Dummy FOC Implementation
This commit is contained in:
commit
985bf42ab5
39 changed files with 524 additions and 302 deletions
220
Src/tim.c
220
Src/tim.c
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file tim.c
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* @brief This file provides code for the configuration
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* of the TIM instances.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 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 "tim.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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TIM_HandleTypeDef htim3;
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/* TIM1 init function */
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void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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LL_TIM_InitTypeDef TIM_InitStruct = {0};
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LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
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LL_TIM_BDTR_InitTypeDef TIM_BDTRInitStruct = {0};
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LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* Peripheral clock enable */
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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TIM_InitStruct.Prescaler = 0;
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TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_CENTER_UP;
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TIM_InitStruct.Autoreload = 65535;
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TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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TIM_InitStruct.RepetitionCounter = 0;
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LL_TIM_Init(TIM1, &TIM_InitStruct);
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LL_TIM_EnableARRPreload(TIM1);
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LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH1);
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TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
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TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.CompareValue = 0;
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TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
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TIM_OC_InitStruct.OCNPolarity = LL_TIM_OCPOLARITY_HIGH;
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TIM_OC_InitStruct.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
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TIM_OC_InitStruct.OCNIdleState = LL_TIM_OCIDLESTATE_LOW;
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LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct);
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LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH1);
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LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH2);
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LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
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LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH2);
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LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH3);
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LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
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LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH3);
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LL_TIM_OC_EnablePreload(TIM1, LL_TIM_CHANNEL_CH4);
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TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
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LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH4, &TIM_OC_InitStruct);
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LL_TIM_OC_DisableFast(TIM1, LL_TIM_CHANNEL_CH4);
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LL_TIM_SetTriggerOutput(TIM1, LL_TIM_TRGO_OC4REF);
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LL_TIM_DisableMasterSlaveMode(TIM1);
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TIM_BDTRInitStruct.OSSRState = LL_TIM_OSSR_DISABLE;
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TIM_BDTRInitStruct.OSSIState = LL_TIM_OSSI_DISABLE;
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TIM_BDTRInitStruct.LockLevel = LL_TIM_LOCKLEVEL_OFF;
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TIM_BDTRInitStruct.DeadTime = 0;
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TIM_BDTRInitStruct.BreakState = LL_TIM_BREAK_DISABLE;
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TIM_BDTRInitStruct.BreakPolarity = LL_TIM_BREAK_POLARITY_HIGH;
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TIM_BDTRInitStruct.AutomaticOutput = LL_TIM_AUTOMATICOUTPUT_DISABLE;
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LL_TIM_BDTR_Init(TIM1, &TIM_BDTRInitStruct);
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/* USER CODE BEGIN TIM1_Init 2 */
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/* USER CODE END TIM1_Init 2 */
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LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
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/**TIM1 GPIO Configuration
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PA8 ------> TIM1_CH1
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PA9 ------> TIM1_CH2
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PA10 ------> TIM1_CH3
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*/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_8|LL_GPIO_PIN_9|LL_GPIO_PIN_10;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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/* TIM2 init function */
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void MX_TIM2_Init(void)
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{
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/* USER CODE BEGIN TIM2_Init 0 */
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/* USER CODE END TIM2_Init 0 */
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LL_TIM_InitTypeDef TIM_InitStruct = {0};
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/* Peripheral clock enable */
