331 lines
9.5 KiB
C
331 lines
9.5 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/**
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*此项目硬件使用ST官方开发板stm32G474RETX，TI DRV8301开发板，兼容6PWM/3PWM的栅极驱动器。
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*此项目软件参考Odrive和SimpleFOC相关库。
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* https://odriverobotics.com/
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* http://dengfoc.com/
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* www.simplefoc.com/
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* // TODO总体待完成项：
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* 1，ADC DMA传输。//完成
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* 2，电流值串口打印。//完成
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* 3，pid调参。
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* 4，ADC自动采集电源电压。//TODO 硬件需要加分压电阻采集母线电压
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* 5，CAN通信协议及其相关协议。
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*
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "dma.h"
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#include "fdcan.h"
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#include "i2c.h"
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#include "usart.h"
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#include "tim.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "foc.h"
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#include "as5600.h"
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#include "string.h"
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#include "stdio.h"
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#include "ABZ.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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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 = 7; // 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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// 改进：使用ADC采集设置电源电压值。
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float voltage_limit = 12; // 用户设置：电压限幅12V，设置不超过供电电压。
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float voltage_power_supply = 12; // 用户设置：供电电压12V，这里后期可以改成使用ADC采集电源上面的动态电压。
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float zero_electric_angle = 0; // 零点角度值。
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float Ualpha, Ubeta = 0; // 帕克逆变换生成Ualpha，Ubeta。
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float Ua = 0, Ub = 0, Uc = 0; // 克拉克逆变换生成Ua，Ub，Uc。
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float dc_a = 0, dc_b = 0, dc_c = 0; // SPWM占空比设置。
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float Sensor_Angle = 0; // 解算出来的无刷电机运行状态下的实际角度。
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float Sensor_Speed = 0; // 解算出来的无刷电机实际速度。
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float ABZ_Sensor_Speed = 0; // 解算出来的无刷电机实际速度。
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float ABZ_Sensor_Angle = 0;
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uint32_t adc1_Ia = 0, adc1_Ib = 0, adc1_Ic = 0; // 电机1相电流采样电阻采集到的实际电流。
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uint32_t adc2_Ia = 0, adc2_Ib = 0, adc2_Ic = 0; // 电机2相电流采样电阻采集到的实际电流。
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uint32_t adc3_VBUS = 0;
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float current1_A = 0; // 通过计算得到的A相实际电流。
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float current1_B = 0; // 通过计算得到的B相实际电流。
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float current1_C = 0; // 通过计算得到的C相实际电流。
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float volts_to_amps_ratio = 0; // 计算得到的放大倍数。
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float gain_a = 0, gain_b = 0, gain_c = 0; // 电流增益系数。
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float offset_ia = 0, offset_ib = 0, offset_ic = 0; // 电流采集失调电压误差补偿。
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// α-β坐标系的电流（iα, iβ）。
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float i_alpha = 0;
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float i_beta = 0;
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// d-q坐标系的电流（id, iq）。
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float id = 0;
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float iq = 0;
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// 设定PID参考值
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float id_ref = 0; // d轴电流参考值为0
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float iq_ref = 0; // q轴电流参考值为目标力矩
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// 经过PID后输出的目标电流值与目标力矩值
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float Ud = 0;
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float Uq_new = 0;
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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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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int main(void)
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{
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/* USER CODE BEGIN 1 */
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// test
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_LPUART1_UART_Init();
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MX_USART1_UART_Init();
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MX_TIM1_Init();
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MX_TIM8_Init();
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MX_ADC1_Init();
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MX_ADC2_Init();
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MX_I2C1_Init();
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MX_I2C2_Init();
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MX_USART3_UART_Init();
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MX_FDCAN1_Init();
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MX_ADC3_Init();
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MX_FDCAN2_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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/* USER CODE BEGIN 2 */
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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_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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// 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，PID初始化。
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//FOC_AS5600_Init(PP, DIR); // 极对数，正补偿方向。
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FOC_ABZ_Init(PP, DIR);
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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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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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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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// 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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// 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(5); // 位置闭环。
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// //Set_Speed(speed);// 速度闭环。
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// }
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// ABZ_Set_Angle(5);
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ABZ_Set_Speed(10);// 速度闭环。
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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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// 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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}
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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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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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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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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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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
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RCC_OscInitStruct.PLL.PLLN = 85;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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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
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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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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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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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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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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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/**
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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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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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