ABZ 编码器驱动编写
This commit is contained in:
Michael Chemic
parent
12dd9a4825
commit
eb0005f58f
@ -59,6 +59,7 @@ void DMA1_Channel1_IRQHandler(void);
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void DMA1_Channel2_IRQHandler(void);
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void DMA1_Channel3_IRQHandler(void);
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void DMA1_Channel4_IRQHandler(void);
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void TIM2_IRQHandler(void);
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void TIM3_IRQHandler(void);
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void EXTI15_10_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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112
Core/Src/main.c
112
Core/Src/main.c
@ -53,7 +53,7 @@
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/* USER CODE BEGIN PTD */
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// 根据不同电机参数设置
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int PP = 12; // pole_pairs极对数 磁极数/2
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int PP = 1; // pole_pairs极对数 磁极数/2
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int DIR = 1; // 无刷电机纠偏旋转方向
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extern float raw_angle; // 获取AS5600原始角度值。
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@ -131,9 +131,9 @@ void SystemClock_Config(void);
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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@ -176,28 +176,30 @@ int main(void)
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MX_TIM3_Init();
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/* USER CODE BEGIN 2 */
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// HAL_TIM_Base_Start_IT(&htim3);
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// 配置 NVIC 中断优先级和使能
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// HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
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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_NVIC_SetPriority(TIM2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(TIM2_IRQn);
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// HAL_NVIC_EnableIRQ(TIM3_IRQn);
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// 定义ADC滤波器结构体
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// ADC_Filter_t adc_filter;
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// 初始化滤波器
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// 初始化电机M1 ADC1滤波器
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ADC_Filter_Init(&adc1_filter_Ia);
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ADC_Filter_Init(&adc1_filter_Ib);
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ADC_Filter_Init(&adc1_filter_Ic);
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FOC_Init(voltage_power_supply); // 设置电源电压。
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FOC_AS5600_Init(PP, DIR); // 极对数，正补偿方向。
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TIM2_M1_ABZ(); // TIM2 ABZ编码器接口初始化。
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TIM3_M2_ABZ(); // TIM2 ABZ编码器接口初始化。
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TIM2_M1_ABZ(); // TIM2 ABZ编码器接口初始化并启动。
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TIM3_M2_ABZ(); // TIM3 ABZ编码器接口初始化并启动。
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// G474可以带两路电机，此处控制DRV8301 EN脚。
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HAL_GPIO_WritePin(M1_EN_GPIO_Port, M1_EN_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(M2_EN_GPIO_Port, M2_EN_Pin, GPIO_PIN_SET);
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// char *msg = "Hello, World!\r\n";//串口1发送测试
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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@ -206,61 +208,52 @@ int main(void)
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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// HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//串口1发送测试
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// HAL_Delay(1000); // 1 second delay
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// volatile int speed=100;
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// if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK)
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// {
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// Set_Angle(5); // 位置闭环。
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// Set_Speed(speed);// 速度闭环。
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// }
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// UpdataEncoderCnt();
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// Count_M1_ABZ();//ABZ调试计数
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Count_M2_ABZ();
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// ADC debug
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// Send_ADC1_Values(&huart1);
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// Read_ADC3_Values();//电源电压采集测试。
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// 读取新的ADC值（假设Read_ADC_Value()是你获取ADC值的函数）
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// Open_Loop_Control(1.0f, -0.1f); // 开环控制顺时针，设置电压和速度。
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// Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。
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// UpdataEncoderCnt();
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// Read_ADC3_Values();//电源电压采集测试。
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// Read_ADC2_Values();//电源电压采集测试。
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// UART debug
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// HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//串口1发送测试
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// HAL_Delay(1000); // 1 second delay
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// Read_ADC1_Values();//电源电压采集测试。
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// HAL_Delay(1);
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volatile int speed=1;
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if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK)
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{
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//Set_Angle(10); // 位置闭环。
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Set_Speed(speed);// 速度闭环。
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}
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// openloop debug
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// Current_Speed(2.0f, 0.1f);
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// Open_Loop_Control(0.2f, -0.1f); // 开环控制顺时针，设置电压和速度。
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// Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。
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// Read_ADC2_Values();
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// ABZ编码器debug
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UpdateEncoderCnt();
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// Count_M1_ABZ();
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// Count_M2_ABZ();//开发板只预留了M2 的ABZ编码器接口。
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// HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_SET);
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// HAL_Delay(10);
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// HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
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// HAL_Delay(10);
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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@ -277,8 +270,9 @@ void SystemClock_Config(void)
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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@ -295,9 +289,9 @@ void SystemClock_Config(void)
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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@ -309,14 +303,14 @@ void Error_Handler(void)
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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@ -59,6 +59,7 @@ extern DMA_HandleTypeDef hdma_adc1;
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extern DMA_HandleTypeDef hdma_adc2;
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extern DMA_HandleTypeDef hdma_adc3;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern TIM_HandleTypeDef htim2;
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extern TIM_HandleTypeDef htim3;
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/* USER CODE BEGIN EV */
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@ -258,6 +259,20 @@ void DMA1_Channel4_IRQHandler(void)
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/* USER CODE END DMA1_Channel4_IRQn 1 */
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}
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/**
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* @brief This function handles TIM2 global interrupt.
