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@@ -51,6 +51,7 @@
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim3;
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+TIM_HandleTypeDef htim4;
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/* TIM1 init function */
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void MX_TIM1_Init(void)
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@@ -213,6 +214,21 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
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/* USER CODE END TIM2_MspInit 1 */
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}
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+
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+ else if(htim_base->Instance==TIM4)
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+ {
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+ /* USER CODE BEGIN TIM4_MspInit 0 */
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+
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+ /* USER CODE END TIM4_MspInit 0 */
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+ /* Peripheral clock enable */
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+ __HAL_RCC_TIM4_CLK_ENABLE();
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+ /* TIM4 interrupt Init */
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+ HAL_NVIC_SetPriority(TIM4_IRQn, 2, 2);
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+ HAL_NVIC_EnableIRQ(TIM4_IRQn);
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+ /* USER CODE BEGIN TIM4_MspInit 1 */
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+
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+ /* USER CODE END TIM4_MspInit 1 */
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+ }
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}
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void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
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@@ -263,6 +279,22 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
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/* USER CODE END TIM2_MspDeInit 1 */
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}
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+
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+ if(htim_base->Instance==TIM4)
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+ {
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+ /* USER CODE BEGIN TIM4_MspDeInit 0 */
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+
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+ /* USER CODE END TIM4_MspDeInit 0 */
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+ /* Peripheral clock disable */
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+ __HAL_RCC_TIM4_CLK_DISABLE();
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+
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+ /* TIM4 interrupt DeInit */
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+ HAL_NVIC_DisableIRQ(TIM4_IRQn);
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+ /* USER CODE BEGIN TIM4_MspDeInit 1 */
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+
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+ /* USER CODE END TIM4_MspDeInit 1 */
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+ }
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+
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/* USER CODE BEGIN TIM1_MspDeInit 1 */
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/* USER CODE END TIM1_MspDeInit 1 */
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@@ -278,7 +310,7 @@ void MX_TIM3_Init(void)
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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- htim3.Init.Period = 1098 / MC_VirtualPosition.Fren - 1; //电角度频率f = 72MHz / (分频系数 + 1) / 65535
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+ htim3.Init.Period = 71;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
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@@ -294,7 +326,7 @@ void MX_TIM3_Init(void)
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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- sConfigOC.Pulse = (1098 / MC_VirtualPosition.Fren) >> 1;
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+ sConfigOC.Pulse = 36;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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@@ -317,9 +349,7 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
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/* TIM3 clock enable */
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__HAL_RCC_TIM3_CLK_ENABLE();
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/* USER CODE BEGIN TIM3_MspInit 1 */
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- HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
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- HAL_NVIC_EnableIRQ(TIM3_IRQn);
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- //__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
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+
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/* USER CODE END TIM3_MspInit 1 */
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}
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}
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@@ -366,17 +396,49 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
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}
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}
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+void MX_TIM4_Init(void)
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+{
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+ /* USER CODE BEGIN TIM4_Init 0 */
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+
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+ /* USER CODE END TIM4_Init 0 */
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+
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+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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+ TIM_MasterConfigTypeDef sMasterConfig = {0};
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+
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+ /* USER CODE BEGIN TIM4_Init 1 */
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+
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+ /* USER CODE END TIM4_Init 1 */
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+ htim4.Instance = TIM4;
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+ htim4.Init.Prescaler = 0;
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+ htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
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+ htim4.Init.Period = 1098 / MC_VirtualPosition.Fren - 1; //电角度频率f = 72MHz / (分频系数 + 1) / 65535
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+ htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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+ htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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+ if (HAL_TIM_Base_Init(&htim4) != 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(&htim4, &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(&htim4, &sMasterConfig) != HAL_OK)
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+ {
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+ Error_Handler();
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+ }
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+ /* USER CODE BEGIN TIM4_Init 2 */
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+
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+ /* USER CODE END TIM4_Init 2 */
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+}
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/* USER CODE BEGIN 1 */
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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- if(htim->Instance == htim3.Instance)
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- {
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- if(MC_VirtualPosition.SVM_Angle++ >= 65535)
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- MC_VirtualPosition.SVM_Angle = 0;
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- }
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- else if(htim->Instance == htim1.Instance)
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+ if(htim->Instance == TIM1)
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{
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static uint8_t ADC_PreCnt = 0;
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static TrueOrFalse_Flag_Struct_t IsPwmEnableFlag = False;
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@@ -412,6 +474,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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MC_HallSensorData.Delta_AngleSum += MC_HallSensorData.Delta_Angle;
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}
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+ //虚拟角度更新
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+ MC_VirtualPosition.SVM_Angle += 32;
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+ if(MC_VirtualPosition.SVM_Angle >= 65535)
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+ {
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+ MC_VirtualPosition.SVM_Angle = 0;
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+ }
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+
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//计算电机转速
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MC_RunInfo.MotorSpeed = MotorSpeedCal(MC_HallSensorData.SVM_Angle, MC_HallSensorData.IsStopFlag);
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@@ -450,12 +519,18 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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case MC_AssistRunMode_TORQUE://力矩模式
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{
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- FOC_Model(MC_CalParam.Ref_Torque, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle, False);
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+ FOC_Model(MC_CalParam.Ref_Torque, 0, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle, False);
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break;
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}
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case MC_AssistRunMode_WALK: case MC_AssistRunMode_CADENCE: case MC_AssistRunMode_GAS://速度模式
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{
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- FOC_Model(MC_CalParam.Ref_Speed, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle, False);
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+ #if 0 //正常速度环
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+ FOC_Model(MC_CalParam.Ref_Speed, 0, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle, False);
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+ #elif 1 //If拖动
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+ FOC_Model(200, 0, MC_RunInfo.MotorSpeed, MC_VirtualPosition.SVM_Angle, False);
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+ #elif 1 //零度
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+ FOC_Model(0, 200, MC_RunInfo.MotorSpeed, 0, False);
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+ #endif
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break;
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}
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default:break;
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@@ -473,6 +548,21 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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}
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}
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+void TIM4_Update_Isr(void)
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+{
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+ if(__HAL_TIM_GET_FLAG(&htim4, TIM_FLAG_UPDATE) != RESET)
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+ {
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+ if(__HAL_TIM_GET_IT_SOURCE(&htim4, TIM_IT_UPDATE) !=RESET)
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+ {
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+ __HAL_TIM_CLEAR_IT(&htim4, TIM_IT_UPDATE);
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+ MC_VirtualPosition.SVM_Angle += 4;
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+ if(MC_VirtualPosition.SVM_Angle >= 65535)
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+ {
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+ MC_VirtualPosition.SVM_Angle = 0;
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+ }
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+ }
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+ }
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+}
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/* USER CODE END 1 */
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/**
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Dail