STM32G4-DRV8301-FOC/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @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.
 *
 ******************************************************************************
 */
/**
 *<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĿӲ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>ST<EFBFBD>ٷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>stm32G474RETX<EFBFBD><EFBFBD>TI DRV8301<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>壬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6PWM/3PWM<EFBFBD><EFBFBD>դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 *<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ο<EFBFBD>Odrive<EFBFBD><EFBFBD>SimpleFOC<EFBFBD><EFBFBD><EFBFBD>ؿ⡣
 * https://odriverobotics.com/
 * http://dengfoc.com/
 * www.simplefoc.com/
 * // TODO<44><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * 1<EFBFBD><EFBFBD>ADC DMA<EFBFBD><EFBFBD><EFBFBD>䡣//<2F><><EFBFBD><EFBFBD>
 * 2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ӡ<EFBFBD><EFBFBD>//<2F><><EFBFBD><EFBFBD>
 * 3<EFBFBD><EFBFBD>pid<EFBFBD><EFBFBD><EFBFBD>Ρ<EFBFBD>
 * 4<EFBFBD><EFBFBD>ADC<EFBFBD>Զ<EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>//TODO Ӳ<><D3B2><EFBFBD><EFBFBD>Ҫ<EFBFBD>ӷ<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ĸ<EFBFBD>ߵ<EFBFBD>ѹ
 * 5<EFBFBD><EFBFBD>CANͨ<EFBFBD><EFBFBD>Э<EFBFBD>鼰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD>顣
 *
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "fdcan.h"
#include "i2c.h"
#include "usart.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "foc.h"
#include "as5600.h"
#include "string.h"
#include "stdio.h"
#include "ABZ.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

// <20><><EFBFBD>ݲ<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int PP = 12;  // pole_pairs<72><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ż<EFBFBD><C5BC><EFBFBD>/2
int DIR = 1; // <20><>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>

extern float raw_angle; // <20><>ȡAS5600ԭʼ<D4AD>Ƕ<EFBFBD>ֵ<EFBFBD><D6B5>

// <20>Ľ<EFBFBD><C4BD><EFBFBD>ʹ<EFBFBD><CAB9>ADC<44>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>õ<EFBFBD>Դ<EFBFBD><D4B4>ѹֵ<D1B9><D6B5>
float voltage_limit = 12;        // <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD>ѹ<EFBFBD>޷<EFBFBD>12V<32><56><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9>
float voltage_power_supply = 12; // <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ12V<32><56><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD><DABF>Ըij<D4B8>ʹ<EFBFBD><CAB9>ADC<44>ɼ<EFBFBD><C9BC><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD>̬<EFBFBD><CCAC>ѹ<EFBFBD><D1B9>

float zero_electric_angle = 0; // <20><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>ֵ<EFBFBD><D6B5>

float Ualpha, Ubeta = 0;            // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD>Ualpha<68><61>Ubeta<74><61>
float Ua = 0, Ub = 0, Uc = 0;       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD>Ua<55><61>Ub<55><62>Uc<55><63>
float dc_a = 0, dc_b = 0, dc_c = 0; // SPWMռ<4D>ձ<EFBFBD><D5B1><EFBFBD><EFBFBD>á<EFBFBD>

float Sensor_Angle = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4>µ<EFBFBD>ʵ<EFBFBD>ʽǶȡ<C7B6>
float Sensor_Speed = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD>ٶȡ<D9B6>

uint32_t adc1_Ia = 0, adc1_Ib = 0, adc1_Ic = 0; // <20><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>
uint32_t adc2_Ia = 0, adc2_Ib = 0, adc2_Ic = 0; // <20><><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>
uint32_t adc3_VBUS = 0;

float current1_A = 0; // ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD>A<EFBFBD><41>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>
float current1_B = 0; // ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD>B<EFBFBD><42>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>
float current1_C = 0; // ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD>C<EFBFBD><43>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD>

float volts_to_amps_ratio = 0; // <20><><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5>ķŴ<C4B7><C5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

float gain_a = 0, gain_b = 0, gain_c = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>

float offset_ia = 0, offset_ib = 0, offset_ic = 0; // <20><><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ʧ<EFBFBD><CAA7><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EEB2B9><EFBFBD><EFBFBD>

// <20><>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>i<EFBFBD><69>, i<>£<EFBFBD><C2A3><EFBFBD>
float i_alpha = 0;
float i_beta = 0;