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*/
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void TIM2_IRQHandler(void)
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{
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/* USER CODE BEGIN TIM2_IRQn 0 */
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/* USER CODE END TIM2_IRQn 0 */
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HAL_TIM_IRQHandler(&htim2);
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/* USER CODE BEGIN TIM2_IRQn 1 */
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/* USER CODE END TIM2_IRQn 1 */
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}
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/**
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* @brief This function handles TIM3 global interrupt.
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*/
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@ -387,6 +387,9 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
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GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* TIM2 interrupt Init */
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HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(TIM2_IRQn);
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/* USER CODE BEGIN TIM2_MspInit 1 */
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/* USER CODE END TIM2_MspInit 1 */
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@ -559,6 +562,8 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
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HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_3);
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/* TIM2 interrupt Deinit */
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HAL_NVIC_DisableIRQ(TIM2_IRQn);
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/* USER CODE BEGIN TIM2_MspDeInit 1 */
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/* USER CODE END TIM2_MspDeInit 1 */
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@ -1,10 +1,19 @@
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#include "tim.h"
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#include "ABZ.h"
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#include "foc.h"
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#include "math.h"
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int realCnt = 0;
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//此驱动按照AS5600驱动中的函数编写
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ABZ_Encoder encoderDef;
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// ABZ 正交编码器的每转脉冲数
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#define ENCODER_PULSES_PER_REV 4096
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// 定时器周期 (秒)
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#define TIMER_PERIOD 1.0f
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int realCnt = 0; // 真实编码器计数值
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ABZ_Encoder encoderDef; //encoderDef结构体声明
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// 变量声明
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volatile int32_t ABZ_pulse_count = 0;
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@ -12,18 +21,31 @@ volatile int32_t ABZ_prev_pulse_count = 0;
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volatile float ABZ_speed = 0.0f;
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volatile float ABZ_angle = 0.0f;
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// 假设编码器的每转脉冲数
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#define ENCODER_PULSES_PER_REV 4096
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/////////////////////////////////////////////////////////////////////
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//此处适用的定时器时间戳计算速度
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float ABZ_full_rotations; // 当前旋转圈数
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float ABZ_raw_angle = 0; // 角度弧度传参值
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unsigned long ABZ_angle_prev_ts; // 上次的运行时间
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unsigned long ABZ_vel_angle_prev_ts; // 上次的运行时间
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unsigned long ABZ_angle_prev_ts; // 上次的运行时间
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unsigned long ABZ_vel_angle_prev_ts; // 上次的运行时间
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float ABZ_angle_prev_Velocity; // 上次角度(用于速度环)
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float ABZ_vel_angle_prev_Velocity; // 上次角度(用于速度环)
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int32_t ABZ_encoder_count = 0; // 读取当前编码器计数值