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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/* USER CODE BEGIN TIM2_Init 1 */
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/* USER CODE END TIM2_Init 1 */
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TIM_InitStruct.Prescaler = 0;
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TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
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TIM_InitStruct.Autoreload = 4294967295;
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TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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LL_TIM_Init(TIM2, &TIM_InitStruct);
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LL_TIM_DisableARRPreload(TIM2);
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LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
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LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_UPDATE);
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LL_TIM_DisableMasterSlaveMode(TIM2);
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/* USER CODE BEGIN TIM2_Init 2 */
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/* USER CODE END TIM2_Init 2 */
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}
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/* TIM3 init function */
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void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 89;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 99;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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if (HAL_TIM_Base_Start_IT(&htim3) != HAL_OK)
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{
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/* Starting Error */
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Error_Handler();
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}
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/* USER CODE END TIM3_Init 2 */
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}
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void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
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{
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if(tim_baseHandle->Instance==TIM3)
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{
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/* USER CODE BEGIN TIM3_MspInit 0 */
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/* USER CODE END TIM3_MspInit 0 */
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/* TIM3 clock enable */
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__HAL_RCC_TIM3_CLK_ENABLE();
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/* TIM3 interrupt Init */
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HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(TIM3_IRQn);
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/* USER CODE BEGIN TIM3_MspInit 1 */
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/* USER CODE END TIM3_MspInit 1 */
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}
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}
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void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
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{
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if(tim_baseHandle->Instance==TIM3)
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{
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/* USER CODE BEGIN TIM3_MspDeInit 0 */
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/* USER CODE END TIM3_MspDeInit 0 */
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/* Peripheral clock disable */
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__HAL_RCC_TIM3_CLK_DISABLE();
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/* TIM3 interrupt Deinit */
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HAL_NVIC_DisableIRQ(TIM3_IRQn);
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/* USER CODE BEGIN TIM3_MspDeInit 1 */
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/* USER CODE END TIM3_MspDeInit 1 */
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}
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}
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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0
.gitignore → firmware/.gitignore
vendored
0
.gitignore → firmware/.gitignore
vendored
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@ -29,7 +29,6 @@ extern "C" {
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_ll_tim.h"
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#include "stm32f4xx_ll_usart.h"
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#include "stm32f4xx_ll_rcc.h"
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#include "stm32f4xx_ll_system.h"
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@ -79,6 +78,12 @@ void Error_Handler(void);
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#define AS5045_CS_GPIO_Port GPIOB
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#define EN_W_Pin LL_GPIO_PIN_6
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#define EN_W_GPIO_Port GPIOC
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#define DRV_FAULT_Pin LL_GPIO_PIN_7
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#define DRV_FAULT_GPIO_Port GPIOC
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#define DRV_RESET_Pin LL_GPIO_PIN_8
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#define DRV_RESET_GPIO_Port GPIOC
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#define DRV_SLEEP_Pin LL_GPIO_PIN_9
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#define DRV_SLEEP_GPIO_Port GPIOC
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#define EN_U_Pin LL_GPIO_PIN_11
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#define EN_U_GPIO_Port GPIOA
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#define EN_V_Pin LL_GPIO_PIN_12
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@ -32,6 +32,10 @@ extern "C" {
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/* USER CODE END Includes */
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim2;
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extern TIM_HandleTypeDef htim3;
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/* USER CODE BEGIN Private defines */
