392 lines
13 KiB
C
392 lines
13 KiB
C
#include "gd32f4xx_timer.h"
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#include "Timer.h"
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#include "gd32f4xx_rcu.h"
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#include "ptz_type_select.h"
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#include "ptz_struct.h"
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#include <includes.h>
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#include "gd32f4xx_it.h"
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#ifdef TMC2160
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#define timer_frequence 2000000 //定时器频率1MHZ
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/*!
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\brief none 水平输出频率
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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void ptz_hori_timer_start(unsigned int f)
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{
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unsigned int counter,chcv;
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counter = (unsigned int)(timer_frequence / f + 0.5);
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chcv = (unsigned int)(counter / 2.0 +0.5);
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TIMER_CAR(TIMER3) = counter;
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TIMER_CH0CV(TIMER3) = chcv;
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timer_enable(TIMER3);
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}
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/*!
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\brief none 水平停止
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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void ptz_hori_timer_stop()
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{
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TIMER_CH0CV(TIMER3) = 0;
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timer_disable(TIMER3);
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}
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/*!
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\brief none 垂直输出频率
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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void ptz_vert_timer_start(unsigned int f)
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{
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unsigned int counter,chcv;
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counter = (unsigned int)(timer_frequence / f + 0.5);
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chcv = (unsigned int)(counter / 2.0 +0.5);
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TIMER_CAR(TIMER2) = counter;
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TIMER_CH0CV(TIMER2) = chcv;
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timer_enable(TIMER2);
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}
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/*!
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\brief none 垂直停止
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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void ptz_vert_timer_stop()
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{
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TIMER_CH0CV(TIMER2) = 0;
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timer_disable(TIMER2);
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}
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/*!
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\brief none 步进电机定时器初始化
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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static void Step_timer_cfg(void)
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{//APB1总线时钟频率50MHz
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocintpara;
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rcu_periph_clock_enable(RCU_TIMER2);
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rcu_periph_clock_enable(RCU_TIMER3);
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// rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
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timer_struct_para_init(&timer_initpara);
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timer_deinit(TIMER2);
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timer_deinit(TIMER3);
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// TIMER1 configuration
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timer_initpara.prescaler = 49;//分频系数，确定频率为1MHZ
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
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timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
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timer_initpara.period = 999;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
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timer_initpara.repetitioncounter = 0;//计数重复值
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timer_init(TIMER2,&timer_initpara);
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timer_init(TIMER3,&timer_initpara);
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// CH0 configuration in PWM mode 0
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timer_channel_output_struct_para_init(&timer_ocintpara);
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timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocintpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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timer_channel_output_config(TIMER2,TIMER_CH_0,&timer_ocintpara);
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timer_channel_output_config(TIMER3,TIMER_CH_0,&timer_ocintpara);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_0,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER2,TIMER_CH_0,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER2,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_0,0);
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timer_channel_output_mode_config(TIMER3,TIMER_CH_0,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER3,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
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// auto-reload preload enable
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timer_auto_reload_shadow_enable(TIMER2);
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timer_enable(TIMER2);
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timer_auto_reload_shadow_enable(TIMER3);
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timer_enable(TIMER3);
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}
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/*!
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\brief none 引脚复用
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.11
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*/
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static void timer_gpio_init(void)
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{
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rcu_periph_clock_enable(RCU_GPIOC);
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rcu_periph_clock_enable(RCU_GPIOD);
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//H-STEP，timer3-ch0
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gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);
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gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_12);
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//V-STEP，timer2-ch0
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gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
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gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);
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//引脚复用
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gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_12);
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gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_6);
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}
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void step_time_init()
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{
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Step_timer_cfg();
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timer_gpio_init();
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}
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#endif
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#ifdef Full_bridge
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void PWM_timer4_cfg();
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/*!
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\brief none 定时器引脚复用
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.20
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*/
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static void PWM_gpio_init(void)
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{
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rcu_periph_clock_enable(RCU_GPIOC);
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// rcu_periph_clock_enable(RCU_GPIOD);
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//水平PC6-TIM2_CH0,水平PC7-TIM2_CH1,水平PC8-TIM2_CH2
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gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
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gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);
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gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_7);
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gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_7);
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gpio_mode_set(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_8);
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gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_8);
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//引脚复用
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gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_6);
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gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_7);
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gpio_af_set(GPIOC, GPIO_AF_2, GPIO_PIN_8);
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//垂直PD12-TIM3_CH0,垂直PD13-TIM3_CH1,垂直PD14-TIM3_CH2
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gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);
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gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_12);
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gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_13);
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gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_13);
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gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_14);
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gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_14);
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//引脚复用
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gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_12);
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gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_13);
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gpio_af_set(GPIOD, GPIO_AF_2, GPIO_PIN_14);
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}
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/*!
