646 lines
13 KiB
C
646 lines
13 KiB
C
////////////////////////////////////////////////////////////////////////////////
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/// FULL_BRIDGE文件
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///
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///
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/// 包含hall捕获、六步驱动等
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/// @file full_bridge.c
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/// @author LH
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/// @date 2022-07-19
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/// @version v1.0
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////////////////////////////////////////////////////////////////////////////////
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#include "full_bridge.h"
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#include "ptz_struct.h"
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#include "gd32f4xx_it.h"
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#include "rotate_bldc.h"
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#include "rotate_plan.h"
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#include "device_adc_collect.h"
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#include "gd32f4xx_timer.h"
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#include "speed_to_bldc.h"
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#ifdef Full_bridge
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typedef void(*pctr) (void);
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pctr h_six_step_commu[6];
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pctr v_six_step_commu[6];
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HALL_State H_Hall_state;
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HALL_State V_Hall_state;
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/*
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********************************六步换向法***********************************/
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static unsigned int h_pwm_duty;
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static unsigned int v_pwm_duty;
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/*!
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\brief none pwm占空比设置
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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 @2022.10.11
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*/
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//水平
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void h_pwm_duty_change(unsigned int pwm_duty)
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{
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h_pwm_duty = pwm_duty;
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}
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//垂直
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void v_pwm_duty_change(unsigned int pwm_duty)
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{
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v_pwm_duty = pwm_duty;
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}
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/*!
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\brief hall状态获取
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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 @2022.07.19
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*/
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unsigned char h_hall_senser_value_get()
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{
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unsigned char hall_value;
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H_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_10);
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H_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_11);
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H_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_12);
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hall_value = H_Hall_state.Hall_H1_state
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|(H_Hall_state.Hall_H2_state << 1)
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|(H_Hall_state.Hall_H3_state << 2);
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return hall_value;
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}
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unsigned char v_hall_senser_value_get()
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{
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unsigned char hall_value;
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V_Hall_state.Hall_H1_state = gpio_input_bit_get(GPIOE, GPIO_PIN_13);
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V_Hall_state.Hall_H2_state = gpio_input_bit_get(GPIOE, GPIO_PIN_14);
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V_Hall_state.Hall_H3_state = gpio_input_bit_get(GPIOE, GPIO_PIN_15);
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hall_value = V_Hall_state.Hall_H1_state
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|(V_Hall_state.Hall_H2_state << 1)
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|(V_Hall_state.Hall_H3_state << 2);
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return hall_value;
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}
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/*!
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\brief none U相进，V相出
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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 @2022.07.21
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*/
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void h_uh_vl()
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{
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H_EN1_OFF;//U
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H_EN2_ON;//V
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H_EN3_OFF;//W
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TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
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TIMER_CH1CV(TIMER2) = 0;//V
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TIMER_CH2CV(TIMER2) = 0;//W
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}
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/*!
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\brief none W相进，V相出
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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 @2022.07.21
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*/
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void h_wh_vl()
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{
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H_EN1_OFF;//U
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H_EN2_ON;//V
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H_EN3_OFF;//W
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TIMER_CH0CV(TIMER2) = 0;//U
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TIMER_CH1CV(TIMER2) = 0;//V
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TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
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}
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/*!
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\brief none W相进，U相出
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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 @2022.07.21
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*/
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void h_wh_ul()
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{
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H_EN1_ON;//U
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H_EN2_OFF;//V
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H_EN3_OFF;//W
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TIMER_CH0CV(TIMER2) = 0;//U
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TIMER_CH1CV(TIMER2) = 0;//V
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TIMER_CH2CV(TIMER2) = h_pwm_duty;//W199;//
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}
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/*!
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\brief none V相进，U相出
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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 @2022.07.21
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*/
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void h_vh_ul()
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{
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H_EN1_ON;//U
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H_EN2_OFF;//V
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H_EN3_OFF;//W
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TIMER_CH0CV(TIMER2) = 0;//U
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TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
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TIMER_CH2CV(TIMER2) = 0;//W
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}
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/*!