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@ -42,6 +46,8 @@ void MX_TIM1_Init(void);
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void MX_TIM2_Init(void);
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void MX_TIM3_Init(void);
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void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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/* USER CODE BEGIN Prototypes */
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extern volatile FlagStatus flag_10kHz;
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/* USER CODE END Prototypes */
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@ -74,15 +74,15 @@ void MX_ADC2_Init(void)
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hadc2.Instance = ADC2;
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hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
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hadc2.Init.Resolution = ADC_RESOLUTION_12B;
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hadc2.Init.ScanConvMode = DISABLE;
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hadc2.Init.ScanConvMode = ENABLE;
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hadc2.Init.ContinuousConvMode = DISABLE;
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hadc2.Init.DiscontinuousConvMode = DISABLE;
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hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc2.Init.NbrOfConversion = 1;
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hadc2.Init.NbrOfConversion = 3;
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hadc2.Init.DMAContinuousRequests = DISABLE;
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hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc2.Init.EOCSelection = ADC_EOC_SEQ_CONV;
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if (HAL_ADC_Init(&hadc2) != HAL_OK)
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{
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Error_Handler();
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@ -97,6 +97,24 @@ void MX_ADC2_Init(void)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_8;
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sConfig.Rank = 2;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
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*/
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sConfig.Channel = ADC_CHANNEL_9;
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sConfig.Rank = 3;
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if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC2_Init 2 */
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/* USER CODE END ADC2_Init 2 */
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@ -55,7 +55,8 @@ void MX_GPIO_Init(void)
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LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
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/**/
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LL_GPIO_ResetOutputPin(GPIOC, EN_W_Pin|LED1_Pin|LED2_Pin|LED3_Pin);
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LL_GPIO_ResetOutputPin(GPIOC, EN_W_Pin|DRV_RESET_Pin|DRV_SLEEP_Pin|LED1_Pin
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|LED2_Pin|LED3_Pin);
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/**/
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LL_GPIO_ResetOutputPin(GPIOA, EN_U_Pin|EN_V_Pin);
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@ -79,6 +80,21 @@ void MX_GPIO_Init(void)
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GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN;
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LL_GPIO_Init(EN_W_GPIO_Port, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = DRV_FAULT_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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LL_GPIO_Init(DRV_FAULT_GPIO_Port, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = DRV_RESET_Pin|DRV_SLEEP_Pin|LED1_Pin|LED2_Pin
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|LED3_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = EN_U_Pin|EN_V_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
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@ -87,14 +103,6 @@ void MX_GPIO_Init(void)
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GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN;
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = LED1_Pin|LED2_Pin|LED3_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = spi1_cs_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
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@ -20,15 +20,14 @@
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#include "main.h"
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#include "adc.h"
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#include "can.h"
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#include "gpio.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <math.h>
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -60,17 +59,60 @@ static void MX_NVIC_Init(void);
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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#define PI 3.14159265359f
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#define TWO_PI (2 * PI)
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#define MAX_CURRENT 3.0f // Max phase current
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#define POLE_PAIRS 3 // Motor's number of pole pairs
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#define TARGET_ANGLE 120.0f // Target angle in degrees
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#define TARGET_ANGLE_RAD (TARGET_ANGLE * PI / 180.0f) //
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void StartMotorControl(void) {
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
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}
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void StopMotorControl(void) {
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3);
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}
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void UpdateMotor(float a, float b, float c) {
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uint32_t pwm_value_a = (uint32_t)((a / MAX_CURRENT) * ((float)htim1.Init.Period));