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\brief PWM输出初始化
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.20
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*/
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static void PWM_timer_cfg(void)
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{//APB1总线时钟频率50MHz,APB2总线时钟频率100MHz----timer0,7
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timer_parameter_struct timer_initpara;
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timer_oc_parameter_struct timer_ocintpara;
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rcu_periph_clock_enable(RCU_TIMER2);
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rcu_periph_clock_enable(RCU_TIMER3);
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// rcu_timer_clock_prescaler_config(RCU_TIMER_PSC_MUL4);
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timer_struct_para_init(&timer_initpara);
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timer_deinit(TIMER2);
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timer_deinit(TIMER3);
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// TIMER1 configuration
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timer_initpara.prescaler = 2;//分频系数，确定频率为25MHZ
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
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timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
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timer_initpara.period = 1999;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
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timer_initpara.repetitioncounter = 0;//计数重复值
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timer_init(TIMER2,&timer_initpara);
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timer_init(TIMER3,&timer_initpara);
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// CH0 configuration in PWM mode 0
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timer_channel_output_struct_para_init(&timer_ocintpara);
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timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
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timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
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timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
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timer_ocintpara.outputnstate = TIMER_CCXN_DISABLE;
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timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
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timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
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timer_channel_output_config(TIMER2,TIMER_CH_0,&timer_ocintpara);
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timer_channel_output_config(TIMER2,TIMER_CH_1,&timer_ocintpara);
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timer_channel_output_config(TIMER2,TIMER_CH_2,&timer_ocintpara);
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timer_channel_output_config(TIMER3,TIMER_CH_0,&timer_ocintpara);
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timer_channel_output_config(TIMER3,TIMER_CH_1,&timer_ocintpara);
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timer_channel_output_config(TIMER3,TIMER_CH_2,&timer_ocintpara);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_0,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER2,TIMER_CH_0,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER2,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_1,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER2,TIMER_CH_1,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER2,TIMER_CH_1,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER2,TIMER_CH_2,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER2,TIMER_CH_2,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER2,TIMER_CH_2,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_0,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER3,TIMER_CH_0,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER3,TIMER_CH_0,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_1,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER3,TIMER_CH_1,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER3,TIMER_CH_1,TIMER_OC_SHADOW_DISABLE);
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// CH0 configuration in PWM mode 0,duty cycle
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timer_channel_output_pulse_value_config(TIMER3,TIMER_CH_2,0);//输出无效低电平，TIMER_CH0CV(timer_periph) = (uint32_t)pulse;
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timer_channel_output_mode_config(TIMER3,TIMER_CH_2,TIMER_OC_MODE_PWM0);
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timer_channel_output_shadow_config(TIMER3,TIMER_CH_2,TIMER_OC_SHADOW_DISABLE);
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// auto-reload preload enable
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timer_auto_reload_shadow_enable(TIMER2);
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timer_enable(TIMER2);
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timer_auto_reload_shadow_enable(TIMER3);
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timer_enable(TIMER3);
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// timer_interrupt_enable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
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// nvic_irq_enable(TIMER2_IRQn, 3U, 0U);
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// timer_interrupt_enable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
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// nvic_irq_enable(TIMER3_IRQn, 3U, 1U);
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}
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/*!
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\brief 定时器输出初始化,,初始化于速度模块
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.20
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*/
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void bldc_pwm_init(void)
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{
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PWM_gpio_init();
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PWM_timer_cfg();
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OSTimeDlyHMSM(0u, 0u, 0u, 1u);
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// //初始化定时器后，先不使能，仅当电机启动后使能，，防止CPU负荷过高
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// timer_disable(TIMER3);
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// timer_disable(TIMER2);
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// timer_interrupt_disable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
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// timer_interrupt_disable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
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PWM_timer4_cfg();
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}
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//测试，计算电机速度
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/*!
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\brief 定时器中断里电机换向———水平和垂直
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\param[in] none
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\param[out] none
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\retval none
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\note LH @2022.07.20
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*/
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void PWM_timer4_cfg()
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{//APB1总线时钟频率50MHz,APB2总线时钟频率100MHz----timer0,7
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timer_parameter_struct timer_initpara;
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// timer_oc_parameter_struct timer_ocintpara;
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rcu_periph_clock_enable(RCU_TIMER4);
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timer_struct_para_init(&timer_initpara);
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timer_deinit(TIMER4);
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// TIMER1 configuration
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timer_initpara.prescaler = 9;//分频系数，确定频率为25MHZ
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;//计数模式，边缘对齐
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timer_initpara.counterdirection = TIMER_COUNTER_UP;//计数方向
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timer_initpara.period = 999;//计数重装载值，确定周期，，该值可在任意时刻进行修改以改变周期，TIMER_CAR(timer_periph) = (uint32_t)initpara->period;
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;//时钟分频
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timer_initpara.repetitioncounter = 0;//计数重复值
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timer_init(TIMER4,&timer_initpara);
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timer_auto_reload_shadow_enable(TIMER4);
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timer_enable(TIMER4);
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timer_interrupt_enable(TIMER4,TIMER_INT_UP);//定时器更新中断使能
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nvic_irq_enable(TIMER4_IRQn, 2U, 1U);
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// BSP_IntVectSet(66,TIMER4_IRQHandler);
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// BSP_IntEn(66);
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}
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//int hall_count,hall_count_last;//=0,counter_diff;
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//float motor_speed;//电机转速
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//
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//void hall_irq_process()
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//{
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// if(abs(hall_count_last-g_ptz.vert_l6235d.l6235d_hall_h1_count) >= 1)
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// {
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// motor_speed = (144.0 / hall_count * 8000.0) / 6.0;//单位转每分
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//
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//// g_ptz.vert_motor_speed_hall_actual = motor_speed;
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// hall_count_last=g_ptz.vert_l6235d.l6235d_hall_h1_count;
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// hall_count=0;
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//}}
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#endif
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