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int32_t ABZ_prev_encoder_count = 0; // 读取上次编码器计数值
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// 定时器周期 (秒)
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#define TIMER_PERIOD 1.0f
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void TIM2_M1_ABZ(void)
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{
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// 启动编码器模式
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HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL);
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// 启动索引中断
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// 启动索引中断,检测到ABZ编码器Z信号就重置计数器。
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HAL_TIMEx_EnableEncoderIndex(&htim2);
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}
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@ -32,10 +54,14 @@ void TIM3_M2_ABZ(void)
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// 启动编码器模式
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HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
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// 启动索引中断
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// 启动索引中断,检测到ABZ编码器Z信号就重置计数器。
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HAL_TIMEx_EnableEncoderIndex(&htim3);
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}
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/**
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* @brief 编码器调试函数
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*
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*/
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void Count_M1_ABZ(void)
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{
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// Debug：读取编码器计数值
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@ -48,91 +74,138 @@ void Count_M2_ABZ(void)
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volatile int32_t encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
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}
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//// 中断服务函数
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// void HAL_TIMEx_EncoderIndexCallback(TIM_HandleTypeDef *htim)
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//{
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// // 电机速度和角度计算
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// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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// {
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// if (htim->Instance == TIM3)
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// {
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// // 索引信号中断处理逻辑
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// // 可以在这里重置编码器计数值，或者记录当前计数值
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// __HAL_TIM_SET_COUNTER(htim, 0);
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// // printf("Encoder Index detected!\r\n");
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// // 获取当前脉冲计数
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// ABZ_pulse_count = __HAL_TIM_GET_COUNTER(&htim3);
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// // 计算脉冲增量
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// int32_t pulse_delta = ABZ_pulse_count - ABZ_prev_pulse_count;
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// // 计算速度 (PPS: 脉冲每秒)
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// // 假设定时器周期为1秒，则速度为脉冲增量
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// ABZ_speed = (float)pulse_delta / TIMER_PERIOD;
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// // 计算角度 (单位：度)
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// // 角度 = 当前计数值 / 每转脉冲数 * 360度
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// ABZ_angle = (float)((ABZ_pulse_count % ENCODER_PULSES_PER_REV + ENCODER_PULSES_PER_REV) % ENCODER_PULSES_PER_REV) / ENCODER_PULSES_PER_REV * 360.0f;
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// // 更新上次脉冲计数
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// ABZ_prev_pulse_count = ABZ_pulse_count;
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// // 清除定时器更新中断标志
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// __HAL_TIM_CLEAR_FLAG(htim, TIM_FLAG_UPDATE);
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// }
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// }
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// 电机速度和角度计算
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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if (htim->Instance == TIM3)
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{
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// 清除定时器更新中断标志