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uint32_t pwm_value_b = (uint32_t)((b / MAX_CURRENT) * ((float)htim1.Init.Period));
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uint32_t pwm_value_c = (uint32_t)((c / MAX_CURRENT) * ((float)htim1.Init.Period));
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm_value_a);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, pwm_value_b);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, pwm_value_c);
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}
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void RunMotorToAngle(float rotorAngle) {
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float phaseA, phaseB, phaseC;
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float rotorRadians = fmod(rotorAngle, 360.0f) * (PI / 180.0f);
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if (rotorAngle >= TARGET_ANGLE) {
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// StopMotor(); // Stop the motor
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}
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phaseA = MAX_CURRENT * sinf(rotorRadians);
|
||||
phaseB = MAX_CURRENT * sinf(rotorRadians - TWO_PI / 3.0f);
|
||||
phaseC = MAX_CURRENT * sinf(rotorRadians + TWO_PI / 3.0f);
|
||||
// char buf[100];
|
||||
// /// print all phases currents
|
||||
// sprintf(buf, "Phase A B C: %f %f %f\n", phaseA, phaseB, phaseC);
|
||||
// USART1_PutString(buf);
|
||||
UpdateMotor(phaseA, phaseB, phaseC);
|
||||
}
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/**
|
||||
* @brief The application entry point.
|
||||
* @retval int
|
||||
*/
|
||||
* @brief The application entry point.
|
||||
* @retval int
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
/* USER CODE BEGIN 1 */
|
||||
int a = 0;
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/* MCU Configuration--------------------------------------------------------*/
|
||||
|
|
@ -105,6 +147,16 @@ int main(void)
|
|||
MX_NVIC_Init();
|
||||
/* USER CODE BEGIN 2 */
|
||||
AS5045_CS_Init();
|
||||
|
||||
|
||||
/// INIT DRV8313
|
||||
HAL_GPIO_WritePin(DRV_RESET_GPIO_Port, DRV_RESET_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(DRV_SLEEP_GPIO_Port, DRV_SLEEP_Pin, GPIO_PIN_SET);
|
||||
HAL_Delay(100);
|
||||
HAL_GPIO_WritePin(EN_U_GPIO_Port, EN_U_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(EN_V_GPIO_Port, EN_V_Pin, GPIO_PIN_SET);
|
||||
HAL_GPIO_WritePin(EN_W_GPIO_Port, EN_W_Pin, GPIO_PIN_SET);
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
|
|
@ -112,8 +164,12 @@ int main(void)
|
|||
float angle_values[200];
|
||||
uint8_t angle_index = 0;
|
||||
float ADC123_ANGLE[4] = {0, 0, 0, 0};
|
||||
StartMotorControl();
|
||||
|
||||
while (1)
|
||||
{
|
||||
// Ready to MERGE
|
||||
RunMotorToAngle(ADC123_ANGLE[3] + 10.0f);
|
||||
if (flag_10kHz == SET)
|
||||
{
|
||||
flag_10kHz = RESET;
|
||||
|
|
@ -126,11 +182,11 @@ int main(void)
|
|||
{
|
||||
angle_index = 0;
|
||||
float average = 0;
|
||||
for (int i = 0; i < 20; i++)
|
||||
for (int i = 0; i < 200; i++)
|
||||
{
|
||||
average += angle_values[i];
|
||||
}
|
||||
average /= 20.0;
|
||||
average /= 200.0;
|
||||
ADC123_ANGLE[0] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_15)); // Read ADC
|
||||
ADC123_ANGLE[1] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_8)); // Read ADC
|
||||
ADC123_ANGLE[2] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_9)); // Read ADC
|
||||
|
|
@ -138,6 +194,7 @@ int main(void)
|
|||
USART1_PutString("\xDE\xAD");
|
||||
SendFloatsWithLL((uint8_t *)ADC123_ANGLE);
|
||||
USART1_PutString("\xBE\xAF");
|
||||
// break;
|
||||
}
|
||||
if (status == 0)
|
||||
{
|
||||
|
|
@ -160,6 +217,7 @@ int main(void)
|
|||
{
|
||||
// Linearity Alarm error
|
||||
}
|
||||
// StopMotorControl();
|
||||
}
|
||||
|
||||
// sprintf(buf, "Average: %f\r\n", degrees);
|
||||
|
|
@ -175,22 +233,22 @@ int main(void)
|
|||
}
|
||||
|
||||
/**
|
||||
* @brief System Clock Configuration
|
||||
* @retval None
|
||||
*/
|
||||
* @brief System Clock Configuration
|
||||
* @retval None
|
||||
*/
|
||||
void SystemClock_Config(void)
|
||||
{
|
||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||
|
||||
/** Configure the main internal regulator output voltage
|
||||
*/
|
||||
*/
|
||||
__HAL_RCC_PWR_CLK_ENABLE();
|
||||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
||||
|
||||
/** Initializes the RCC Oscillators according to the specified parameters
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
* in the RCC_OscInitTypeDef structure.
|
||||
*/
|
||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
||||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||
|
|
@ -206,15 +264,16 @@ void SystemClock_Config(void)
|
|||
}
|
||||
|
||||
/** Activate the Over-Drive mode
|
||||
*/
|
||||
*/
|
||||
if (HAL_PWREx_EnableOverDrive() != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
/** Initializes the CPU, AHB and APB buses clocks
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
|
||||
*/
|
||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
||||
|
|
@ -227,20 +286,20 @@ void SystemClock_Config(void)
|
|||
}
|
||||
|
||||
/**
|
||||
* @brief NVIC Configuration.
|
||||
* @retval None
|
||||
*/
|
||||
* @brief NVIC Configuration.
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_NVIC_Init(void)
|
||||
{
|
||||
/* TIM1_BRK_TIM9_IRQn interrupt configuration */
|
||||
NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 1, 0));
|
||||
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 1, 0);
|
||||
HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
/* TIM1_CC_IRQn interrupt configuration */
|
||||
NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 3, 0));
|
||||
NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
HAL_NVIC_SetPriority(TIM1_CC_IRQn, 3, 0);
|
||||
HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
/* TIM2_IRQn interrupt configuration */
|
||||
NVIC_SetPriority(TIM2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 4, 0));
|
||||
NVIC_EnableIRQ(TIM2_IRQn);
|
||||
HAL_NVIC_SetPriority(TIM2_IRQn, 4, 0);
|
||||
HAL_NVIC_EnableIRQ(TIM2_IRQn);
|
||||
/* ADC_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
|
||||
HAL_NVIC_EnableIRQ(ADC_IRQn);
|
||||
|
|
@ -251,9 +310,9 @@ static void MX_NVIC_Init(void)
|
|||
/* USER CODE END 4 */
|
||||
|
||||
/**
|
||||
* @brief This function is executed in case of error occurrence.
|
||||
* @retval None
|
||||
*/
|
||||
* @brief This function is executed in case of error occurrence.
