Project changes
1/ Added Spi that used to read data from AS5045b position sensor 2/ Added Base FOC code to project 3/ Added Standart DSP lib with optimazes sincos cals Need for FOC
This commit is contained in:
on4ip84
parent
ee1319b10e
commit
526b689693
43 changed files with 10985 additions and 410 deletions
308
Src/main.c
308
Src/main.c
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@ -1,20 +1,20 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2023 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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@ -27,7 +27,7 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "InitDrive.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -47,7 +47,12 @@
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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volatile uint16_t asSpiWordLow = 0;
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volatile uint16_t asSpiWordHigh = 0;
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volatile uint32_t asResultWord = 0;
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typedef struct AS5045_data {
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};
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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@ -64,144 +69,169 @@ static void MX_NVIC_Init(void);
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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__disable_irq();
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/* USER CODE END 1 */
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* @brief The application entry point.
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* @retval int
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*/
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int main(void) {
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/* USER CODE BEGIN 1 */
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__disable_irq();
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE BEGIN Init */
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SysTick_Config(0xFFFFFF);
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LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM3_STOP);
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LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM2_STOP);
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LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM1_STOP);
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LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM8_STOP);
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/* USER CODE END Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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SystemCoreClockUpdate();
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/* USER CODE END SysInit */
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/* USER CODE BEGIN SysInit */
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SystemCoreClockUpdate();
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_ADC1_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_CAN2_Init();
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MX_TIM2_Init();
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MX_SPI2_Init();
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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MX_ADC3_Init();
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MX_SPI1_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_CAN2_Init();
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MX_TIM2_Init();
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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LL_GPIO_ResetOutputPin(LED1_GPIO_Port, LED1_Pin);
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LL_GPIO_ResetOutputPin(LED2_GPIO_Port, LED2_Pin);
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LL_GPIO_ResetOutputPin(LED1_GPIO_Port, LED1_Pin);
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LL_GPIO_ResetOutputPin(LED2_GPIO_Port, LED2_Pin);
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LL_ADC_EnableIT_JEOS(ADC1);
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LL_ADC_Enable(ADC1);
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LL_ADC_EnableIT_JEOS(ADC1);
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LL_ADC_Enable(ADC1);
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LL_TIM_SetAutoReload(TIM1, SystemCoreClock/PWM_FRQ_HZ);
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LL_TIM_OC_SetCompareCH4(TIM1, (SystemCoreClock/PWM_FRQ_HZ)-1);
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LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH4);
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/*Used center alogned mode so set ARR to Half of Calculated period*/
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uint32_t TIM_ARR_value = (SystemCoreClock / PWM_FRQ_HZ) >> 1;
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LL_TIM_SetAutoReload(TIM1, TIM_ARR_value - 1);
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LL_TIM_OC_SetCompareCH4(TIM1, LL_TIM_GetAutoReload(TIM1) - 1);
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LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH4);
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LL_TIM_EnableIT_CC4(TIM1);
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LL_TIM_EnableCounter(TIM1);
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/*TIM2 on Half clock bus so divide SystemClock by 2 */
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LL_TIM_SetAutoReload(TIM2, ((SystemCoreClock/ALG_TIMER_HZ)>>1)-1);
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LL_TIM_EnableIT_UPDATE(TIM2);
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LL_TIM_EnableCounter(TIM2);
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__enable_irq();
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/* USER CODE END 2 */
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LL_TIM_EnableIT_CC4(TIM1);
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LL_TIM_EnableCounter(TIM1);
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/*TIM2 on Half clock bus so divide SystemClock by 2 */
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LL_TIM_SetAutoReload(TIM2, ((SystemCoreClock / ALG_TIMER_HZ) >> 1) - 1);
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LL_TIM_EnableIT_UPDATE(TIM2);
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LL_TIM_EnableCounter(TIM2);
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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LL_SPI_SetBaudRatePrescaler(SPI2,LL_SPI_BAUDRATEPRESCALER_DIV64 );
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LL_SPI_Enable(SPI2);
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/*Init Control structure*/
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float TSAMPLE_FAST = 1.f / PWM_FRQ_HZ;
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float TSAMPLE_SLOW = 1.f / ALG_TIMER_HZ;
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DriveInit(TSAMPLE_FAST, TSAMPLE_SLOW);
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__enable_irq();
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/* USER CODE END 2 */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1) {
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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if (!LL_SPI_IsActiveFlag_OVR(SPI2)) {
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LL_GPIO_ResetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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while (!LL_SPI_IsActiveFlag_TXE(SPI2)){};
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LL_SPI_TransmitData16(SPI2, 0xFFFF);
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while (!LL_SPI_IsActiveFlag_RXNE(SPI2)) {
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}
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uint16_t buffer = LL_SPI_ReceiveData16(SPI2);
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asSpiWordLow = (buffer >> 4) & 0xFFF;
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LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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} else {
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LL_SPI_ClearFlag_OVR(SPI2);
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}
