STM32控制的高压无刷直流电机程序 -

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
#include "stm32f10x_MClib.h"
#include "MC_Globals.h"
//debug in RAM
//#define VECT_TAB_RAM
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
EXTI_InitTypeDef EXTI_InitStructure;
/* Private function prototypes -----------------------------------------------*/
void NVIC_Configuration(void);
void GPIO_Configuration(void);
void RCC_Configuration(void);
void PVD_Configuration(void);
void TB_Init(void);
void LCD_Dis_ZEQ(void);
void Running_ZEQ(void);
void InterruptConfig(void);
void ExtOnConfig(void);
extern volatile bool HallTimeOut;
extern u16 Duty;
extern u16 Duty1;
extern u16 Duty2;
extern u32 speed_integral;
extern u32 hRotorFreq;
extern u16 wGlobal_Flags;
extern u8 bMenu_index;
volatile bool PID_Control;
volatile bool ReStartFlag=FALSE;
volatile u8 StartTime=0;
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
//u8 i=0,j=0,k=0;
#ifdef DEBUG
debug();
#endif
/*Core initialization*/
/*NVIC first,before RCC initialization,use HSI,because RCC initialization also may have INT,GPIO last*/
NVIC_Configuration();
RCC_Configuration();
PVD_Configuration();
GPIO_Configuration();
TB_Init(); //use systick as the timer base
//hall timer TIMER2 initialization
HALL_HallTimerInit();
/*shunt channel*/
#ifdef THREE_SHUNT
SVPWM_3ShuntInit(); /* Current sensing by Three Shunt resistors */
#elif defined ICS_SENSORS
SVPWM_IcsInit();
#endif
//#if 0
//PID parameters initialization
PID_Init(&PID_Speed_InitStructure);
KEYS_Init();
LCD_Dis_ZEQ();
StartTimer(TIMERDISPLAY,0);
Running_ZEQ();
//#endif
//while(1);
/* while(1)
{
switch(KEYS_Read())
{
case ONOFF:{LCD_Print(1,0,"Key ONOFF");LCD_Putchar(++i+0x30);break;}
case PLUS:{LCD_Print(1,0,"Key PLUS");LCD_Putchar(++j+0x30);break;}
case MINUS:{LCD_Print(1,0,"Key MINUS");LCD_Putchar(++k+0x30);break; }
default:break;
}
}
*/
}
/*******************************************************************************
* Function Name : GPIO_Configuration
* Description : Configures the TIM1 Pins.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOC clock */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC, ENABLE);
/*Reset CPIOC after system reset*/
GPIO_DeInit(GPIOC);
GPIO_StructInit(&GPIO_InitStructure);
/* Configure PC0-PC3,PC10-PC12 Output push-pull for LCD Display */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3\
| GPIO_Pin_10|GPIO_Pin_11|GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : RCC_Configuration
* Description : Configures the different system clocks.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus;
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
}
/*******************************************************************************
* Function Name : PVD_Configuration
* Description : Settup the Program Voltage Detect function
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void PVD_Configuration(void)
{
PWR_PVDLevelConfig(PWR_PVDLevel_2V8); //config the voltage threshold
PWR_PVDCmd(ENABLE); //enable PVD
EXTI_StructInit(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line = EXTI_Line16; //connect to Line16
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; //enable PVD interrupt
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;//low voltage trigger interrupt
EXTI_InitStructure.EXTI_LineCmd = ENABLE; //enable interrupt lin
EXTI_Init(&EXTI_InitStructure);//initiation the EXTI
}
/*******************************************************************************
* Function Name : TB_Init
* Description : TimeBase peripheral initialization. The base time is set to
* 1ms and the related interrupt is enabled
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void TB_Init(void)
{
/* Select AHB/8 clock(HCLK) as SysTick clock source */
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
/* SysTick interrupt each 1ms with Core clock equal to 72MHz,1/72M*8*9000=0.001s */
SysTick_SetReload(9000);
/* Enable SysTick Counter */
SysTick_CounterCmd(SysTick_Counter_Enable);
/* Enable SysTick interrupt */
SysTick_ITConfig(ENABLE);
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configures the Vector Table base address.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_DeInit();
//if debug the code in RAM,must define VECT_TAB_RAM
#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_SystemHandlerPriorityConfig(SystemHandler_SysTick, 4, 0);
//hall input interrupt Priority must highest
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// TIM1 update even interrupt
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* Function Name : LCD_Dis _ZEQ
* Description : LCD_Display
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void LCD_Dis_ZEQ(void)
{
LCD_Init();
LCD_Clear();
Display_Welcome_Message();
}
/*******************************************************************************
* Function Name : Running_ZEQ
* Description : While_running
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void Running_ZEQ(void)
{
while(1)
{
Display_LCD();
KEYS_process();
switch (State)
{
case IDLE: // Idle state
break;
case INIT:
MCL_Init();
if(StartTime>4) State=FAULT;
else State = START;
break;
case START:
//if(ReadTimer(TIMERSTARTUP)==WAIT) MCL_Init();
//if(ReadTimer(TIMERSTARTUP)==OK) StopTimer(TIMERSTARTUP);
break;
case STOP: // motor stopped
/* Main PWM Output Disable */
TIM1_CtrlPWMOutputs(DISABLE);
State = WAITING;
StartTimer(TIMERDELAY,500);
break;
case WAITING: // waiting state
TIM_SetCounter(TIM2, 0);
Duty = 0;
Duty1 = 0;
Duty2 = 0;
speed_integral = 0;
TIM_Cmd(TIM2, DISABLE);
TIM_Cmd(TIM3, DISABLE);
TIM_ITConfig(TIM3, TIM_IT_Trigger, DISABLE);
if (ReadTimer(TIMERDELAY)==OK)
{
#ifdef HALL_SENSORS
if (hRotorFreq == 0)
{
State=IDLE;
}
#endif
}
break;
case FAULT:
TIM1_CtrlPWMOutputs(DISABLE);
State = WAITING;
StartTimer(TIMERDELAY,500);
TIM_Cmd(TIM3, DISABLE);
TIM_Cmd(TIM2, DISABLE);
bMenu_index=ERR_MENU;
break;
default:
break;
}
}
}
#ifdef DEBUG
/*******************************************************************************
* Function Name : assert_failed
* Description : Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* Input : - file: pointer to the source file name
* - line: assert_param error line source number
* Output : None
* Return : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
/* 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) */
/* Infinite loop */
while (1)
{
//printf("Wrong parameters value: file %s on line %d\r\n", file, line);
}
}
#endif
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/

复制代码