|
||||
* @retval None
|
||||
*/
|
||||
void Error_Handler(void)
|
||||
{
|
||||
/* USER CODE BEGIN Error_Handler_Debug */
|
||||
|
|
@ -265,14 +324,14 @@ void Error_Handler(void)
|
|||
/* USER CODE END Error_Handler_Debug */
|
||||
}
|
||||
|
||||
#ifdef USE_FULL_ASSERT
|
||||
#ifdef USE_FULL_ASSERT
|
||||
/**
|
||||
* @brief Reports the name of the source file and the source line number
|
||||
* where the assert_param error has occurred.
|
||||
* @param file: pointer to the source file name
|
||||
* @param line: assert_param error line source number
|
||||
* @retval None
|
||||
*/
|
||||
* @brief Reports the name of the source file and the source line number
|
||||
* where the assert_param error has occurred.
|
||||
* @param file: pointer to the source file name
|
||||
* @param line: assert_param error line source number
|
||||
* @retval None
|
||||
*/
|
||||
void assert_failed(uint8_t *file, uint32_t line)
|
||||
{
|
||||
/* USER CODE BEGIN 6 */
|
||||
|
|
@ -57,6 +57,8 @@
|
|||
/* External variables --------------------------------------------------------*/
|
||||
extern ADC_HandleTypeDef hadc2;
|
||||
extern SPI_HandleTypeDef hspi2;
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
/* USER CODE BEGIN EV */
|
||||
volatile FlagStatus flag_10kHz = RESET;
|
||||
|
|
@ -222,7 +224,7 @@ void TIM1_BRK_TIM9_IRQHandler(void)
|
|||
/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
|
||||
|
||||
/* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
|
||||
|
||||
HAL_TIM_IRQHandler(&htim1);
|
||||
/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
|
||||
|
||||
/* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
|
||||
|
|
@ -236,6 +238,7 @@ void TIM1_CC_IRQHandler(void)
|
|||
/* USER CODE BEGIN TIM1_CC_IRQn 0 */
|
||||
|
||||
/* USER CODE END TIM1_CC_IRQn 0 */
|
||||
HAL_TIM_IRQHandler(&htim1);
|
||||
/* USER CODE BEGIN TIM1_CC_IRQn 1 */
|
||||
|
||||
/* USER CODE END TIM1_CC_IRQn 1 */
|
||||
|
|
@ -249,6 +252,7 @@ void TIM2_IRQHandler(void)
|
|||
/* USER CODE BEGIN TIM2_IRQn 0 */
|
||||
|
||||
/* USER CODE END TIM2_IRQn 0 */
|
||||
HAL_TIM_IRQHandler(&htim2);
|
||||
/* USER CODE BEGIN TIM2_IRQn 1 */
|
||||
|
||||
/* USER CODE END TIM2_IRQn 1 */
|
||||
323
firmware/Src/tim.c
Normal file
323
firmware/Src/tim.c
Normal file
|
|
@ -0,0 +1,323 @@
|
|||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file tim.c
|
||||
* @brief This file provides code for the configuration
|
||||
* of the TIM instances.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2024 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "tim.h"
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
TIM_HandleTypeDef htim1;
|
||||
TIM_HandleTypeDef htim2;
|
||||
TIM_HandleTypeDef htim3;
|
||||
|
||||
/* TIM1 init function */
|
||||
void MX_TIM1_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN TIM1_Init 0 */
|
||||
|
||||
/* USER CODE END TIM1_Init 0 */
|
||||
|
||||
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
||||
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
||||
TIM_OC_InitTypeDef sConfigOC = {0};
|
||||
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
|
||||
|
||||
/* USER CODE BEGIN TIM1_Init 1 */
|
||||
|
||||
/* USER CODE END TIM1_Init 1 */
|
||||
htim1.Instance = TIM1;
|
||||
htim1.Init.Prescaler = 0;
|
||||
htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
|
||||
htim1.Init.Period = 2399;
|
||||
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim1.Init.RepetitionCounter = 0;
|
||||
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
||||
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
||||
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
||||
sConfigOC.Pulse = 0;
|