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__HAL_TIM_CLEAR_FLAG(htim, TIM_FLAG_UPDATE);
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// 获取当前脉冲计数
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ABZ_pulse_count = __HAL_TIM_GET_COUNTER(&htim3);
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//定时器中断方法计算速度
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// int UpdateEncoderCnt(void)
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// {
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// // 启动编码器模式
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// HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
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// 计算脉冲增量
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int32_t pulse_delta = ABZ_pulse_count - ABZ_prev_pulse_count;
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// // 启动索引中断
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// HAL_TIMEx_EnableEncoderIndex(&htim3);
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// 计算速度 (PPS: 脉冲每秒)
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// 假设定时器周期为1秒，则速度为脉冲增量
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ABZ_speed = (float)pulse_delta / TIMER_PERIOD;
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// // 获取电机读数
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// encoderDef.cnt = (int32_t)__HAL_TIM_GET_COUNTER(&htim3);
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// 计算角度 (单位：度)
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// 角度 = 当前计数值 / 每转脉冲数 * 360度
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ABZ_angle = (float)(ABZ_pulse_count % ENCODER_PULSES_PER_REV) / ENCODER_PULSES_PER_REV * 360.0f;
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// // 计算电机偏移量
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// encoderDef.incCnt = ModifyIncCnt(encoderDef.cnt - encoderDef.preCnt);
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// // 更新上次脉冲计数
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// encoderDef.preCnt = encoderDef.cnt;
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|
||||
// 更新上次脉冲计数
|
||||
ABZ_prev_pulse_count = ABZ_pulse_count;
|
||||
}
|
||||
}
|
||||
// // 获取真实的编码器计数值
|
||||
// realCnt = encoderDef.cnt - encoderDef.offsetCnt;
|
||||
|
||||
int UpdataEncoderCnt(void)
|
||||
{
|
||||
// 启动编码器模式
|
||||
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
|
||||
// // 当计数值为负数时，加上一圈的计数数
|
||||
// while (realCnt < 0)
|
||||
// {
|
||||
// realCnt += ENCODER_PULSES_PER_REV * 4;
|
||||
// }
|
||||
|
||||
// 启动索引中断
|
||||
HAL_TIMEx_EnableEncoderIndex(&htim3);
|
||||
// 获取电机读数
|
||||
// // 计算真实的角度值
|
||||
// encoderDef.angle = realCnt * 2 * PI / ENCODER_PULSES_PER_REV / 4;
|
||||
|
||||
encoderDef.cnt = (int32_t)__HAL_TIM_GET_COUNTER(&htim3);
|
||||
// // 计算电角度
|
||||
// encoderDef.elecAngle = _normalizeAngle(encoderDef.angle);
|
||||
|
||||
encoderDef.preCnt = encoderDef.cnt;
|
||||
// 计算电机偏移量
|
||||
encoderDef.incCnt = ModifyIncCnt(encoderDef.cnt - encoderDef.preCnt);
|
||||
// 获取真实的编码器计数值
|
||||
realCnt = encoderDef.cnt - encoderDef.offsetCnt;
|
||||
// 当计数值为负数时，加上一圈的计数数
|
||||
while (realCnt < 0)
|
||||
{
|
||||
realCnt += ENCODER_PULSES_PER_REV * 4;
|
||||
}
|
||||
// 计算真实的角度值
|
||||
encoderDef.angle = encoderDef.cnt * 2 * PI / ENCODER_PULSES_PER_REV / 4;
|
||||
|
||||
// 计算电角度
|
||||
encoderDef.elecAngle = _normalizeAngle(encoderDef.angle);
|
||||
|
||||
// 返回编码器读数
|
||||
return encoderDef.cnt;
|
||||
}
|
||||
|
||||
//// 3. 定义中断服务程序
|
||||
// void TIM3_IRQHandler(void)
|
||||
//{
|
||||
// HAL_TIM_IRQHandler(&htim3);
|
||||
// // 返回编码器读数
|
||||
// return encoderDef.cnt;
|
||||
// }
|
||||
|
||||
int16_t ModifyIncCnt(int16_t delta)
|
||||
// int16_t ModifyIncCnt(int16_t delta)
|
||||
// {
|
||||
// // 如果增量超过了一半计数范围，说明是溢出，需要进行调整
|
||||
// if (delta > ENCODER_HALF_COUNT)
|
||||
// {
|
||||
// delta -= (ENCODER_MAX_COUNT + 1);
|
||||
// }
|
||||
// else if (delta < -ENCODER_HALF_COUNT)
|
||||
// {
|
||||
// delta += (ENCODER_MAX_COUNT + 1);
|
||||
// }
|
||||
// return delta;
|
||||
// }
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
// 把原始值解算成编码器360°值
|
||||
float ABZ_GetAngle360(void)
|
||||
{
|
||||
// 如果增量超过了一半计数范围，说明是溢出，需要进行调整
|
||||
if (delta > ENCODER_HALF_COUNT)
|
||||
{
|
||||
delta -= (ENCODER_MAX_COUNT + 1);
|
||||
}
|
||||
else if (delta < -ENCODER_HALF_COUNT)
|
||||
{
|
||||
delta += (ENCODER_MAX_COUNT + 1);
|
||||
}
|
||||
return delta;
|
||||
ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
|
||||
ABZ_raw_angle = ABZ_encoder_count;
|
||||
return ABZ_raw_angle * 0.08789f; // 将原始值转换为0-360°的角度,4096*0.08789≈360°
|
||||
}
|
||||
|
||||
// 读取磁编码器归一化弧度值:(0-6.28)
|
||||
float ABZ_GetAngle2PI(void)
|
||||
{
|
||||
ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
