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curpid working

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This commit is contained in:
crinq
2017-09-25 04:08:42 +02:00
parent 29959bd680
commit 198ac7f638
10 changed files with 503 additions and 287 deletions
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18
shared/comps/dq.c
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@@ -28,14 +28,14 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
// struct dq_ctx_t * ctx = (struct dq_ctx_t *)ctx_ptr;
struct dq_pin_ctx_t * pins = (struct dq_pin_ctx_t *)pin_ptr;
float u = PIN(u);
float v = PIN(v);
float w = PIN(w);
// float u = PIN(u);
// float v = PIN(v);
// float w = PIN(w);
//clarke transformation
float a = u * 2.0 / 3.0 - v / 3.0 - w / 3.0;
float b = v / M_SQRT3 - w / M_SQRT3;
float y = u / 3.0 + v / 3.0 + w / 3.0;
float a = PIN(a);//u * 2.0 / 3.0 - v / 3.0 - w / 3.0;
float b = PIN(b);//v / M_SQRT3 - w / M_SQRT3;
float y = 0.0;//u / 3.0 + v / 3.0 + w / 3.0;
float p = (int)MAX(PIN(polecount), 1.0);
float pos = PIN(pos) * p;
@@ -48,9 +48,9 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
float d = a * co + b * si;
float q = - a * si + b * co;
PIN(a) = a;
PIN(b) = b;
PIN(y) = y;
// PIN(a) = a;
// PIN(b) = b;
// PIN(y) = y;
PIN(d) = d;
PIN(q) = q;

187
shared/comps/map.c Normal file
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@@ -0,0 +1,187 @@
#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"
#define POLES 50.0
HAL_COMP(map);
HAL_PIN(pos_in);
HAL_PIN(pos_out);
HAL_PIN(start);
HAL_PIN(freq);
HAL_PIN(over);
HAL_PIN(print);
HAL_PIN(state);
HAL_PIN(counter);
HAL_PIN(index);
struct map_ctx_t{
float map[(int)POLES];
float rmap[(int)POLES];
int state;
int index;
int counter;
float value;
float pos;
};
static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
struct map_ctx_t * ctx = (struct map_ctx_t *)ctx_ptr;
struct map_pin_ctx_t * pins = (struct map_pin_ctx_t *)pin_ptr;
PIN(over) = 500.0;
for(int i = 0; i < POLES; i++){
ctx->map[i] = 0.0;
ctx->rmap[i] = 0.0;
}
}
static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
struct map_ctx_t * ctx = (struct map_ctx_t *)ctx_ptr;
struct map_pin_ctx_t * pins = (struct map_pin_ctx_t *)pin_ptr;
PIN(state) = ctx->state;
PIN(counter) = ctx->counter;
PIN(index) = ctx->index;
int index;
float min, max, p, min_p, max_p, k;
switch(ctx->state){
case 0: // pipe through
//PIN(pos_out) = PIN(pos_in);
PIN(pos_out) = 0.0;
if(PIN(start) > 0.0){
PIN(pos_out) = 0.0;
ctx->counter++;
if(ctx->counter > 1000){
ctx->state = 1;
ctx->index = 0;
ctx->pos = 0.0;
}
}
break;
case 1: // move motor
ctx->pos += 2.0 * M_PI * PIN(freq) * period;
PIN(pos_out) = mod(ctx->pos);
if(ctx->pos >= (float)ctx->index * 2.0 * M_PI / POLES){
ctx->value = 0.0;
ctx->counter = 0;
ctx->state = 2;
//PIN(pos_out) = mod((float)ctx->index / POLES * 2.0 * M_PI);
}
if(ctx->index >= POLES){
ctx->state = 3;
}
break;
case 2: // measure
ctx->value += PIN(pos_in) / PIN(over);
ctx->counter++;
if(ctx->counter > PIN(over)){
ctx->map[ctx->index] = mod(ctx->value);
ctx->state = 1;
ctx->index++;
}
break;
case 3: // remap
break;
case 4: // map
index = (int)((mod(PIN(pos_in)) + M_PI) / 2.0 / M_PI * POLES);
min = ctx->rmap[index];
max = ctx->rmap[(index + 1) % (int)POLES];
p = mod(PIN(pos_in));
min_p = mod(index * 2.0 * M_PI / POLES);
max_p = mod((index + 1) * 2.0 * M_PI / POLES);
k = minus(p, min_p) / minus(max_p, min_p);
PIN(pos_out) = mod(min + minus(max, min) * k);
if(PIN(start) <= 0.0){
ctx->state = 0;
}
break;
}
}
static void nrt_func(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
struct map_ctx_t * ctx = (struct map_ctx_t *)ctx_ptr;
struct map_pin_ctx_t * pins = (struct map_pin_ctx_t *)pin_ptr;
if(PIN(print) > 0.0){
PIN(print) = 0.0;
printf("\nmap(mot_pos) -> fb_pos\n");
printf("index, map[index], pos(index)\n");
for(int i = 0; i < POLES; i++){
printf("%i, %f, %f\n", i, ctx->map[i], (float)i / POLES * 2.0 * M_PI);
}
printf("\nrmap(fb_pos) -> mot_pos\n");
printf("index, map[index], pos(index)\n");
for(int i = 0; i < POLES; i++){