||||
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
||||
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
||||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
|
||||
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
||||
sBreakDeadTimeConfig.DeadTime = 0;
|
||||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM1_Init 2 */
|
||||
if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
/* PWM Generation Error */
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE END TIM1_Init 2 */
|
||||
HAL_TIM_MspPostInit(&htim1);
|
||||
|
||||
}
|
||||
/* TIM2 init function */
|
||||
void MX_TIM2_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN TIM2_Init 0 */
|
||||
|
||||
/* USER CODE END TIM2_Init 0 */
|
||||
|
||||
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
||||
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
||||
|
||||
/* USER CODE BEGIN TIM2_Init 1 */
|
||||
|
||||
/* USER CODE END TIM2_Init 1 */
|
||||
htim2.Instance = TIM2;
|
||||
htim2.Init.Prescaler = 89;
|
||||
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
|
||||
htim2.Init.Period = 3999;
|
||||
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
||||
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM2_Init 2 */
|
||||
if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK)
|
||||
{
|
||||
/* Starting Error */
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE END TIM2_Init 2 */
|
||||
|
||||
}
|
||||
/* TIM3 init function */
|
||||
void MX_TIM3_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN TIM3_Init 0 */
|
||||
|
||||
/* USER CODE END TIM3_Init 0 */
|
||||
|
||||
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
|
||||
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
||||
|
||||
/* USER CODE BEGIN TIM3_Init 1 */
|
||||
|
||||
/* USER CODE END TIM3_Init 1 */
|
||||
htim3.Instance = TIM3;
|
||||
htim3.Init.Prescaler = 89;
|
||||
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
|
||||
htim3.Init.Period = 99;
|
||||
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
|
||||
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM3_Init 2 */
|
||||
if (HAL_TIM_Base_Start_IT(&htim3) != HAL_OK)
|
||||
{
|
||||
/* Starting Error */
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE END TIM3_Init 2 */
|
||||
|
||||
}
|
||||
|
||||
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
|
||||
{
|
||||
|
||||
if(tim_baseHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspInit 0 */
|
||||
/* TIM1 clock enable */
|
||||
__HAL_RCC_TIM1_CLK_ENABLE();
|
||||
/* USER CODE BEGIN TIM1_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM1_MspInit 1 */
|
||||
}
|
||||
else if(tim_baseHandle->Instance==TIM2)
|
||||
{
|
||||
/* USER CODE BEGIN TIM2_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM2_MspInit 0 */
|
||||
/* TIM2 clock enable */
|
||||
__HAL_RCC_TIM2_CLK_ENABLE();
|
||||
/* USER CODE BEGIN TIM2_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM2_MspInit 1 */
|
||||
}
|
||||
else if(tim_baseHandle->Instance==TIM3)
|
||||
{
|
||||
/* USER CODE BEGIN TIM3_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM3_MspInit 0 */
|
||||
/* TIM3 clock enable */
|
||||
__HAL_RCC_TIM3_CLK_ENABLE();
|
||||
|
||||
/* TIM3 interrupt Init */
|
||||
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(TIM3_IRQn);
|
||||
/* USER CODE BEGIN TIM3_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM3_MspInit 1 */
|
||||
}
|
||||
}
|
||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
if(timHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspPostInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspPostInit 0 */
|
||||
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