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
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while(LL_FLASH_GetLatency()!= LL_FLASH_LATENCY_5)
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{
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}
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LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
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LL_PWR_EnableOverDriveMode();
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LL_RCC_HSE_Enable();
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void) {
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LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
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while (LL_FLASH_GetLatency() != LL_FLASH_LATENCY_5) {
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}
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LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
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LL_PWR_EnableOverDriveMode();
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LL_RCC_HSE_Enable();
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/* Wait till HSE is ready */
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while(LL_RCC_HSE_IsReady() != 1)
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{
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/* Wait till HSE is ready */
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while (LL_RCC_HSE_IsReady() != 1) {
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}
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LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 180, LL_RCC_PLLP_DIV_2);
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LL_RCC_PLL_Enable();
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}
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LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 180,
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LL_RCC_PLLP_DIV_2);
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LL_RCC_PLL_Enable();
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/* Wait till PLL is ready */
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while(LL_RCC_PLL_IsReady() != 1)
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{
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/* Wait till PLL is ready */
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while (LL_RCC_PLL_IsReady() != 1) {
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}
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LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
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LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
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LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
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}
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LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
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LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
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LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
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/* Wait till System clock is ready */
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while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
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{
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/* Wait till System clock is ready */
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while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL) {
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}
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LL_SetSystemCoreClock(180000000);
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}
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LL_SetSystemCoreClock(180000000);
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/* Update the time base */
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if (HAL_InitTick (TICK_INT_PRIORITY) != HAL_OK)
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{
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Error_Handler();
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}
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LL_RCC_SetTIMPrescaler(LL_RCC_TIM_PRESCALER_TWICE);
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/* Update the time base */
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if (HAL_InitTick(TICK_INT_PRIORITY) != HAL_OK) {
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Error_Handler();
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}
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LL_RCC_SetTIMPrescaler(LL_RCC_TIM_PRESCALER_TWICE);
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}
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/**
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* @brief NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void)
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{
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/* TIM1_BRK_TIM9_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),1, 0));
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NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
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/* CAN2_RX0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
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/* CAN2_RX1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
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/* ADC_IRQn interrupt configuration */
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NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
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NVIC_EnableIRQ(ADC_IRQn);
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/* TIM1_CC_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
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NVIC_EnableIRQ(TIM1_CC_IRQn);
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* @brief NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void) {
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/* TIM1_BRK_TIM9_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_BRK_TIM9_IRQn,
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NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 1, 0));
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NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
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/* TIM1_CC_IRQn interrupt configuration */
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NVIC_SetPriority(TIM1_CC_IRQn,
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NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 3, 0));
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NVIC_EnableIRQ(TIM1_CC_IRQn);
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/* TIM2_IRQn interrupt configuration */
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NVIC_SetPriority(TIM2_IRQn,
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NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 4, 0));
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NVIC_EnableIRQ(TIM2_IRQn);
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/* ADC_IRQn interrupt configuration */
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NVIC_SetPriority(ADC_IRQn,
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NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 2, 0));
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NVIC_EnableIRQ(ADC_IRQn);
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/* CAN2_RX0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
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/* CAN2_RX1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
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}
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/* USER CODE BEGIN 4 */
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@ -209,18 +239,16 @@ static void MX_NVIC_Init(void)
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void) {
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1) {
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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