printf("%i, %f, %f\n", i, ctx->rmap[i], (float)i / POLES * 2.0 * M_PI);
}
}
if(ctx->state == 3){ // remap
float min, max, p;
int min_index, max_index;
for(int i = 0; i < POLES; i++){
min = -10.0;
max = 10.0;
min_index = 0;
max_index = 0;
p = (float)i * 2.0 * M_PI / POLES;
for(int j = 0; j < POLES; j++){
if(minus(p, ctx->map[j]) <= min && minus(p, ctx->map[j]) >= 0.0){
min = minus(p, ctx->map[j]);
min_index = j;
}
if(minus(ctx->map[j], p) <= max && minus(ctx->map[j], p) >= 0.0){
max = minus(ctx->map[j], p);
max_index = j;
}
}
p = mod(p);
min = mod(min);
max = mod(max);
ctx->rmap[i] = min_index * 2.0 * M_PI / POLES
+ minus(max_index * 2.0 * M_PI / POLES, min_index * 2.0 * M_PI / POLES) * min / (min + max);
//ctx->rmap[i] = min_index * 2.0 * M_PI / POLES * minus(p, min) / minus(max, min) + max_index * 2.0 * M_PI / POLES * minus(max, p) / minus(max, min);
}
// for(int i = 0; i < POLES; i++){
// ctx->map[i] = ctx->rmap[i];
// }
ctx->state = 4;
}
}
hal_comp_t map_comp_struct = {
.name = "map",
.nrt = nrt_func,
.rt = rt_func,
.frt = 0,
.nrt_init = nrt_init,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = sizeof(struct map_ctx_t),
.pin_count = sizeof(struct map_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

32
shared/comps/pole.c Normal file
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@@ -0,0 +1,32 @@
#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"
HAL_COMP(pole);
HAL_PIN(pos);
HAL_PIN(cpos);
HAL_PIN(p);
static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
// struct pole_ctx_t * ctx = (struct pole_ctx_t *)ctx_ptr;
struct pole_pin_ctx_t * pins = (struct pole_pin_ctx_t *)pin_ptr;
PIN(cpos) = mod(PIN(pos) * PIN(p));
}
hal_comp_t pole_comp_struct = {
.name = "pole",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = 0,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct pole_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

10
shared/f3hw.h
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@@ -1,11 +1,11 @@
//stmbl
#define AREF 3.338// analog reference voltage
#define VDIVUP 249000.0 * 2.0//HV div pullup R1,R12
#define VDIVDOWN 3900.0//HV div pulldown R2,R9
#define SHUNT 0.003//shunt
#define SHUNT_PULLUP 15000.0
#define SHUNT_SERIE 470.0
#define VDIVUP 20000.0 * 2.0//HV div pullup R1,R12
#define VDIVDOWN 1000.0//HV div pulldown R2,R9
#define SHUNT 0.013//shunt
#define SHUNT_PULLUP 3900.0
#define SHUNT_SERIE 120.0
#define LED_Pin GPIO_PIN_13
#define LED_GPIO_Port GPIOC

4
stm32f303/Makefile
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@@ -43,7 +43,9 @@ COMPS += shared/comps/curpid.c
COMPS += shared/comps/svm.c
COMPS += shared/comps/dq.c
COMPS += shared/comps/idq.c
# COMPS += shared/comps/rev.c
COMPS += shared/comps/pole.c
COMPS += shared/comps/map.c
COMPS += shared/comps/rev.c
# COMPS += shared/comps/vel.c
# COMPS += shared/comps/hal_test.c
# COMPS += shared/comps/dc.c

152
stm32f303/src/adc.c
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@@ -69,9 +69,9 @@ void MX_ADC1_Init(void)
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.NbrOfDiscConversion = 1;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_TRGO2;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 6;
hadc1.Init.NbrOfConversion = 4;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
@@ -81,10 +81,10 @@ void MX_ADC1_Init(void)
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_3; // pa2 = opamp1_out = iw (3)
sConfig.Channel = ADC_CHANNEL_1; // pa0 = dclink
sConfig.Rank = 1;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.SamplingTime = ADC_SAMPLETIME_19CYCLES_5;
sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
@@ -93,45 +93,25 @@ void MX_ADC1_Init(void)
}
sConfig.Rank = 2;
sConfig.Channel = ADC_CHANNEL_4; // pa3 = bemf0
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 3;
sConfig.Channel = ADC_CHANNEL_3; // pa2 = in0
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 4;
sConfig.Channel = ADC_CHANNEL_2; // pa1 = temp
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_4; // pa3 = uw
sConfig.Rank = 6;
sConfig.SamplingTime = ADC_SAMPLETIME_181CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
// sConfig.Channel = ADC_CHANNEL_2; // pa1 = opamp1_in = iw
// sConfig.Rank = 3;
// sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
// if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
// {
// Error_Handler();
// }
}
/* ADC2 init function */
void MX_ADC2_Init(void)
@@ -149,9 +129,9 @@ void MX_ADC2_Init(void)
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.NbrOfDiscConversion = 1;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_TRGO2;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 6;
hadc2.Init.NbrOfConversion = 4;
hadc2.Init.DMAContinuousRequests = DISABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc2.Init.LowPowerAutoWait = DISABLE;
@@ -161,10 +141,10 @@ void MX_ADC2_Init(void)
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_3; // pa6 = opamp2_out = iu (3)
sConfig.Channel = ADC_CHANNEL_3; // pa6 = opamp2_out = shunt low
sConfig.Rank = 1;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.SamplingTime = ADC_SAMPLETIME_19CYCLES_5;
sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
@@ -173,44 +153,25 @@ void MX_ADC2_Init(void)
}
sConfig.Rank = 2;
sConfig.Channel = ADC_CHANNEL_1; // pa4 = bemf1
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 3;
sConfig.Channel = ADC_CHANNEL_2; // pa5 = in1
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 4;
sConfig.Channel = ADC_CHANNEL_3; // pa6 = opamp2_out = shunt low
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 5;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_2; // pa5 = uv
sConfig.Rank = 6;
sConfig.SamplingTime = ADC_SAMPLETIME_181CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
Error_Handler();
}
// sConfig.Channel = ADC_CHANNEL_4; // pa7 = opamp2_in = iu
// sConfig.Rank = 3;
// sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
// if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
// {
// Error_Handler();
// }
}
/* ADC3 init function */
void MX_ADC3_Init(void)
@@ -227,9 +188,9 @@ void MX_ADC3_Init(void)
hadc3.Init.DiscontinuousConvMode = DISABLE;
hadc3.Init.NbrOfDiscConversion = 1;
hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_TRGO2;
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc3.Init.NbrOfConversion = 6;
hadc3.Init.NbrOfConversion = 4;
hadc3.Init.DMAContinuousRequests = DISABLE;
hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc3.Init.LowPowerAutoWait = DISABLE;
@@ -241,10 +202,10 @@ void MX_ADC3_Init(void)
/**Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_1; // pb1 = opamp3_out = iv (1)
sConfig.Channel = ADC_CHANNEL_1; // pb1 = opamp3_out = shunt a
sConfig.Rank = 1;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.SamplingTime = ADC_SAMPLETIME_19CYCLES_5;
sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
@@ -269,31 +230,6 @@ void MX_ADC3_Init(void)
{
Error_Handler();
}
sConfig.Rank = 5;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_5; // pb13 = uu
sConfig.Rank = 6;
sConfig.SamplingTime = ADC_SAMPLETIME_181CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
{
Error_Handler();
}
//
// /**Configure Regular Channel
// */
// sConfig.Channel = ADC_CHANNEL_12; // pb0 = opamp3_in = iv
// sConfig.Rank = 3;
// sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
// if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
// {
// Error_Handler();
// }
}
/* ADC4 init function */
void MX_ADC4_Init(void)
@@ -311,9 +247,9 @@ void MX_ADC4_Init(void)
hadc4.Init.DiscontinuousConvMode = DISABLE;
hadc4.Init.NbrOfDiscConversion = 1;
hadc4.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc4.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc4.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_TRGO2;
hadc4.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc4.Init.NbrOfConversion = 6;
hadc4.Init.NbrOfConversion = 4;
hadc4.Init.DMAContinuousRequests = DISABLE;
hadc4.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc4.Init.LowPowerAutoWait = DISABLE;
@@ -323,10 +259,10 @@ void MX_ADC4_Init(void)
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_4; // pb14 = hv_temp
sConfig.Channel = ADC_CHANNEL_3; // pb12 = shunt b
sConfig.Rank = 1;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.SamplingTime = ADC_SAMPLETIME_19CYCLES_5;
sConfig.SamplingTime = ADC_SAMPLETIME_61CYCLES_5;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc4, &sConfig) != HAL_OK)
@@ -346,26 +282,11 @@ void MX_ADC4_Init(void)
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_5; // pb15 = mot_temp
sConfig.Rank = 4;
if (HAL_ADC_ConfigChannel(&hadc4, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Rank = 5;
if (HAL_ADC_ConfigChannel(&hadc4, &sConfig) != HAL_OK)
{
Error_Handler();
}
sConfig.Channel = ADC_CHANNEL_3; // pb12 = hv
sConfig.Rank = 6;
sConfig.SamplingTime = ADC_SAMPLETIME_181CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc4, &sConfig) != HAL_OK)
{
Error_Handler();
}
}
static uint32_t HAL_RCC_ADC12_CLK_ENABLED=0;
@@ -387,11 +308,12 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
}
/**ADC1 GPIO Configuration
PA0 ------> ADC1_IN1
PA1 ------> ADC1_IN2
PA2 ------> ADC1_IN3
PA3 ------> ADC1_IN4
*/
GPIO_InitStruct.Pin = GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3;
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -412,11 +334,11 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
}
/**ADC2 GPIO Configuration
PA4 ------> ADC2_IN1
PA5 ------> ADC2_IN2
PA6 ------> ADC2_IN3
PA7 ------> ADC2_IN4
*/
GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Pin = GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -437,11 +359,9 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
}
/**ADC3 GPIO Configuration
PB0 ------> ADC3_IN12
PB1 ------> ADC3_IN1
PB13 ------> ADC3_IN5
*/
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_13;
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -463,10 +383,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
/**ADC4 GPIO Configuration
PB12 ------> ADC4_IN3
PB14 ------> ADC4_IN4
PB15 ------> ADC4_IN5
*/
GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -494,7 +412,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
/**ADC1 GPIO Configuration
PA3 ------> ADC1_IN4
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_3);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
@@ -512,9 +430,11 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
}
/**ADC2 GPIO Configuration
PA4 ------> ADC2_IN1
PA5 ------> ADC2_IN2
PA6 ------> ADC2_IN3
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6);
/* USER CODE BEGIN ADC2_MspDeInit 1 */
@@ -532,9 +452,9 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
}
/**ADC3 GPIO Configuration
PB13 ------> ADC3_IN5
PB1 ------> ADC3_IN1
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_1);
/* USER CODE BEGIN ADC3_MspDeInit 1 */
@@ -553,10 +473,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
/**ADC4 GPIO Configuration
PB12 ------> ADC4_IN3
PB14 ------> ADC4_IN4
PB15 ------> ADC4_IN5
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_14|GPIO_PIN_15);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12);
/* USER CODE BEGIN ADC4_MspDeInit 1 */

169
stm32f303/src/comps/io.c
View File

@@ -10,23 +10,55 @@ HAL_COMP(io);
HAL_PIN(led);
HAL_PIN(iu);
HAL_PIN(iv);
HAL_PIN(iw);
HAL_PIN(u);
HAL_PIN(v);
HAL_PIN(w);
HAL_PIN(udc);
HAL_PIN(udc_pwm);
HAL_PIN(hv_temp);
HAL_PIN(mot_temp);
HAL_PIN(oc1);
HAL_PIN(oc2);
HAL_PIN(ena);
HAL_PIN(enb);
uint32_t adc_12_buf[10];
uint32_t adc_34_buf[10];
HAL_PIN(hv_temp);
HAL_PIN(dc_link);
HAL_PIN(bemf0);
HAL_PIN(bemf1);
HAL_PIN(in0);
HAL_PIN(in1);
HAL_PIN(iap);
HAL_PIN(ian);
HAL_PIN(ibp);
HAL_PIN(ibn);
HAL_PIN(ip);
HAL_PIN(in);
HAL_PIN(ia);
HAL_PIN(ib);
// uint32_t adc_12_buf[80];
// uint32_t adc_34_buf[80];
#pragma pack(1)
struct adc_12_t{
uint16_t dc_link;
uint16_t shunt_low0;
uint16_t bemf0;
uint16_t bemf1;
uint16_t in0;
uint16_t in1;
uint16_t hv_temp;
uint16_t shunt_low1;
};
#pragma pack(1)
struct adc_34_t{
uint16_t shunt_a0;
uint16_t shunt_b0;
uint16_t shunt_a1;
uint16_t shunt_b1;
uint16_t shunt_a2;
uint16_t shunt_b2;
uint16_t shunt_a3;
uint16_t shunt_b3;
};
volatile struct adc_12_t adc_12_buf[20];