/**TIM1 GPIO Configuration
|
||||
PA8 ------> TIM1_CH1
|
||||
PA9 ------> TIM1_CH2
|
||||
PA10 ------> TIM1_CH3
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN TIM1_MspPostInit 1 */
|
||||
|
||||
/* USER CODE END TIM1_MspPostInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
|
||||
{
|
||||
|
||||
if(tim_baseHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM1_CLK_DISABLE();
|
||||
|
||||
/* TIM1 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
HAL_NVIC_DisableIRQ(TIM1_CC_IRQn);
|
||||
/* USER CODE BEGIN TIM1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM1_MspDeInit 1 */
|
||||
}
|
||||
else if(tim_baseHandle->Instance==TIM2)
|
||||
{
|
||||
/* USER CODE BEGIN TIM2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM2_CLK_DISABLE();
|
||||
|
||||
/* TIM2 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(TIM2_IRQn);
|
||||
/* USER CODE BEGIN TIM2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM2_MspDeInit 1 */
|
||||
}
|
||||
else if(tim_baseHandle->Instance==TIM3)
|
||||
{
|
||||
/* USER CODE BEGIN TIM3_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM3_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM3_CLK_DISABLE();
|
||||
|
||||
/* TIM3 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(TIM3_IRQn);
|
||||
/* USER CODE BEGIN TIM3_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM3_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
|
@ -59,34 +59,37 @@ Mcu.Pin12=PB13
|
|||
Mcu.Pin13=PB14
|
||||
Mcu.Pin14=PB15
|
||||
Mcu.Pin15=PC6
|
||||
Mcu.Pin16=PA8
|
||||
Mcu.Pin17=PA9
|
||||
Mcu.Pin18=PA10
|
||||
Mcu.Pin19=PA11
|
||||
Mcu.Pin16=PC7
|
||||
Mcu.Pin17=PC8
|
||||
Mcu.Pin18=PC9
|
||||
Mcu.Pin19=PA8
|
||||
Mcu.Pin2=PC1
|
||||
Mcu.Pin20=PA12
|
||||
Mcu.Pin21=PA13
|
||||
Mcu.Pin22=PA14
|
||||
Mcu.Pin23=PC10
|
||||
Mcu.Pin24=PC11
|
||||
Mcu.Pin25=PC12
|
||||
Mcu.Pin26=PD2
|
||||
Mcu.Pin27=PB6
|
||||
Mcu.Pin28=PB7
|
||||
Mcu.Pin29=PB8
|
||||
Mcu.Pin20=PA9
|
||||
Mcu.Pin21=PA10
|
||||
Mcu.Pin22=PA11
|
||||
Mcu.Pin23=PA12
|
||||
Mcu.Pin24=PA13
|
||||
Mcu.Pin25=PA14
|
||||
Mcu.Pin26=PC10
|
||||
Mcu.Pin27=PC11
|
||||
Mcu.Pin28=PC12
|
||||
Mcu.Pin29=PD2
|
||||
Mcu.Pin3=PA0-WKUP
|
||||
Mcu.Pin30=PB9
|
||||
Mcu.Pin31=VP_SYS_VS_Systick
|
||||
Mcu.Pin32=VP_TIM1_VS_no_output4
|
||||
Mcu.Pin33=VP_TIM2_VS_ClockSourceINT
|
||||
Mcu.Pin34=VP_TIM3_VS_ClockSourceINT
|
||||
Mcu.Pin30=PB6
|
||||
Mcu.Pin31=PB7
|
||||
Mcu.Pin32=PB8
|
||||
Mcu.Pin33=PB9
|
||||
Mcu.Pin34=VP_SYS_VS_Systick
|
||||
Mcu.Pin35=VP_TIM1_VS_ClockSourceINT
|
||||
Mcu.Pin36=VP_TIM2_VS_ClockSourceINT
|
||||
Mcu.Pin37=VP_TIM3_VS_ClockSourceINT
|
||||
Mcu.Pin4=PA1
|
||||
Mcu.Pin5=PA2
|
||||
Mcu.Pin6=PA3
|
||||
Mcu.Pin7=PC5
|
||||
Mcu.Pin8=PB0
|
||||
Mcu.Pin9=PB1
|
||||
Mcu.PinsNb=35
|
||||
Mcu.PinsNb=38
|
||||
Mcu.ThirdPartyNb=0
|
||||
Mcu.UserConstants=
|
||||
Mcu.UserName=STM32F446RETx
|
||||
|
|
@ -197,6 +200,18 @@ PC6.GPIO_PuPd=GPIO_PULLDOWN
|
|||
PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
|
||||
PC6.Locked=true
|
||||
PC6.Signal=GPIO_Output
|
||||
PC7.GPIOParameters=GPIO_Label
|
||||
PC7.GPIO_Label=DRV_FAULT
|
||||
PC7.Locked=true
|
||||
PC7.Signal=GPIO_Input
|
||||
PC8.GPIOParameters=GPIO_Label
|
||||
PC8.GPIO_Label=DRV_RESET
|
||||
PC8.Locked=true
|
||||
PC8.Signal=GPIO_Output
|
||||
PC9.GPIOParameters=GPIO_Label
|
||||
PC9.GPIO_Label=DRV_SLEEP
|
||||
PC9.Locked=true
|
||||
PC9.Signal=GPIO_Output
|
||||
PD2.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
|
||||
PD2.GPIO_Label=spi1_cs
|
||||
PD2.GPIO_PuPd=GPIO_PULLDOWN
|
||||
|
|
@ -228,14 +243,14 @@ ProjectManager.MainLocation=Src
|
|||
ProjectManager.NoMain=false
|
||||
ProjectManager.PreviousToolchain=STM32CubeIDE
|
||||
