motor_ctl-3/User/Src/tim.c

/**
  ******************************************************************************
  * File Name          : TIM.c
  * Description        : This file provides code for the configuration
  *                      of the TIM instances.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "tim.h"
#include "gpio.h"

/* USER CODE BEGIN 0 */
#include "adc.h"
#include "motor_control.h"
#include "hall_sensor.h"
#include "MC_Globals.h"
#include "MC_FOC_Driver.h"
#include "protect_check.h"

/* USER CODE END 0 */

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;

/* TIM1 init function */
void MX_TIM1_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;//PWM频率为15K，FOC计算为15K
  htim1.Init.Period = PWM_PERIOD;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 1;
  HAL_TIM_Base_Init(&htim1);

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig);

  HAL_TIM_PWM_Init(&htim1);

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
  HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
	
	sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = DEADTIME;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig);
	__HAL_TIM_CLEAR_IT(&htim1, TIM_IT_BREAK);
	
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = PWM_PERIOD/2;
  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;

  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1);

  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2);

  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3);
	sConfigOC.OCMode = TIM_OCMODE_PWM1;
	sConfigOC.Pulse = PWM_PERIOD-1;
	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
	sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
  HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4);

}

/* TIM2 init function */
void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 65535;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.RepetitionCounter = 0;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
  sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
  sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
  sClockSourceConfig.ClockFilter = 0;
  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();
  }

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(htim_base->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspInit 0 */

  /* USER CODE END TIM1_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_TIM1_CLK_ENABLE();
  
    /**TIM1 GPIO Configuration    
    PB13     ------> TIM1_CH1N
    PB14     ------> TIM1_CH2N
    PB15     ------> TIM1_CH3N
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3
    PA11     ------> TIM1_CH4
		PB12     ------> TIM1_BKIN		
    */
		GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
		
//		 __HAL_AFIO_REMAP_TIM1_PARTIAL();

    /* Peripheral interrupt init*/
    HAL_NVIC_SetPriority(TIM1_UP_IRQn, 1, 1);
    HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
		
		HAL_NVIC_SetPriority(TIM1_BRK_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM1_BRK_IRQn);
		
		__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_BREAK);
  /* USER CODE BEGIN TIM1_MspInit 1 */

  /* USER CODE END TIM1_MspInit 1 */
  }
	
	else if(htim_base->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();
		
		__HAL_RCC_GPIOA_CLK_ENABLE();
    /**TIM2 GPIO Configuration    
    PA0-WKUP     ------> TIM2_ETR 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);


  /* USER CODE BEGIN TIM2_MspInit 1 */
  
  /* USER CODE END TIM2_MspInit 1 */
  }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{

  if(htim_base->Instance==TIM1)
  {
  /* USER CODE BEGIN TIM1_MspDeInit 0 */

  /* USER CODE END TIM1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM1_CLK_DISABLE();
  
    /**TIM1 GPIO Configuration
		PB12     ------> BREAK    
    PB13     ------> TIM1_CH1N
    PB14     ------> TIM1_CH2N
    PB15     ------> TIM1_CH3N
    PA8     ------> TIM1_CH1
    PA9     ------> TIM1_CH2
    PA10     ------> TIM1_CH3
    PA11     ------> TIM1_CH4 
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_12);

    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11);

    /* Peripheral interrupt Deinit*/
    HAL_NVIC_DisableIRQ(TIM1_UP_IRQn);
		HAL_NVIC_DisableIRQ(TIM1_BRK_IRQn);

  }
	
	else if(htim_base->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();
  
    /**TIM2 GPIO Configuration    
    PA0-WKUP     ------> TIM2_ETR 
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0);

  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
  /* USER CODE BEGIN TIM1_MspDeInit 1 */

  /* USER CODE END TIM1_MspDeInit 1 */
}

/* TIM3 init function */
void MX_TIM3_Init(void)
{

  TIM_MasterConfigTypeDef sMasterConfig;
  TIM_OC_InitTypeDef sConfigOC;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 0;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 71; //频率1MHz
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 36;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }
	
  HAL_TIM_MspPostInit(&htim3);

}

void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspInit 0 */

  /* USER CODE END TIM3_MspInit 0 */
    /* TIM3 clock enable */
    __HAL_RCC_TIM3_CLK_ENABLE();
  /* USER CODE BEGIN TIM3_MspInit 1 */

  /* USER CODE END TIM3_MspInit 1 */
  }
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(timHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspPostInit 0 */