volatile struct adc_34_t adc_34_buf[20];
struct io_ctx_t{
float u_offset;
@@ -52,7 +84,7 @@ struct io_ctx_t{
#define VOLT(a) ((a) / (ARES) * (AREF) / (VDIVDOWN) * ((VDIVUP) + (VDIVDOWN)))
//#define TEMP(a) (log10f((a) * (AREF) / (ARES) * (TPULLUP) / ((AREF) - (a) * (AREF) / (ARES))) * (-53.0) + 290.0)
#define SHUNT_GAIN 16.0
#define SHUNT_GAIN 8.0
#define AMP(a, gain) (((a) * AREF / ARES / (gain) - AREF / (SHUNT_PULLUP + SHUNT_SERIE) * SHUNT_SERIE) / (SHUNT * SHUNT_PULLUP) * (SHUNT_PULLUP + SHUNT_SERIE))
@@ -96,16 +128,15 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
DMA1_Channel1->CCR &= (uint16_t)(~DMA_CCR_EN);
DMA1_Channel1->CPAR = (uint32_t)&(ADC12_COMMON->CDR);
DMA1_Channel1->CMAR = (uint32_t)adc_12_buf;
DMA1_Channel1->CNDTR = 6;
DMA1_Channel1->CNDTR = 80;
DMA1_Channel1->CCR = DMA_CCR_MINC | DMA_CCR_PL_0 | DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_CIRC;
ADC1->CFGR |= ADC_CFGR_DMAEN | ADC_CFGR_DMACFG;
DMA1_Channel1->CCR |= DMA_CCR_TCIE;
DMA1_Channel1->CCR |= DMA_CCR_EN;
// ADC12_COMMON->CCR |= ADC12_CCR_MDMA_1;
@@ -113,7 +144,7 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
DMA2_Channel5->CCR &= (uint16_t)(~DMA_CCR_EN);
DMA2_Channel5->CPAR = (uint32_t)&(ADC34_COMMON->CDR);
DMA2_Channel5->CMAR = (uint32_t)adc_34_buf;
DMA2_Channel5->CNDTR = 6;
DMA2_Channel5->CNDTR = 80;
DMA2_Channel5->CCR = DMA_CCR_MINC | DMA_CCR_PL_0 | DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_CIRC;
ADC3->CFGR |= ADC_CFGR_DMAEN | ADC_CFGR_DMACFG;
DMA2_Channel5->CCR |= DMA_CCR_EN;
@@ -124,35 +155,81 @@ static void nrt_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
struct io_pin_ctx_t * pins = (struct io_pin_ctx_t *)pin_ptr;
TIM1->CCR1 = PIN(oc1) * 1200.0+1200.0;
TIM1->CCR2 = PIN(oc2) * 1200.0+1200.0;
// while(!(DMA1->ISR & DMA_ISR_TCIF1)){}
// while(!(DMA2->ISR & DMA_ISR_TCIF5)){}
DMA1->IFCR = DMA_IFCR_CTCIF1;
DMA2->IFCR = DMA_IFCR_CTCIF5;
uint32_t a12 = adc_12_buf[0] + adc_12_buf[1] + adc_12_buf[2] + adc_12_buf[3] + adc_12_buf[4];
uint32_t a34 = adc_34_buf[0] + adc_34_buf[1] + adc_34_buf[2] + adc_34_buf[3] + adc_34_buf[4];
if(ctx->u_offset == 0){
ctx->w_offset = AMP((float)(a12 & 0xFFFF) / 5.0, SHUNT_GAIN);
ctx->u_offset = AMP((float)(a12 >> 16) / 5.0, SHUNT_GAIN);
ctx->v_offset = AMP((float)(a34 & 0xFFFF) / 5.0, SHUNT_GAIN);
// uint32_t dc_link = adc_12_buf[2].dc_link;
// uint32_t hv_temp = adc_12_buf[2].hv_temp;
// uint32_t bemf0 = adc_12_buf[2].bemf0;
// uint32_t bemf1 = adc_12_buf[2].bemf1;
// uint32_t in0 = adc_12_buf[2].in0;
// uint32_t in1 = adc_12_buf[2].in1;
// uint32_t iap = adc_34_buf[2].shunt_a0;
// uint32_t ian = adc_34_buf[3].shunt_a0;
// uint32_t ibp = adc_34_buf[2].shunt_b0;
// uint32_t ibn = adc_34_buf[3].shunt_b0;
// uint32_t ip = adc_12_buf[2].shunt_low0;
// uint32_t in = adc_12_buf[3].shunt_low0;
uint32_t dc_link = 0;
uint32_t hv_temp = 0;
uint32_t bemf0 = 0;
uint32_t bemf1 = 0;
uint32_t in0 = 0;
uint32_t in1 = 0;
uint32_t iap = 0;
uint32_t ian = 0;
uint32_t ibp = 0;
uint32_t ibn = 0;
uint32_t ip = 0;
uint32_t in = 0;
for(int i = 0; i < 10; i++){
dc_link += adc_12_buf[2 * i].dc_link + adc_12_buf[2 * i + 1].dc_link;
hv_temp += adc_12_buf[2 * i].hv_temp + adc_12_buf[2 * i + 1].hv_temp;
in0 += adc_12_buf[2 * i].in0 + adc_12_buf[2 * i + 1].in0;
in1 += adc_12_buf[2 * i].in1 + adc_12_buf[2 * i + 1].in1;
bemf0 += adc_12_buf[2 * i].bemf0 + adc_12_buf[2 * i + 1].bemf0;
bemf1 += adc_12_buf[2 * i].bemf1 + adc_12_buf[2 * i + 1].bemf1;
ian += adc_34_buf[2 * i].shunt_a0 + adc_34_buf[2 * i].shunt_a1 + adc_34_buf[2 * i].shunt_a2 + adc_34_buf[2 * i].shunt_a3;
iap += adc_34_buf[2 * i + 1].shunt_a0 + adc_34_buf[2 * i + 1].shunt_a1 + adc_34_buf[2 * i + 1].shunt_a2 + adc_34_buf[2 * i + 1].shunt_a3;
ibn += adc_34_buf[2 * i].shunt_b0 + adc_34_buf[2 * i].shunt_b1 + adc_34_buf[2 * i].shunt_b2 + adc_34_buf[2 * i].shunt_b3;
ibp += adc_34_buf[2 * i + 1].shunt_b0 + adc_34_buf[2 * i + 1].shunt_b1 + adc_34_buf[2 * i + 1].shunt_b2 + adc_34_buf[2 * i + 1].shunt_b3;
in += adc_12_buf[2 * i].shunt_low0 + adc_12_buf[2 * i].shunt_low1;
ip += adc_12_buf[2 * i + 1].shunt_low0 + adc_12_buf[2 * i + 1].shunt_low1;
}
TIM1->CCR1 = PIN(oc1) * 720.0 + 720.0;
TIM1->CCR2 = PIN(oc2) * 720.0 + 720.0;
// PIN(dclink) = dc_link / 1.0 * 3.3 / ARES * (10.0 + 10.0 + 1.0) / 1.0;
// PIN(bemf0) = bemf0 / 1.0 * 3.3 / ARES * (10.0 + 10.0 + 1.0) / 1.0;
// PIN(bemf1) = bemf1 / 1.0 * 3.3 / ARES * (10.0 + 10.0 + 1.0) / 1.0;
// PIN(in0) = in0 / 1.0 * 3.3 / ARES * (10.0 + 1.5) / 1.5;
// PIN(in1) = in1 / 1.0 * 3.3 / ARES * (10.0 + 1.5) / 1.5;
PIN(hv_temp) = hv_temp / 20.0 * 3.3 / ARES;
PIN(dc_link) = dc_link / 20.0 * 3.3 / ARES * (20.0 + 1.0) / 1.0;
PIN(bemf0) = bemf0 / 20.0 * 3.3 / ARES * (20.0 + 1.0) / 1.0;
PIN(bemf1) = bemf1 / 20.0 * 3.3 / ARES * (20.0 + 1.0) / 1.0;
PIN(in0) = in0 / 20.0 * 3.3 / ARES * (10.0 + 1.5) / 1.5;
PIN(in1) = in1 / 20.0 * 3.3 / ARES * (10.0 + 1.5) / 1.5;
// PIN(iap) = iap / 40.0 * 3.3 / ARES;
// PIN(ian) = ian / 40.0 * 3.3 / ARES;
// PIN(ibp) = ibp / 40.0 * 3.3 / ARES;
// PIN(ibn) = ibn / 40.0 * 3.3 / ARES;
// PIN(ip) = ip / 20.0 * 3.3 / ARES;
// PIN(in) = in / 20.0 * 3.3 / ARES;
PIN(iap) = AMP(iap / 40.0, 8.0);
PIN(ian) = AMP(ian / 40.0, 8.0);
PIN(ibp) = AMP(ibp / 40.0, 8.0);
PIN(ibn) = AMP(ibn / 40.0, 8.0);
PIN(ip) = ip / 20.0 * 3.3 / ARES;
PIN(in) = in / 20.0 * 3.3 / ARES;
PIN(ia) = PIN(iap) - PIN(ian);
PIN(ib) = PIN(ibp) - PIN(ibn);
PIN(iw) = -AMP((float)(a12 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->w_offset; // 1u
PIN(iu) = -AMP((float)(a12 >> 16) / 5.0, SHUNT_GAIN) + ctx->u_offset;
PIN(iv) = -AMP((float)(a34 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->v_offset;
PIN(w) = VOLT(adc_12_buf[5] & 0xFFFF) * 0.05 + PIN(w) * 0.95; // 0.6u
PIN(v) = VOLT(adc_12_buf[5] >> 16) * 0.05 + PIN(v) * 0.95;
PIN(u) = VOLT(adc_34_buf[5] & 0xFFFF) * 0.05 + PIN(u) * 0.95;
PIN(udc) = VOLT(adc_34_buf[5] >> 16) * 0.05 + PIN(udc) * 0.95;
PIN(udc_pwm) = PIN(udc) / 2.0;
PIN(hv_temp) = r2temp(HV_R(ADC(adc_34_buf[0] >> 16))) * 0.01 + PIN(hv_temp) * 0.99; // 5.5u
PIN(mot_temp) = MOT_R(MOT_REF(ADC(adc_34_buf[5] >> 16))); // 1.4u
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, PIN(led) > 0.0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, PIN(enb) > 0.0 ? GPIO_PIN_SET : GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, PIN(ena) > 0.0 ? GPIO_PIN_SET : GPIO_PIN_RESET);
}
hal_comp_t io_comp_struct = {

2
stm32f303/src/comps/tle.c
View File

@@ -80,7 +80,7 @@ typedef union{
typedef union{
struct {
uint8_t fir_md :2;//Filter Decimation Setting (Update Rate Setting)
uint8_t res :9;//Reserved
uint16_t res :9;//Reserved
uint8_t clk_sel :1;//Clock Source Select
uint8_t ssc_od :1;//SSC Interface 0: Push-pull 1: Open drain
uint8_t dsp_hold :1;//Hold DSPU Operation

196
stm32f303/src/main.c
View File

@@ -72,19 +72,21 @@ static void MX_TIM1_Init(void)
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 2400;
htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
htim1.Init.Period = 1440;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
// htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
// htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
HAL_TIM_OC_Init(&htim1);
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig);
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 1200;
sConfigOC.Pulse = 720;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
@@ -171,15 +173,18 @@ void Error_Handler(void);
/* USER CODE BEGIN 0 */
void TIM8_UP_IRQHandler(){
//GPIOA->BSRR |= GPIO_PIN_9;
__HAL_TIM_CLEAR_IT(&htim8, TIM_IT_UPDATE);
void DMA1_Channel1_IRQHandler(){
// GPIOC->BSRR |= GPIO_PIN_13;
// __HAL_DMA_CLEAR_FLAG(&hdma1, DMA_FLAG_TC1);
DMA1->IFCR = DMA_IFCR_CTCIF1;
DMA2->IFCR = DMA_IFCR_CTCIF5;
hal_run_rt();
if(__HAL_TIM_GET_FLAG(&htim8, TIM_IT_UPDATE) == SET){
hal_stop();
hal.hal_state = RT_TOO_LONG;
}
//GPIOA->BSRR |= GPIO_PIN_9 << 16;
// if(__HAL_DMA_GET_FLAG(&hdma1, DMA_FLAG_TC1) == SET){
// hal_stop();
// hal.hal_state = RT_TOO_LONG;
// }
// GPIOC->BSRR |= GPIO_PIN_13 << 16;
}
void bootloader(char * ptr){
@@ -232,10 +237,19 @@ int main(void)
MX_TIM8_Init();
MX_TIM1_Init();
// MX_ADC1_Init();
// MX_ADC2_Init();
// MX_ADC3_Init();
// MX_ADC4_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_ADC3_Init();
MX_ADC4_Init();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA2_Channel5_IRQn interrupt configuration */
// HAL_NVIC_SetPriority(DMA2_Channel5_IRQn, 0, 0);
// HAL_NVIC_EnableIRQ(DMA2_Channel5_IRQn);
// MX_DAC_Init();
// MX_OPAMP1_Init();
MX_OPAMP2_Init();
@@ -258,10 +272,10 @@ int main(void)
__HAL_RCC_RTC_ENABLE();
/* USER CODE BEGIN 2 */
// HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
// HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc3, ADC_SINGLE_ENDED);
HAL_ADCEx_Calibration_Start(&hadc4, ADC_SINGLE_ENDED);
// HAL_OPAMP_SelfCalibrate(&hopamp1);
HAL_OPAMP_SelfCalibrate(&hopamp2);
@@ -288,36 +302,32 @@ int main(void)
// GPIO_InitStruct.Pull = GPIO_NOPULL;
// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
// HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*
if (HAL_OPAMP_Start(&hopamp1) != HAL_OK){
Error_Handler();
}
if (HAL_OPAMP_Start(&hopamp2) != HAL_OK){
Error_Handler();
}
if (HAL_OPAMP_Start(&hopamp3) != HAL_OK){
Error_Handler();
}
*/
htim8.Instance->CCR1 = 0;
htim8.Instance->CCR2 = 0;
htim8.Instance->CCR3 = 0;
if (HAL_OPAMP_Start(&hopamp4) != HAL_OK){
Error_Handler();
}
// htim8.Instance->CCR1 = 0;
// htim8.Instance->CCR2 = 0;
// htim8.Instance->CCR3 = 0;
htim1.Instance->CCR1 = 1200;
htim1.Instance->CCR2 = 1200;
HAL_TIM_Base_Start(&htim1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
// htim1.Instance->CCR1 = 1200;
// htim1.Instance->CCR2 = 1200;
// HAL_ADC_Start(&hadc1);
// HAL_ADC_Start(&hadc2);
// HAL_ADC_Start(&hadc3);
// HAL_ADC_Start(&hadc4);
if (HAL_TIM_Base_Start_IT(&htim8) != HAL_OK){
Error_Handler();
}
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
HAL_ADC_Start(&hadc3);
HAL_ADC_Start(&hadc4);
// if (HAL_TIM_Base_Start_IT(&htim8) != HAL_OK){
// Error_Handler();
// }
#ifndef PWM_INVERT
TIM8->RCR = 1;//uptate event foo
#endif
@@ -340,22 +350,29 @@ int main(void)
// Error_Handler();
// }
hal_init(1.0 / 15000.0, 0.0);
hal_init(1.0 / 5000.0, 0.0);
// hal load comps
load_comp(comp_by_name("term"));
load_comp(comp_by_name("sim"));
load_comp(comp_by_name("io"));
// load_comp(comp_by_name("ls"));
// load_comp(comp_by_name("dq"));
load_comp(comp_by_name("dq"));
load_comp(comp_by_name("idq"));
load_comp(comp_by_name("tle"));
load_comp(comp_by_name("pole"));
load_comp(comp_by_name("map"));
load_comp(comp_by_name("rev"));
// load_comp(comp_by_name("svm"));
// load_comp(comp_by_name("hv"));
// load_comp(comp_by_name("curpid"));
load_comp(comp_by_name("curpid"));
hal_parse("tle0.rt_prio = 0.01");
hal_parse("term0.rt_prio = 0.1");
hal_parse("ls0.rt_prio = 0.6");
hal_parse("pole0.rt_prio = 1.0");
hal_parse("map0.rt_prio = 2.0");
hal_parse("rev0.rt_prio = 1.0");
hal_parse("io0.rt_prio = 1.0");
hal_parse("dq0.rt_prio = 2.0");
hal_parse("curpid0.rt_prio = 3.0");
@@ -364,7 +381,7 @@ int main(void)
hal_parse("hv0.rt_prio = 6.0");
hal_parse("sim0.rt_prio = 7.0");
hal_parse("term0.send_step = 100.0");
hal_parse("term0.send_step = 10.0");
hal_parse("term0.gain0 = 10.0");
hal_parse("term0.gain1 = 10.0");
hal_parse("term0.gain2 = 10.0");
@@ -377,67 +394,50 @@ int main(void)
hal_parse("idq0.pos = sim0.vel");
hal_parse("io0.oc1 = idq0.a");
hal_parse("io0.oc2 = idq0.b");
//link LS
hal_parse("ls0.mot_temp = io0.mot_temp");
hal_parse("ls0.dc_volt = io0.udc");
hal_parse("ls0.hv_temp = io0.hv_temp");
hal_parse("curpid0.id_cmd = ls0.d_cmd");
hal_parse("curpid0.iq_cmd = ls0.q_cmd");
hal_parse("idq0.pos = ls0.pos");
hal_parse("dq0.pos = ls0.pos");
hal_parse("hv0.en = ls0.en");
//ADC TEST
hal_parse("term0.wave3 = io0.udc");
hal_parse("hv0.udc = io0.udc");
hal_parse("dq0.u = io0.iu");
hal_parse("dq0.v = io0.iv");
hal_parse("dq0.w = io0.iw");
// hal_parse("sim0.vel", "idq0.pos");
// hal_parse("sim0.vel", "dq0.pos");
hal_parse("svm0.u = idq0.u");
hal_parse("svm0.v = idq0.v");
hal_parse("svm0.w = idq0.w");
hal_parse("hv0.u = svm0.su");
hal_parse("hv0.v = svm0.sv");
hal_parse("hv0.w = svm0.sw");
hal_parse("svm0.udc = io0.udc");
hal_parse("hv0.hv_temp = io0.hv_temp");
hal_parse("curpid0.id_fb = dq0.d");
hal_parse("curpid0.iq_fb = dq0.q");
hal_parse("ls0.d_fb = dq0.d");
hal_parse("ls0.q_fb = dq0.q");
hal_parse("ls0.u_fb = io0.u");
hal_parse("ls0.v_fb = io0.v");
hal_parse("ls0.w_fb = io0.w");
hal_parse("idq0.d = curpid0.ud");
hal_parse("idq0.q = curpid0.uq");
hal_parse("term0.wave0 = curpid0.id_cmd");
hal_parse("term0.wave1 = curpid0.iq_cmd");
hal_parse("term0.wave2 = curpid0.id_fb");
hal_parse("term0.wave3 = curpid0.iq_fb");
hal_parse("io0.led = term0.con");
hal_parse("curpid0.rd = ls0.r");
hal_parse("curpid0.rq = ls0.r");
hal_parse("curpid0.ld = ls0.l");
hal_parse("curpid0.lq = ls0.l");
hal_parse("curpid0.psi = ls0.psi");
hal_parse("curpid0.kp = ls0.cur_p");
hal_parse("curpid0.ki = ls0.cur_i");
hal_parse("curpid0.ff = ls0.cur_ff");
hal_parse("curpid0.kind = ls0.cur_ind");
hal_parse("curpid0.max_cur = ls0.max_cur");
hal_parse("curpid0.pwm_volt = ls0.pwm_volt");
hal_parse("curpid0.vel = ls0.vel");
hal_parse("dq0.a = io0.ia");
hal_parse("dq0.b = io0.ib");
hal_parse("dq0.pos = sim0.vel");
hal_parse("curpid0.rd = 0.5");
hal_parse("curpid0.rq = 0.5");
hal_parse("curpid0.ld = 0.001");
hal_parse("curpid0.lq = 0.001");
hal_parse("curpid0.psi = 0.005");
hal_parse("curpid0.kp = 0.1");
hal_parse("curpid0.ki = 0.0001");
hal_parse("curpid0.ff = 0");
hal_parse("curpid0.kind = 0");
hal_parse("curpid0.max_cur = 5");
hal_parse("curpid0.pwm_volt = io0.dc_link");
// hal_parse("idq0.pos = pole0.cpos");
hal_parse("pole0.pos = sim0.vel");
hal_parse("pole0.p = -50.0");
hal_parse("term0.wave0 = map0.error");
hal_parse("term0.wave1 = map0.corr");
hal_parse("map0.pos0 = sim0.vel");
hal_parse("map0.pos1 = tle0.d3");
hal_parse("map0.amp = 0.03");
hal_parse("map0.offset = 2");
// hal parse config
// hal_init_nrt();
// error foo
hal_start();
HAL_TIM_Base_Start(&htim1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
while (1)
{
@@ -494,7 +494,7 @@ void SystemClock_Config(void)
PeriphClkInit.Adc12ClockSelection = RCC_ADC12PLLCLK_DIV1;
PeriphClkInit.Adc34ClockSelection = RCC_ADC34PLLCLK_DIV1;
PeriphClkInit.USBClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
PeriphClkInit.Tim8ClockSelection = RCC_TIM8CLK_PLLCLK;
// PeriphClkInit.Tim8ClockSelection = RCC_TIM8CLK_PLLCLK;
PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_PLLCLK;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)

20
stm32f303/src/opamp.c
View File

@@ -63,7 +63,7 @@ void MX_OPAMP1_Init(void)
hopamp1.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp1.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp1.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_16;
hopamp1.Init.PgaGain = OPAMP_PGA_GAIN_8;
hopamp1.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp1) != HAL_OK)
{
@@ -80,7 +80,7 @@ void MX_OPAMP2_Init(void)
hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp2.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp2.Init.PgaGain = OPAMP_PGA_GAIN_16;
hopamp2.Init.PgaGain = OPAMP_PGA_GAIN_8;
hopamp2.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp2) != HAL_OK)
{
@@ -97,7 +97,7 @@ void MX_OPAMP3_Init(void)
hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16;
hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_8;
hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp3) != HAL_OK)
{
@@ -110,13 +110,13 @@ void MX_OPAMP3_Init(void)
void MX_OPAMP4_Init(void)
{
hopamp3.Instance = OPAMP4;
hopamp3.Init.Mode = OPAMP_PGA_MODE;
hopamp3.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp3.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp3.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp3.Init.PgaGain = OPAMP_PGA_GAIN_16;
hopamp3.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
hopamp4.Instance = OPAMP4;
hopamp4.Init.Mode = OPAMP_PGA_MODE;
hopamp4.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO3;
hopamp4.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
hopamp4.Init.PgaConnect = OPAMP_PGA_CONNECT_INVERTINGINPUT_NO;
hopamp4.Init.PgaGain = OPAMP_PGA_GAIN_8;
hopamp4.Init.UserTrimming = OPAMP_TRIMMING_FACTORY;
if (HAL_OPAMP_Init(&hopamp4) != HAL_OK)
{
Error_Handler();