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\brief none V相进，W相出
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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 @2022.07.21
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*/
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void h_vh_wl()
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{
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H_EN1_OFF;//U
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H_EN2_OFF;//V
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H_EN3_ON;//W
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TIMER_CH0CV(TIMER2) = 0;//U
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TIMER_CH1CV(TIMER2) = h_pwm_duty;//V199;//
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TIMER_CH2CV(TIMER2) = 0;//W
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}
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/*!
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\brief none U相进，W相出
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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 @2022.07.21
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*/
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void h_uh_wl()
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{
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H_EN1_OFF;//U
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H_EN2_OFF;//V
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H_EN3_ON;//W
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TIMER_CH0CV(TIMER2) = h_pwm_duty;//U199;//
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TIMER_CH1CV(TIMER2) = 0;//V
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TIMER_CH2CV(TIMER2) = 0;//W
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}
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/*!
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\brief none 六步换向，对于120°hall，正转顺序为546231，反转顺序为：7-正转顺序,,（最终再减1）
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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 @2022.07.21
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*/
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pctr h_six_step_commu[6] =
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{
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&h_uh_wl, &h_vh_ul, &h_vh_wl, &h_wh_vl, &h_uh_vl, &h_wh_ul
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};
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/*!
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\brief none U相进，V相出
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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 @2022.07.21
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*/
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void v_uh_vl()
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{
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V_EN1_OFF;//U
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V_EN2_ON;//V
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V_EN3_OFF;//W
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TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
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TIMER_CH1CV(TIMER3) = 0;//V
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TIMER_CH2CV(TIMER3) = 0;//W
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}
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/*!
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\brief none W相进，V相出
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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 @2022.07.21
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*/
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void v_wh_vl()
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{
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V_EN1_OFF;//U
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V_EN2_ON;//V
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V_EN3_OFF;//W
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TIMER_CH0CV(TIMER3) = 0;//U
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TIMER_CH1CV(TIMER3) = 0;//V
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TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
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}
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/*!
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\brief none W相进，U相出
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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 @2022.07.21
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*/
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void v_wh_ul()
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{
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V_EN1_ON;//U
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V_EN2_OFF;//V
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V_EN3_OFF;//W
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TIMER_CH0CV(TIMER3) = 0;//U
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TIMER_CH1CV(TIMER3) = 0;//V
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TIMER_CH2CV(TIMER3) = v_pwm_duty;//W199;//
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}
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/*!
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\brief none V相进，U相出
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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 @2022.07.21
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*/
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void v_vh_ul()
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{
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V_EN1_ON;//U
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V_EN2_OFF;//V
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V_EN3_OFF;//W
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TIMER_CH0CV(TIMER3) = 0;//U
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TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
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TIMER_CH2CV(TIMER3) = 0;//W
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}
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/*!
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\brief none V相进，W相出
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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 @2022.07.21
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*/
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void v_vh_wl()
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{
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V_EN1_OFF;//U
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V_EN2_OFF;//V
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V_EN3_ON;//W
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TIMER_CH0CV(TIMER3) = 0;//U
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TIMER_CH1CV(TIMER3) = v_pwm_duty;//V199;//
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TIMER_CH2CV(TIMER3) = 0;//W
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}
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/*!
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\brief none U相进，W相出
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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 @2022.07.21
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*/
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void v_uh_wl()
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{
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V_EN1_OFF;//U
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V_EN2_OFF;//V
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V_EN3_ON;//W
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TIMER_CH0CV(TIMER3) = v_pwm_duty;//U199;//
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TIMER_CH1CV(TIMER3) = 0;//V
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TIMER_CH2CV(TIMER3) = 0;//W
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}
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/*!
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\brief none 六步换向，对于120°hall，正转顺序为546231，反转顺序为：7-正转顺序,,（最终再减1）
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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 @2022.07.21
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*/
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pctr v_six_step_commu[6] =
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{
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&v_uh_wl, &v_vh_ul, &v_vh_wl, &v_wh_vl, &v_uh_vl, &v_wh_ul
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};
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void uvw()
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{
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V_EN1_OFF;//U
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V_EN2_OFF;//V
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V_EN3_OFF;//W
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}
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/*!