|
||||
ABZ_raw_angle = ABZ_encoder_count;
|
||||
return ABZ_raw_angle * 0.08789f / 57.32484f; // 将原始值转换为0-2π的弧度
|
||||
}
|
||||
|
||||
// 磁编码器弧度制角度累计计算:(0-∞)
|
||||
float ABZ_GetAngle(void)
|
||||
{
|
||||
float val = ABZ_GetAngle2PI(); // 获取当前弧度
|
||||
float d_angle = val - ABZ_prev_encoder_count; // 计算角度变化
|
||||
|
||||
// 计算旋转的圈数
|
||||
// 通过判断角度变化是否大于80%的一圈(0.8f*6.28318530718f)来判断是否发生了溢出
|
||||
// 如果发生了溢出,则将full_rotations增加1(如果d_angle小于0)或减少1(如果d_angle大于0)
|
||||
if (fabs(d_angle) > (0.8f * 6.28318530718f))
|
||||
ABZ_full_rotations += (d_angle > 0) ? -1 : 1; // 根据角度变化方向调整旋转圈数
|
||||
|
||||
ABZ_prev_encoder_count = val; // 更新上次角度
|
||||
return (float)ABZ_full_rotations * 6.28318530718f + ABZ_prev_encoder_count; // 返回累计角度
|
||||
}
|
||||
|
||||
// 磁编码器速度计算:(0-∞)
|
||||
float ABZ_GetVelocity(void)
|
||||
{
|
||||
float Ts, vel = 0.0f; // Ts为采样时间，vel为速度
|
||||
|
||||
// 计算采样时间
|
||||
ABZ_angle_prev_ts = SysTick->VAL; // 获取当前时间戳
|
||||
|
||||
if (ABZ_angle_prev_ts < ABZ_vel_angle_prev_ts)
|
||||
Ts = (float)(ABZ_vel_angle_prev_ts - ABZ_angle_prev_ts); // 计算时间差
|
||||
else
|
||||
Ts = (float)(0xFFFFFF - ABZ_angle_prev_ts + ABZ_vel_angle_prev_ts); // 处理时间戳溢出情况
|
||||
|
||||
// 快速修复微小溢出
|
||||
if (Ts == 0 || Ts > 0.5f)
|
||||
Ts = 1e-3f; // 防止采样时间为0或过大
|
||||
|
||||
ABZ_angle_prev_Velocity = ABZ_GetAngle(); // 获取当前角度
|
||||
vel = (ABZ_angle_prev_Velocity - ABZ_vel_angle_prev_Velocity) / Ts; // 计算速度
|
||||
ABZ_vel_angle_prev_Velocity = ABZ_angle_prev_Velocity; // 更新上次角度
|
||||
ABZ_vel_angle_prev_ts = ABZ_angle_prev_ts; // 更新上次时间戳
|
||||
|
||||
return vel; // 返回速度
|
||||
}
|
||||
|
||||
@ -6,12 +6,12 @@
|
||||
#define ENCODER_HALF_COUNT (ENCODER_MAX_COUNT / 2) // 定时器计数器的中间值
|
||||
|
||||
typedef struct{
|
||||
int16_t preCnt;
|
||||
int16_t cnt;
|
||||
int16_t offsetCnt;
|
||||
int16_t angle;
|
||||
int16_t elecAngle;
|
||||
int16_t incCnt;
|
||||
int32_t preCnt;
|
||||
int32_t cnt;
|
||||
int32_t offsetCnt;
|
||||
int32_t angle;
|
||||
int32_t elecAngle;
|
||||
int32_t incCnt;
|
||||
}ABZ_Encoder;
|
||||
|
||||
|
||||
@ -22,5 +22,11 @@ void TIM3_M2_ABZ(void);
|
||||
void Count_M2_ABZ(void);
|
||||
|
||||
int16_t ModifyIncCnt(int16_t delta);
|
||||
int UpdataEncoderCnt(void);
|
||||
int UpdateEncoderCnt(void);
|
||||
|
||||
float ABZ_GetAngle360(void);
|
||||
float ABZ_GetAngle2PI(void);
|
||||
float ABZ_GetAngle(void);
|
||||
float ABZ_GetVelocity(void);
|
||||
|
||||
#endif
|
||||
|
||||
@ -88,6 +88,7 @@ float AS5600_GetVelocity(void)
|
||||
|
||||
// 计算采样时间
|
||||
angle_prev_ts = SysTick->VAL; // 获取当前时间戳
|
||||
|
||||
if (angle_prev_ts < vel_angle_prev_ts)
|
||||
Ts = (float)(vel_angle_prev_ts - angle_prev_ts); // 计算时间差
|
||||
else
|
||||
@ -105,44 +106,6 @@ float AS5600_GetVelocity(void)
|
||||
return vel; // 返回速度
|
||||
}
|
||||
|
||||
//float AS5600_GetVelocity(void)
|
||||
//{
|
||||
// float Ts, vel = 0.0f; // Ts为采样时间，vel为速度
|
||||
|
||||
// // 获取当前时间戳
|
||||
// uint32_t current_ts = SysTick->VAL;
|
||||
|
||||
// // 计算采样时间，SysTick->LOAD的值为系统定时器重装值
|
||||
// if (current_ts < vel_angle_prev_ts)
|
||||
// Ts = (float)(vel_angle_prev_ts - current_ts) / SysTick->LOAD * 1e-6f; // 计算时间差
|
||||
// else
|
||||
// Ts = (float)(0xFFFFFF - current_ts + vel_angle_prev_ts) / SysTick->LOAD * 1e-6f; // 处理时间戳溢出情况
|
||||
|
||||
// // 快速修复微小溢出
|
||||
// if (Ts == 0 || Ts > 0.5f)
|
||||
// Ts = 1e-3f; // 防止采样时间为0或过大
|
||||
|
||||
// // 获取当前角度
|
||||
// float current_angle = AS5600_GetAngle();
|
||||
|
||||
// // 计算角度差值，处理角度溢出情况（假设角度范围是0到360度）
|
||||
// float angle_diff = current_angle - vel_angle_prev_Velocity;
|
||||
// if (angle_diff > 180.0f)
|
||||
// angle_diff -= 360.0f;
|
||||
// else if (angle_diff < -180.0f)
|
||||
// angle_diff += 360.0f;
|
||||
|
||||
// // 计算速度
|
||||
// vel = angle_diff / Ts;
|
||||
|
||||
// // 更新上次角度和时间戳
|
||||
// vel_angle_prev_Velocity = current_angle;
|
||||
// vel_angle_prev_ts = current_ts;
|
||||
|
||||
// return vel; // 返回速度
|
||||
//}
|
||||
|
||||
|
||||
// 磁编码器速度低通滤波计算:(0-∞)
|
||||
float AS5600_Get_Speed(void)
|
||||
{
|
||||
|
||||
@ -149,14 +149,11 @@ void FOC_AS5600_Init(int _PP, int _DIR)
|
||||
PP = _PP;
|
||||
DIR = _DIR;
|
||||
|
||||
// setTorque(3, _2PI);
|
||||
|
||||
//
|
||||
//HAL_Delay(3000);
|
||||
setTorque(3, _2PI);
|
||||
HAL_Delay(3000);
|
||||
|
||||
setTorque(0, _2PI);
|
||||
|
||||
|
||||
zero_electric_angle = _electricalAngle(); // 设置零点角度。
|
||||
Sensor_Speed = AS5600_Get_Speed(); // 速度初始值计算。
|
||||
}
|
||||
@ -218,7 +215,6 @@ void Open_Loop_Control(float Uq, float speed)
|
||||
// 设置力矩
|
||||
setTorque(Uq, angle_el);
|
||||
|
||||
|
||||
// 获取当前ADC值
|
||||
// 调试打印：确保ADC值已经被正确读取
|
||||
// HAL_UART_Transmit(&huart1, "Toggle LED0!\r\n", sizeof("Toggle LED0!\r\n"),10000);
|
||||
|
||||
@ -39,8 +39,8 @@ void PID_init() //
|
||||
pid_speed.err_last = 0.0f; // 上次误差初始化为0