// d-q<><71><EFBFBD><EFBFBD>ϵ<EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>id, iq<69><71><EFBFBD><EFBFBD>
float id = 0;
float iq = 0;

// <20>趨PID<49>ο<EFBFBD>ֵ
float id_ref = 0; // d<><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ο<EFBFBD>ֵΪ0
float iq_ref = 0; // q<><71><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ο<EFBFBD>ֵΪĿ<CEAA><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

// <20><><EFBFBD><EFBFBD>PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
float Ud = 0;
float Uq_new = 0;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
//test
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_LPUART1_UART_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_TIM8_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_I2C1_Init();
  MX_I2C2_Init();
  MX_USART3_UART_Init();
  MX_FDCAN1_Init();
  MX_ADC3_Init();
  MX_FDCAN2_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  /* USER CODE BEGIN 2 */
  
  
//  HAL_TIM_Base_Start_IT(&htim3);
//      // <20><><EFBFBD><EFBFBD> NVIC <20>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD>ʹ<EFBFBD><CAB9>
//    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
//    HAL_NVIC_EnableIRQ(TIM3_IRQn);


  // <20><><EFBFBD><EFBFBD>ADC<44>˲<EFBFBD><CBB2><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
  // ADC_Filter_t adc_filter;
  // <20><>ʼ<EFBFBD><CABC><EFBFBD>˲<EFBFBD><CBB2><EFBFBD>
  ADC_Filter_Init(&adc1_filter_Ia);
  ADC_Filter_Init(&adc1_filter_Ib);
  ADC_Filter_Init(&adc1_filter_Ic);
  FOC_Init(voltage_power_supply); // <20><><EFBFBD>õ<EFBFBD>Դ<EFBFBD><D4B4>ѹ<EFBFBD><D1B9>
  FOC_AS5600_Init(PP, DIR);       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  TIM2_M1_ABZ();//TIM2 ABZ<42><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿڳ<D3BF>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
  TIM3_M2_ABZ();//TIM2 ABZ<42><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿڳ<D3BF>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
  // G474<37><34><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD><EFBFBD><EFBFBD>DRV8301 EN<45>š<EFBFBD>
  HAL_GPIO_WritePin(M1_EN_GPIO_Port, M1_EN_Pin, GPIO_PIN_SET);
  HAL_GPIO_WritePin(M2_EN_GPIO_Port, M2_EN_Pin, GPIO_PIN_SET);

  // char *msg = "Hello, World!\r\n";//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD>Ͳ<EFBFBD><CDB2><EFBFBD>

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */

  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD>Ͳ<EFBFBD><CDB2><EFBFBD>
    // HAL_Delay(1000); // 1 second delay
//  volatile  int speed=100;
//      if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK)
//      {

// //    //   Set_Angle(5); // λ<>ñջ<C3B1><D5BB><EFBFBD>
// //     
//        //Set_Speed(speed);//<2F>ٶȱջ<C8B1><D5BB><EFBFBD>
//      }  

    //UpdataEncoderCnt();

    //Count_M1_ABZ();//ABZ<42><5A><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD>
   Count_M2_ABZ();

    //  Send_ADC1_Values(&huart1);
    //  <20><>ȡ<EFBFBD>µ<EFBFBD>ADCֵ<43><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Read_ADC_Value()<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡADCֵ<43>ĺ<EFBFBD><C4BA><EFBFBD><EFBFBD><EFBFBD>

    // Open_Loop_Control(1.0f, -0.1f); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˳ʱ<CBB3>룬<EFBFBD><EBA3AC><EFBFBD>õ<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD>ٶȡ<D9B6>
    // Open_Loop_Control(1.0f, -0.01f); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>룬<EFBFBD><EBA3AC><EFBFBD>õ<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD>ٶȡ<D9B6>
    // UpdataEncoderCnt();
    // Read_ADC3_Values();//<2F><>Դ<EFBFBD><D4B4>ѹ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ԡ<EFBFBD>
    // Read_ADC2_Values();//<2F><>Դ<EFBFBD><D4B4>ѹ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ԡ<EFBFBD>

    // Read_ADC1_Values();//<2F><>Դ<EFBFBD><D4B4>ѹ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ԡ<EFBFBD>

    // HAL_Delay(1);

    // Current_Speed(2.0f, 0.1f);

    // Read_ADC2_Values();

    // HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_SET);
    // HAL_Delay(10);
    // HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
    // HAL_Delay(10);
  }
  /* USER CODE END 3 */
}

/**
  * @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_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != 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.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#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
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */