param 无
* @retval 无
*/
void dcmotor_stop(void)
{
Timer6_StopCount(M4_TMR61);
}
/**
* @brief 电机旋转方向设置
* @param para:方向 0正转，1反转
* @note 以电机正面，顺时针方向旋转为正转
* @retval 无
*/
void dcmotor_dir(uint8_t para)
{
Timer6_StopCount(M4_TMR61);
Timer6_DeInit(M4_TMR61);
if (para == 0) /* 正转 */
{
Timer61A_Init();
}
else if (para == 1) /* 反转 */
{
Timer61B_Init();
}
dcmotor_start();
Timer6_StartCount(M4_TMR61);
}
/**
* @brief 电机速度设置
* @param para:比较寄存器值
* @retval 无
*/
void dcmotor_speed(uint16_t para)
{
g_motorSpeed = (para > MAX_SPEED) ? MAX_SPEED : para;
if (g_motorSpeed == 0) {
g_motorDirection = DIR_STOPPED;
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
dcmotor_stop();
return;
}
if(Motor_GetDirection() == DIR_REVERSE) //反转
{
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed); //Set General Compare RegisterA Value
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed); //Set General Compare RegisterC Value as buffer register of GCMAR
DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed);
}
else if(Motor_GetDirection() == DIR_FORWARD) //正转
{
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, 10000-g_motorSpeed); //Set General Compare RegisterA Value
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, 10000-g_motorSpeed); //Set General Compare RegisterC Value as buffer register of GCMAR
DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed);
}
}
/**
* @brief 电机控制
* @param para: pwm比较值 ,正数电机为正转，负数为反转
* @note 根据传入的参数控制电机的转向和速度
* @retval 无
*/
void motor_pwm_set(float para)
{
int val = (int)para;
if(val == 0)
{
dcmotor_stop();
return;
}
if (val > 0)
{
g_motorDirection = DIR_FORWARD;
dcmotor_dir(0); /* 正转 */
dcmotor_speed(10000-val);
}
else
{
g_motorDirection = DIR_REVERSE;
dcmotor_dir(1); /* 反转 */
dcmotor_speed(-val);
}
DCMOTOR_DBG_LOG("dcmotor_speed:%d\r\n", val);
}
// 设置电机方向
void Motor_SetDirection(uint8_t dir) {
// 更新方向标志位
if (dir == 0) {
g_motorDirection = DIR_FORWARD;
// Up();
dcmotor_dir(0);
} else {
g_motorDirection = DIR_REVERSE;
// Down();
dcmotor_dir(1);
}
}
// 电机控制接口
void Motor_Control(MotorCommand cmd) {
g_motorCmd = cmd;
}
// 获取电机当前方向
MotorDirection Motor_GetDirection(void) {
return g_motorDirection;
}
// 设置电机速度
void Motor_SetSpeed(uint16_t speed) {
g_motorSpeed = (speed > MAX_SPEED) ? MAX_SPEED : speed;
// 当速度为零时，更新方向状态为停止
if (g_motorSpeed == 0) {
g_motorDirection = DIR_STOPPED;
}
if(Motor_GetDirection() == DIR_REVERSE) //反转
{
// Adt_SetCompareValue(M0P_ADTIM4, AdtCompareC, PWM_PERIOD - g_motorSpeed);
// DBG_LOG("REVERSE\tnewSpeed = %d\r\n", g_motorSpeed);
}
else if(Motor_GetDirection() == DIR_FORWARD) //正转
{
// Adt_SetCompareValue(M0P_ADTIM5, AdtCompareC, g_motorSpeed);
// DBG_LOG("FORWARD\tnewSpeed = %d\r\n", g_motorSpeed);
}
else
{
// StopMotor();
}
}
bool Dcmotor1msStatus = false;
void Dcmotor1msRoutine(void)
{
Dcmotor1msStatus = true;
}
uint8_t KeyASta;
uint8_t KeyBSta;
uint8_t RunSta;
void DcmotorLoopHandler(void)
{
#if(1)
if((RunSta == false) && (KeyASta == true) && (KeyBSta == false))
{
Motor_Control(MOTOR_CMD_REVERSE);
}
else if((RunSta == false) && (KeyASta == false) && (KeyBSta == true))
{
Motor_Control(MOTOR_CMD_FORWARD);
}
else if((RunSta == true) && (KeyASta == false) && (KeyBSta == false))
{
Motor_Control(MOTOR_CMD_STOP);
RunSta = false;
}
switch (g_motorCmd)
{
case MOTOR_CMD_REVERSE:
if(RunSta == false)
{
RunSta = true;
Timer61B_Init();
g_motorSpeed = 8000;