|
||||
pid_speed.voltage = 0.0f; // 输出电压初始化为0
|
||||
pid_speed.integral = 0.0f; // 积分项初始化为0
|
||||
pid_speed.Kp = 0.01f; // 速度环比例系数初始化为0.11
|
||||
pid_speed.Ki = 0.0001f; // 速度环积分系数初始化为0.005
|
||||
pid_speed.Kp = 0.002f; // 速度环比例系数初始化为0.11
|
||||
pid_speed.Ki = 0.0005f; // 速度环积分系数初始化为0.005
|
||||
pid_speed.Kd = 0.00001f; // 速度环微分系数初始化为0.0008
|
||||
|
||||
// 电流环pid
|
||||
|
||||
@ -20,8 +20,19 @@
|
||||
"lowpass_filter.h": "c",
|
||||
"control.h": "c",
|
||||
"pid.h": "c",
|
||||
"string.h": "c"
|
||||
}
|
||||
"string.h": "c",
|
||||
"foc.h": "c"
|
||||
},
|
||||
"cmsis-csolution.actions": [
|
||||
{
|
||||
"path": "STM32G474RETx_Demo_Blink.csolution.yml",
|
||||
"target": "STM32G474RETxDemoBlink",
|
||||
"config": {
|
||||
"run": "Flash Device",
|
||||
"debug": "Arm Debugger"
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"extensions": {}
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<cprj schemaVersion="2.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="CPRJ.xsd">
|
||||
<created timestamp="2024-07-25T13:36:30" tool="csolution 2.4.0"/>
|
||||
<created timestamp="2024-07-26T14:50:24" tool="csolution 2.4.0"/>
|
||||
|
||||
<info isLayer="false">
|
||||
<description>Automatically generated project</description>
|
||||
|
||||
File diff suppressed because one or more lines are too long
@ -148,24 +148,7 @@
|
||||
<Name>-U004900283232510139353236 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO31 -FD20000000 -FC1000 -FN1 -FF0STM32G47x-8x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32G474RETx$CMSIS\Flash\STM32G47x-8x_512.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint>
|
||||
<Bp>
|
||||
<Number>0</Number>
|
||||
<Type>0</Type>
|
||||
<LineNumber>140</LineNumber>
|
||||
<EnabledFlag>1</EnabledFlag>
|
||||
<Address>134231688</Address>
|
||||
<ByteObject>0</ByteObject>
|
||||
<HtxType>0</HtxType>
|
||||
<ManyObjects>0</ManyObjects>
|
||||
<SizeOfObject>0</SizeOfObject>
|
||||
<BreakByAccess>0</BreakByAccess>
|
||||
<BreakIfRCount>1</BreakIfRCount>
|
||||
<Filename>..\FOC_Related\ABZ\ABZ.c</Filename>
|
||||
<ExecCommand></ExecCommand>
|
||||
<Expression>\\STM32G474RETx_Demo_Blink\../FOC_Related/ABZ/ABZ.c\140</Expression>
|
||||
</Bp>
|
||||
</Breakpoint>
|
||||
<Breakpoint/>
|
||||
<WatchWindow1>
|
||||
<Ww>
|
||||
<count>0</count>
|
||||
@ -227,6 +210,36 @@
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>realCnt,0x0A</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>12</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>val</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>13</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>Sensor_Angle</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>14</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>vel</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>15</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>Sensor_Speed</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>16</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>encoder_count,0x0A</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>17</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>ABZ_pulse_count,0x0A</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow1>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
@ -394,7 +407,7 @@
|
||||
<GroupNumber>2</GroupNumber>
|
||||
<FileNumber>9</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Core/Src/main.c</PathWithFileName>
|
||||
|
||||
Binary file not shown.
@ -8,7 +8,7 @@ Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
|
||||
License Information: xxx xxx
|
||||
xxx
|
||||
User-based license: Keil MDK Community (non-commercial free of charge)
|
||||
Valid until: Jun 1 2033. Cached until: Jul 31 2024
|
||||
Valid until: Jun 1 2033. Cached until: Aug 1 2024
|
||||
|
||||
Tool Versions:
|
||||
Toolchain: Keil MDK Community (non-commercial free of charge Version: 5.37.0.0
|
||||
@ -24,47 +24,47 @@ Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.9.0
|
||||
Dialog DLL: TCM.DLL V1.56.1.0
|
||||
|
||||
<h2>Project:</h2>
|
||||
C:\Users\Michael_Chemic\Desktop\STM32G474RETx_FOC\STM32G4-DRV8301-FOC\MDK-ARM\STM32G474RETx_Demo_Blink.uvprojx
|
||||
Project File Date: 07/17/2024
|
||||
C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\STM32G474RETx_Demo_Blink.uvprojx
|
||||
Project File Date: 07/26/2024
|
||||
|
||||
<h2>Output:</h2>
|
||||
*** Using Compiler 'V6.18', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
|
||||
Rebuild target 'STM32G474RETx_Demo_Blink'
|
||||
compiling LowPass_Filter.c...
|
||||
compiling control.c...
|
||||
compiling pid.c...
|
||||
compiling HALL.c...
|
||||
assembling startup_stm32g474xx.s...
|
||||
compiling pid.c...
|
||||
compiling control.c...
|
||||
compiling LowPass_Filter.c...
|
||||
compiling main.c...
|
||||
compiling ABZ.c...
|
||||
compiling gpio.c...
|
||||
compiling AS5600.c...
|
||||
compiling adc.c...
|
||||
compiling FOC.c...
|
||||
compiling main.c...
|
||||
compiling gpio.c...
|
||||
compiling adc.c...
|
||||
compiling AS5600.c...
|
||||
compiling ABZ.c...
|
||||
compiling dma.c...
|
||||
compiling fdcan.c...
|
||||
compiling i2c.c...
|
||||
compiling usart.c...
|
||||
compiling i2c.c...
|
||||
compiling tim.c...
|
||||
compiling stm32g4xx_ll_adc.c...
|
||||
compiling stm32g4xx_it.c...
|
||||
compiling stm32g4xx_hal_msp.c...
|
||||
compiling stm32g4xx_hal.c...
|
||||
compiling stm32g4xx_hal_adc_ex.c...
|
||||
compiling stm32g4xx_hal_rcc.c...
|
||||
compiling stm32g4xx_hal_adc.c...
|
||||
compiling stm32g4xx_hal_rcc_ex.c...
|
||||
compiling stm32g4xx_hal_flash_ramfunc.c...
|
||||
compiling stm32g4xx_hal_flash.c...
|
||||
compiling stm32g4xx_hal_adc_ex.c...
|
||||
compiling stm32g4xx_hal_flash_ex.c...
|
||||
compiling stm32g4xx_hal_gpio.c...
|
||||
compiling stm32g4xx_hal_adc.c...
|
||||
compiling stm32g4xx_hal_exti.c...
|
||||
compiling stm32g4xx_hal_dma_ex.c...
|
||||
compiling stm32g4xx_hal_flash.c...
|
||||
compiling stm32g4xx_hal_gpio.c...
|
||||
compiling stm32g4xx_hal_dma.c...
|
||||
compiling stm32g4xx_hal_dma_ex.c...
|
||||
compiling stm32g4xx_hal_pwr.c...
|
||||
compiling stm32g4xx_hal_cortex.c...
|
||||
compiling stm32g4xx_hal_pwr_ex.c...
|
||||
compiling stm32g4xx_hal_i2c_ex.c...
|
||||
compiling stm32g4xx_hal_cortex.c...
|
||||
compiling system_stm32g4xx.c...
|
||||
compiling stm32g4xx_hal_uart_ex.c...
|
||||
compiling stm32g4xx_hal_fdcan.c...
|
||||
@ -73,7 +73,7 @@ compiling stm32g4xx_hal_uart.c...
|
||||
compiling stm32g4xx_hal_i2c.c...
|
||||
compiling stm32g4xx_hal_tim.c...
|
||||
linking...
|
||||
Program Size: Code=26000 RO-data=880 RW-data=32 ZI-data=3184
|
||||
Program Size: Code=28208 RO-data=880 RW-data=32 ZI-data=3224
|
||||
FromELF: creating hex file...
|
||||
"STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf" - 0 Error(s), 0 Warning(s).
|
||||
|
||||
@ -99,7 +99,7 @@ Package Vendor: Keil
|
||||
|
||||
* Component: ARM::CMSIS:CORE:5.6.0
|
||||
Include file: CMSIS/Core/Include/tz_context.h
|
||||
Build Time Elapsed: 00:00:05
|
||||
Build Time Elapsed: 00:00:04
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -1,7 +1,7 @@
|
||||
Dependencies for Project 'STM32G474RETx_Demo_Blink', Target 'STM32G474RETx_Demo_Blink': (DO NOT MODIFY !)
|
||||
CompilerVersion: 6180000::V6.18::ARMCLANG
|
||||
F (startup_stm32g474xx.s)(0x6693373A)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c
-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1"
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-Wa,armasm,--pd,"__UVISION_VERSION SETA 537" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32G474xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"
-o stm32g474retx_demo_blink/startup_stm32g474xx.o)
|
||||
F (..\FOC_Related\AS5600\AS5600.c)(0x6691F404)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/as5600.o -MD)
|
||||
F (startup_stm32g474xx.s)(0x66A301E1)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c
-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1"
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-Wa,armasm,--pd,"__UVISION_VERSION SETA 537" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32G474xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"
-o stm32g474retx_demo_blink/startup_stm32g474xx.o)
|
||||
F (..\FOC_Related\AS5600\AS5600.c)(0x66A34196)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/as5600.o -MD)
|
||||
I (..\FOC_Related\AS5600\AS5600.h)(0x668AAA87)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32G4xx_hal.h)(0x66690E8C)
|
||||
I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
|
||||
@ -51,7 +51,7 @@ I (..\Core\Inc\usart.h)(0x667E4DDA)
|
||||
F (..\FOC_Related\CONTROL\control.c)(0x668E17FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/control.o -MD)
|
||||
I (..\FOC_Related\CONTROL\control.h)(0x668CB771)
|
||||
I (../FOC_Related/PID/pid.h)(0x6689F130)
|
||||
F (..\FOC_Related\FOC\FOC.c)(0x66928254)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/foc.o -MD)
|
||||
F (..\FOC_Related\FOC\FOC.c)(0x66A268B7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/foc.o -MD)
|
||||
I (..\FOC_Related\FOC\FOC.h)(0x668E9D12)
|
||||
I (..\Core\Inc\usart.h)(0x667E4DDA)
|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
@ -146,10 +146,10 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
|
||||
F (..\FOC_Related\PID\pid.c)(0x6691F941)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/pid.o -MD)
|
||||
F (..\FOC_Related\PID\pid.c)(0x66A26092)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/pid.o -MD)
|
||||
I (..\FOC_Related\PID\pid.h)(0x6689F130)
|
||||
F (..\FOC_Related\HALL\HALL.c)(0x668F847B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/hall.o -MD)
|
||||
F (..\FOC_Related\ABZ\ABZ.c)(0x669766F2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/abz.o -MD)
|
||||
F (..\FOC_Related\ABZ\ABZ.c)(0x66A34251)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL
-I./RTE/_STM32G474RETx_Demo_Blink
-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include
-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx
-o stm32g474retx_demo_blink/abz.o -MD)
|
||||
I (..\Core\Inc\tim.h)(0x668F4350)
|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
|
||||
@ -193,10 +193,11 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
|
||||
I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
|
||||
I (..\Core\Inc\adc.h)(0x668E9191)
|
||||
I (..\FOC_Related\ABZ\ABZ.h)(0x66976701)
|
||||
I (..\FOC_Related\ABZ\ABZ.h)(0x66A3095D)
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
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|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
|
||||
I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
|
||||
@ -249,7 +250,7 @@ I (..\FOC_Related\FOC\foc.h)(0x668E9D12)
|
||||
I (..\FOC_Related\AS5600\as5600.h)(0x668AAA87)
|
||||
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x625333C6)
|
||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x625333C6)
|
||||
I (..\FOC_Related\ABZ\ABZ.h)(0x66976701)
|
||||
I (..\FOC_Related\ABZ\ABZ.h)(0x66A3095D)
|
||||
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-I./RTE/_STM32G474RETx_Demo_Blink
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-o stm32g474retx_demo_blink/gpio.o -MD)
|
||||
I (..\Core\Inc\gpio.h)(0x667B9978)
|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
@ -513,7 +514,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
|
||||
I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
|
||||
I (..\Core\Inc\adc.h)(0x668E9191)
|
||||
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|
||||
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-I./RTE/_STM32G474RETx_Demo_Blink
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|
||||
I (..\Core\Inc\tim.h)(0x668F4350)
|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
|
||||
@ -557,7 +558,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
|
||||
I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
|
||||
I (..\Core\Inc\adc.h)(0x668E9191)
|
||||
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|
||||
I (..\Core\Inc\main.h)(0x66978768)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
|
||||
I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
|
||||
@ -600,7 +601,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
|
||||
I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
|
||||
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|
||||
I (..\Core\Inc\adc.h)(0x668E9191)
|
||||
I (..\Core\Inc\stm32g4xx_it.h)(0x66933736)
|
||||
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|
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||||
I (..\Core\Inc\main.h)(0x66978768)
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I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
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@ -40,4 +40,5 @@ stm32g474retx_demo_blink/abz.o: ..\FOC_Related\ABZ\ABZ.c \
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..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h \
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..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h \
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||||
Binary file not shown.
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@ -1,15 +1,16 @@
|
||||
{
|
||||
"registries": [
|
||||
{
|
||||
"kind": "artifact",
|
||||
"location": "https://artifacts.tools.arm.com/vcpkg-registry",
|
||||
"name": "arm"
|
||||
"kind": "artifact",
|
||||
"location": "https://artifacts.tools.arm.com/vcpkg-registry",
|
||||
"name": "arm"
|
||||
}
|
||||
],
|
||||
"requires": {
|
||||
"arm:tools/kitware/cmake": "^3.25.2",
|
||||
"arm:tools/ninja-build/ninja": "^1.10.2",
|
||||
"arm:compilers/arm/armclang": "^6.19.0",
|
||||
"arm:tools/open-cmsis-pack/cmsis-toolbox": "^2.3.0"
|
||||
"arm:tools/open-cmsis-pack/cmsis-toolbox": "^2.3.0",
|
||||
"arm:debuggers/arm/armdbg": "*"
|
||||
}
|
||||
}
|
||||
@ -59,6 +59,8 @@ You can use it as a sandbox to play with Writerside features, and remove it from
|
||||
|
||||
|
||||
|
||||
摘自：[](https://www.cnblogs.com/sunsky303/p/17248071.html)
|
||||
|
||||
|
||||
|
||||
3，Clarke变换写成矩阵形式
|
||||
|
||||
@ -236,6 +236,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
|
||||
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
|
||||
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
|
||||
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
|
||||
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
PA0.Locked=true
|
||||
|
||||
Loading…
Reference in New Issue
Block a user