  /* USER CODE END TIM3_MspPostInit 0 */
  
    /**TIM3 GPIO Configuration    
    PC6     ------> TIM3_CH1 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_6;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    __HAL_AFIO_REMAP_TIM3_ENABLE();

  /* USER CODE BEGIN TIM3_MspPostInit 1 */
    HAL_TIM_OC_Start(&htim3, TIM_CHANNEL_1);
  /* USER CODE END TIM3_MspPostInit 1 */
  }

}

void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{

  if(tim_pwmHandle->Instance==TIM3)
  {
  /* USER CODE BEGIN TIM3_MspDeInit 0 */

  /* USER CODE END TIM3_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM3_CLK_DISABLE();
  /* USER CODE BEGIN TIM3_MspDeInit 1 */

  /* USER CODE END TIM3_MspDeInit 1 */
  }
} 


/* USER CODE BEGIN 1 */

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  static uint8_t ADC_PreCnt = 0;
	static TrueOrFalse_Flag_Struct_t IsPwmEnableFlag = FALSE;
	static uint32_t FaultDelayTimeCnt = 0;
	
	#if 1
	static uint16_t PeriodTest = 0;
	//运行频率测试
	PeriodTest ++;
	if(PeriodTest >= 300) //频率15K，周期200 / 3 us * 300 = 20ms
	{
	  PeriodTest = 0;
	}
	#endif
	
	//ADC采集分频
	ADC_PreCnt++;
	if(ADC_PreCnt >= 5)
	{
	  __HAL_ADC_ENABLE(&hadc1);
		ADC_PreCnt = 0;
	}
	
	//霍尔传感器状态更新
	MC_HallSensorData.PWM_NumCnt++;
	HallSensor_Process();
	if(MC_HallSensorData.Delta_AngleSum < (ANGLE_60D + (ANGLE_60D >> 3)))
	{
	  MC_HallSensorData.SVM_Angle += MC_HallSensorData.Delta_Angle;
		MC_HallSensorData.Delta_AngleSum += MC_HallSensorData.Delta_Angle;
	}
	
	//计算电机转速
	MC_RunInfo.MotorSpeed = MotorSpeedCal(MC_HallSensorData.SVM_Angle, MC_HallSensorData.IsStopFlag);
	
	//过流检测
	MC_Protect_OverCurrent_Process(&MC_Protect_OverCurrentTrig_Flag, &MC_ErrorCode);
	
	//FOC运算	
	if(((uint8_t)(MC_CalParam.AssistRunMode ^ MC_CalParam_Back.AssistRunMode) != (uint8_t)~0) ||
		 ((uint8_t)(MC_CalParam.Foc_Flag ^ MC_CalParam_Back.Foc_Flag) != (uint8_t)~0) ||
	   ((uint16_t)(MC_CalParam.Ref_Speed ^ MC_CalParam_Back.Ref_Speed) != (uint16_t)~0)||
	   ((uint16_t)(MC_CalParam.Ref_Torque ^ MC_CalParam_Back.Ref_Torque) != (uint16_t)~0))
	{
	  if((HAL_GetTick() - FaultDelayTimeCnt) > 200)
		{
			FOC_Status = FOC_Status_WAIT;
		}
	}
	else
	{
	  FaultDelayTimeCnt = HAL_GetTick();
	}
	switch(FOC_Status)
	{
	  case FOC_Status_RUN:
		{
		  if(MC_CalParam.Foc_Flag == SET)
			{
		  	//发波
				if(IsPwmEnableFlag == FALSE)
				{
			  	Enable_PwmGpio_Out();
					IsPwmEnableFlag = TRUE;
				}
		  	//参考值设定
				switch(MC_CalParam.AssistRunMode)
				{
				  case MC_AssistRunMode_TORQUE://力矩模式
					{
					  FOC_Model(MC_CalParam.Ref_Torque, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle);
						break;
					}
					case MC_AssistRunMode_WALK: case MC_AssistRunMode_CADENCE: case MC_AssistRunMode_GAS://速度模式
					{
  				  FOC_Model(MC_CalParam.Ref_Speed, MC_RunInfo.MotorSpeed, MC_HallSensorData.SVM_Angle);
						break;
					}
					default:break;
				}	
      }
			break;
		}
		case FOC_Status_WAIT:
		{
			IsPwmEnableFlag = FALSE;
			break;
		}
		default:break;
	}
	
}

void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim)
{

	__HAL_TIM_CLEAR_IT(htim, TIM_IT_BREAK);
}
/* USER CODE END 1 */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/