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
Timer6_StartCount(M4_TMR61);
}
break;
case MOTOR_CMD_FORWARD:
if(RunSta == false)
{
RunSta = true;
Timer61A_Init();
g_motorSpeed = 8000;
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareA, g_motorSpeed);
Timer6_SetGeneralCmpValue(M4_TMR61, Timer6GenCompareC, g_motorSpeed);
Timer6_StartCount(M4_TMR61);
}
break;
default:
Timer6_StopCount(M4_TMR61);
RunSta = false;
break;
}
#endif
#if(0)
if((RunSta == false) && (KeyASta == true) && (KeyBSta == false))
{
Motor_Control(MOTOR_CMD_REVERSE);
RunSta = true;
}
else if((RunSta == false) && (KeyASta == false) && (KeyBSta == true))
{
Motor_Control(MOTOR_CMD_FORWARD);
RunSta = true;
}
else if((RunSta == true) && (KeyASta == false) && (KeyBSta == false))
{
Motor_Control(MOTOR_CMD_STOP);
RunSta = false;
}
if(Dcmotor1msStatus == true)
{
Dcmotor1msStatus = false;
// 电机状态机处理
switch (g_motorState) {
case MOTOR_STOPPED:
// Motor_SetSpeed(0);
// motor_pwm_set(0);
dcmotor_speed(0);
// 检测新命令
if (g_motorCmd == MOTOR_CMD_FORWARD) {
Motor_SetDirection(0); // 设置正转方向
g_motorState = MOTOR_ACCELERATING;
accelCounter = 0;
// Motor_SetSpeed(ACCEL_STEP); // 初始速度
// motor_pwm_set(ACCEL_STEP);
dcmotor_speed(ACCEL_STEP);
}
else if (g_motorCmd == MOTOR_CMD_REVERSE) {
Motor_SetDirection(1); // 设置反转方向
g_motorState = MOTOR_ACCELERATING;
accelCounter = 0;
// Motor_SetSpeed(ACCEL_STEP); // 初始速度
// motor_pwm_set(ACCEL_STEP);
dcmotor_speed(ACCEL_STEP);
}
break;
case MOTOR_ACCELERATING:
// 加速过程
if (++accelCounter >= ACCEL_INTERVAL) {
accelCounter = 0;
uint16_t newSpeed = g_motorSpeed + ACCEL_STEP;
if (newSpeed >= MAX_SPEED) {
newSpeed = MAX_SPEED;
g_motorState = MOTOR_RUNNING; // 达到最大速度，进入匀速
}
// Motor_SetSpeed(newSpeed);
// motor_pwm_set(newSpeed);
dcmotor_speed(newSpeed);
}
// 检查停止命令
if (g_motorCmd == MOTOR_CMD_STOP) {
g_motorState = MOTOR_DECELERATING;
}
break;
case MOTOR_RUNNING:
// 检查停止命令
if (g_motorCmd == MOTOR_CMD_STOP) {
g_motorState = MOTOR_DECELERATING;
}
// 检查方向改变命令
else if ((g_motorCmd == MOTOR_CMD_FORWARD && g_motorDirection != DIR_FORWARD) ||
(g_motorCmd == MOTOR_CMD_REVERSE && g_motorDirection != DIR_REVERSE)) {
g_motorState = MOTOR_DECELERATING; // 需要先减速停止
}
break;
case MOTOR_DECELERATING:
// 减速过程
if (++accelCounter >= ACCEL_INTERVAL) {
accelCounter = 0;
// if (g_motorSpeed > DECEL_STEP) {
if (g_motorSpeed > DECEL_STEP) {
// Motor_SetSpeed(g_motorSpeed - DECEL_STEP);
// motor_pwm_set(g_motorSpeed - DECEL_STEP);
dcmotor_speed(g_motorSpeed - DECEL_STEP);
} else {
// Motor_SetSpeed(0);
// motor_pwm_set(0);
dcmotor_speed(0);
g_motorState = MOTOR_STOPPED; // 减速完成，进入停止状态
}
}
break;
}
}
#endif
}
Project/HC32F460/source/Module/dc_motor/dc_motor.h
+92
View File
@@ -0,0 +1,92 @@
#ifndef __DCMOTOR_H
#define __DCMOTOR_H
#include "hc32_ddl.h"
// 电机控制参数
#define PWM_PERIOD TIM_PERIOD // PWM周期值 (ARR)
#define MAX_SPEED 9900 // 最大速度(PWM占空比)
#define ACCEL_STEP 100 // 加速步进值
#define DECEL_STEP 100 // 减速步进值
#define ACCEL_INTERVAL 5 // 加减速间隔(ms)
// 电机控制命令
typedef enum {
MOTOR_CMD_STOP,
MOTOR_CMD_FORWARD,
MOTOR_CMD_REVERSE
} MotorCommand;
// 电机运行状态机
typedef enum {
MOTOR_STOPPED,
MOTOR_ACCELERATING,
MOTOR_RUNNING,
MOTOR_DECELERATING
} MotorState;
// 电机转动方向
typedef enum {
DIR_STOPPED,
DIR_FORWARD,
DIR_REVERSE
} MotorDirection;
/* 停止引脚操作宏定义
* 此引脚控制H桥是否生效以达到开启和关闭电机的效果
*/
#define SHUTDOWN1_Pin Pin12
#define SHUTDOWN1_GPIO_Port PortB
//#define SHUTDOWN2_Pin GPIO_PIN_2