ProjectManager.ProjectBuild=false
|
||||
ProjectManager.ProjectFileName=processor32f446.ioc
|
||||
ProjectManager.ProjectName=processor32f446
|
||||
ProjectManager.ProjectFileName=cubemx_config.ioc
|
||||
ProjectManager.ProjectName=cubemx_config
|
||||
ProjectManager.RegisterCallBack=
|
||||
ProjectManager.StackSize=0x400
|
||||
ProjectManager.TargetToolchain=Other Toolchains (GPDSC)
|
||||
ProjectManager.ToolChainLocation=
|
||||
ProjectManager.UnderRoot=false
|
||||
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-LL-true,4-MX_USART1_UART_Init-USART1-false-LL-true,5-MX_USART2_UART_Init-USART2-false-LL-true,6-MX_TIM2_Init-TIM2-false-LL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_CAN2_Init-CAN2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_ADC2_Init-ADC2-false-HAL-true
|
||||
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-LL-true,5-MX_USART2_UART_Init-USART2-false-LL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_CAN2_Init-CAN2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_ADC2_Init-ADC2-false-HAL-true
|
||||
RCC.AHBFreq_Value=180000000
|
||||
RCC.APB1CLKDivider=RCC_HCLK_DIV4
|
||||
RCC.APB1Freq_Value=45000000
|
||||
|
|
@ -307,15 +322,16 @@ TIM1.BreakState=TIM_BREAK_DISABLE
|
|||
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
|
||||
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
|
||||
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
|
||||
TIM1.Channel-PWM\ Generation4\ No\ Output=TIM_CHANNEL_4
|
||||
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
|
||||
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 No Output,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,OCPolarity_4
|
||||
TIM1.OCPolarity_4=TIM_OCPOLARITY_LOW
|
||||
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,TIM_MasterOutputTrigger,AutoReloadPreload,BreakState,OffStateRunMode,OffStateIDLEMode,CounterMode,Period
|
||||
TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE
|
||||
TIM1.OffStateRunMode=TIM_OSSR_DISABLE
|
||||
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_OC4REF
|
||||
TIM2.IPParameters=TIM_MasterOutputTrigger
|
||||
TIM2.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
|
||||
TIM1.Period=2399
|
||||
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET
|
||||
TIM2.IPParameters=TIM_MasterOutputTrigger,Prescaler,Period
|
||||
TIM2.Period=3999
|
||||
TIM2.Prescaler=89
|
||||
TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET
|
||||
TIM3.IPParameters=Period,Prescaler
|
||||
TIM3.Period=99
|
||||
TIM3.Prescaler=89
|
||||
|
|
@ -325,8 +341,8 @@ USART2.IPParameters=VirtualMode
|
|||
USART2.VirtualMode=VM_ASYNC
|
||||
VP_SYS_VS_Systick.Mode=SysTick
|
||||
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
|
||||
VP_TIM1_VS_no_output4.Mode=PWM Generation4 No Output
|
||||
VP_TIM1_VS_no_output4.Signal=TIM1_VS_no_output4
|
||||
VP_TIM1_VS_ClockSourceINT.Mode=Internal
|
||||
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
|
||||
VP_TIM2_VS_ClockSourceINT.Mode=Internal
|
||||
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
|
||||
VP_TIM3_VS_ClockSourceINT.Mode=Internal
|
||||
BIN
firmware/knowledges/TI-DRV8313.pdf
Normal file
BIN
firmware/knowledges/TI-DRV8313.pdf
Normal file
Binary file not shown.
|
|
@ -16,9 +16,12 @@ platform = ststm32
|
|||
board = genericSTM32F446RE
|
||||
framework = stm32cube
|
||||
board_build.stm32cube.custom_config_header = yes
|
||||
;ADD BSD_VISIBLE flag
|
||||
build_flags =
|
||||
-D USE_FULL_LL_DRIVER
|
||||
-D USE_HAL_DRIVER
|
||||
-D_BSD_SOURCE
|
||||
|
||||
upload_protocol = stlink
|
||||
debug_tool = stlink
|
||||
monitor_speed = 115200
|
||||
Loading…
Add table
Add a link
Reference in a new issue