//#define SHUTDOWN2_GPIO_Port GPIOF
#define SHUTDOWN_GPIO_CLK_ENABLE() do{ __HAL_RCC_GPIOF_CLK_ENABLE(); }while(0) /* PF口时钟使能 */
/* 电机停止引脚定义 这里默认是接口1 */
#define ENABLE_MOTOR PORT_SetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin)
#define DISABLE_MOTOR PORT_ResetBits(SHUTDOWN1_GPIO_Port,SHUTDOWN1_Pin)
/******************************************************************************************/
void dcmotor_init(void); /* 直流有刷电机初始化 */
void dcmotor_start(void); /* 开启电机 */
void dcmotor_stop(void); /* 关闭电机 */
void dcmotor_dir(uint8_t para); /* 设置电机方向 */
void dcmotor_speed(uint16_t para); /* 设置电机速度 */
void motor_pwm_set(float para); /* 电机控制 */
MotorDirection Motor_GetDirection(void);/* 获取电机转动方向 */
void Motor_Control(MotorCommand cmd); /* 电机控制 */
void Dcmotor1msRoutine(void);
void DcmotorLoopHandler(void);
#endif
Project/HC32F460/source/User/Inc/ddl_config.h
+3 -3
View File
@@ -88,8 +88,8 @@ extern "C"
#define DDL_QSPI_ENABLE (DDL_OFF)
#define DDL_RMU_ENABLE (DDL_OFF)
#define DDL_RTC_ENABLE (DDL_ON)
#define DDL_SDIOC_ENABLE (DDL_ON)
#define DDL_SPI_ENABLE (DDL_ON)
#define DDL_SDIOC_ENABLE (DDL_OFF)
#define DDL_SPI_ENABLE (DDL_OFF)
#define DDL_SRAM_ENABLE (DDL_ON)
#define DDL_SWDT_ENABLE (DDL_ON)
#define DDL_TIMER0_ENABLE (DDL_OFF)
@@ -98,7 +98,7 @@ extern "C"
#define DDL_TIMER4_OCO_ENABLE (DDL_OFF)
#define DDL_TIMER4_PWM_ENABLE (DDL_OFF)
#define DDL_TIMER4_SEVT_ENABLE (DDL_OFF)
#define DDL_TIMER6_ENABLE (DDL_OFF)
#define DDL_TIMER6_ENABLE (DDL_ON)
#define DDL_TIMERA_ENABLE (DDL_OFF)
#define DDL_TRNG_ENABLE (DDL_OFF)
#define DDL_USART_ENABLE (DDL_ON)
Project/HC32F460/source/User/Src/main.c
+17 -2
View File
@@ -5,6 +5,7 @@
#include "Encryption.h"
#include "Debug.h"
#include "Algorithm.h"
#include "dc_motor.h"
#include "CS1237_LEFTUP.h"
#include "CS1237_LEFTLOW.h"
#include "CS1237_RIGHTUP.h"
@@ -132,8 +133,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
{
uint32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]);
uint32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]);
uint32_t LeftDiffSum = abs(lu_ad[0]) + abs(ll_ad[0]);
uint32_t RightDiffSum = abs(ru_ad[0]) + abs(rl_ad[0]);
uint32_t LeftDiffSum = abs(lu_diff[0]) + abs(ll_diff[0]);
uint32_t RightDiffSum = abs(ru_diff[0]) + abs(rl_diff[0]);
App.LeftRunFalg = false;
App.RightRunFalg = false;
@@ -154,6 +155,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT)))
{
//BDC_UP();
Motor_Control(MOTOR_CMD_FORWARD);
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
@@ -172,6 +174,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)))
{
//BDC_DOWN();
Motor_Control(MOTOR_CMD_REVERSE);
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
@@ -194,6 +197,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff3 <= -App.ADTrack.RightLowVPT)))
{
//BDC_UP();
Motor_Control(MOTOR_CMD_FORWARD);
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
@@ -212,6 +216,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff3 >= App.ADTrack.RightLowVPT)))
{
//BDC_DOWN();
Motor_Control(MOTOR_CMD_REVERSE);
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
@@ -227,6 +232,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ll_slope > App.ADTrack.Slope_VPT)
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -236,6 +242,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& Oll_diff1 < (App.ADTrack.LeftLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -248,6 +255,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& rl_slope > App.ADTrack.Slope_VPT)
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -257,6 +265,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& Orl_diff1 < (App.ADTrack.RightLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -272,6 +281,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& ll_slope < -App.ADTrack.Slope_VPT)
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -281,6 +291,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -293,6 +304,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& rl_slope < -App.ADTrack.Slope_VPT)
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -302,6 +314,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2))
{
//BDC_STOP();
Motor_Control(MOTOR_CMD_STOP);
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
@@ -574,6 +587,7 @@ int main(void)
RIGHTUP_CS1237DataLoopCollect();
RIGHTLOW_CS1237DataLoopCollect();
ReadLoopHandler();
DcmotorLoopHandler();
AppLoopHandler();
}
}
@@ -593,6 +607,7 @@ void SysTick_IrqHandler(void)
LEFTLOW_CS12371mSRoutine();
RIGHTUP_CS12371mSRoutine();
RIGHTLOW_CS12371mSRoutine();
Dcmotor1msRoutine();
}
/*****************************************************************************************
driver/inc/hc32f460_timer6.h
+3
View File
@@ -640,6 +640,9 @@ en_result_t Timer6_SetSpecialBuf(M4_TMR6_TypeDef *TMR6x,en_timer6_special_compar
/* Timer6 unit Set valid period Value*/
en_result_t Timer6_SetValidPeriod(M4_TMR6_TypeDef *TMR6x, const stc_timer6_validper_cfg_t* pstcTimer6ValidPerCfg);
/* Config channel mode, capture or output */
void Timer6_SetFunc(M4_TMR6_TypeDef *TMR6x, en_timer6_chx_port_t enTimer6PWMPort, en_timer6_func_mode_t enMode);
/* Config Input prot and filter function */
en_result_t Timer6_PortInputConfig(M4_TMR6_TypeDef *TMR6x, const stc_timer6_port_input_cfg_t* pstcTimer6PortInputCfg);
/* Config output prot function */
driver/src/hc32f460_timer6.c
+33
View File
@@ -92,6 +92,11 @@
( (Timer6PWMA == (x)) || \
(Timer6PWMB == (x)))
/*!< Parameter valid check for timer6 port mode */
#define IS_VALID_TIMER6_PORT_MODE(x) \
( (Timer6ModeCompareOutput == (x)) || \
(Timer6ModeCaptureInput == (x)))
/*!< Parameter valid check for timer6 input port */
#define IS_VALID_TIMER6_INPUT_PORT(x) \
( (Timer6PWMA == (x)) || \
@@ -948,6 +953,34 @@ en_result_t Timer6_PortInputConfig(M4_TMR6_TypeDef *TMR6x, const stc_timer6_port
return enRet;
}
/*******************************************************************************
* \brief Set channel function
* \param [in] TMR6x Timer6 unit
* \param [in] enTimer6PWMPort Port to be configured @ref en_timer6_chx_port_t
* \param [in] enMode Channel mode @ref en_timer6_func_mode_t
* \retval None
******************************************************************************/
void Timer6_SetFunc(M4_TMR6_TypeDef *TMR6x, en_timer6_chx_port_t enTimer6PWMPort, en_timer6_func_mode_t enMode)
{
DDL_ASSERT(IS_VALID_NORMAL_TIMER6_UNIT(TMR6x));
DDL_ASSERT(IS_VALID_TIMER6_OUTPUT_PORT(enTimer6PWMPort));
DDL_ASSERT(IS_VALID_TIMER6_PORT_MODE(enMode));
switch (enTimer6PWMPort)
{
case Timer6xCHA:
TMR6x->PCONR_f.CAPMDA = enMode;
break;
case Timer6xCHB:
TMR6x->PCONR_f.CAPMDB = enMode;
break;
default:
break;
}
}
/*******************************************************************************
* \brief Timer6 Output Port config
*