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\brief none 水平直流无刷六步换向
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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 @2022.07.21
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*/
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//中断里调用
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void h_bldc_six_step()
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{
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// H_ADC2_Phase_current();
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if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
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{//电机处于启动状态
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H_Hall_state.Hall_value = h_hall_senser_value_get();
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if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
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{
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// if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
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// {//电机正转- 1
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// h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
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// }else{//电机反转
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// h_six_step_commu[H_Hall_state.Hall_value -1]();
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// }
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//直齿云台转向
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if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
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{//电机正转- 1
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h_six_step_commu[H_Hall_state.Hall_value -1]();
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}else{//电机反转
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h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
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}
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}
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}
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}
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/*!
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\brief none 垂直直流无刷六步换向
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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 @2022.07.21
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*/
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//中断里调用
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void v_bldc_six_step()
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{
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// V_ADC0_Phase_current();
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if((g_ptz.vert_start_stop_set == PTZ_VERT_START) && (g_ptz.vert_pid.mode == PID_ADJUST_SPEED))
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{//电机处于启动状态
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V_Hall_state.Hall_value = v_hall_senser_value_get();
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if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
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{
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if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
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{//电机正转- 1
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v_six_step_commu[V_Hall_state.Hall_value -1]();
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}else{//电机反转
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v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
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}
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// if(g_ptz.vert_pid.PidUT_float < 0)
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// {//换种思路，PID计算为负数时，反向转动
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// if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
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// {//电机正转- 1
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// v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
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// }else{//电机反转
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// v_six_step_commu[V_Hall_state.Hall_value -1]();
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// }
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// }
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}
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}
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}
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/*!
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\brief none 垂直方向调速，自锁
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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 @2022.12.05
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*/
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void vert_dir_speed_start(unsigned int verf)
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{
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V_EN1_OFF;//U
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V_EN2_ON;//V
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V_EN3_ON;//W
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TIMER_CH0CV(TIMER3) = verf;//U199;//
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TIMER_CH1CV(TIMER3) = 0;//V
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TIMER_CH2CV(TIMER3) = 0;//W
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}
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void vert_dir_speed_stop(void)
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{
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V_EN1_OFF;//U
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V_EN2_OFF;//V
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V_EN3_OFF;//W
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}
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void hori_dir_speed_start(unsigned int verf)
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{
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H_EN1_OFF;//U
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H_EN2_ON;//V
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H_EN3_ON;//W
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TIMER_CH0CV(TIMER2) = verf;//U199;//
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TIMER_CH1CV(TIMER2) = 0;//V
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TIMER_CH2CV(TIMER2) = 0;//W
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}
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void hori_dir_speed_stop(void)
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{
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H_EN1_OFF;//U
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H_EN2_OFF;//V
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H_EN3_OFF;//W
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}
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/*!
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\brief none 电机启动
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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 @2022.07.21
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*/
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void h_start_motor()
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{
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//定时器使能
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// timer_enable(TIMER2);
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h_pwm_duty_change(0);
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TIMER_CH0CV(TIMER2) = 0 ;//
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TIMER_CH1CV(TIMER2) = 0 ;//
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TIMER_CH2CV(TIMER2) = 0 ;//
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H_EN1_OFF;//U
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H_EN2_OFF;//V
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H_EN3_OFF;//W
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// timer_interrupt_enable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
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}
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void v_start_motor()
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{
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//定时器使能
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// timer_enable(TIMER3);
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v_pwm_duty_change(0);
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TIMER_CH0CV(TIMER3) = 0 ;//
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TIMER_CH1CV(TIMER3) = 0 ;//
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TIMER_CH2CV(TIMER3) = 0 ;//
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V_EN1_OFF;//U
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V_EN2_OFF;//V
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V_EN3_OFF;//W
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// timer_interrupt_enable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
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}
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/*!
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\brief none 电机停止
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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 @2022.07.21
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*/
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void h_stop_motor()
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{
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h_pwm_duty_change(0);
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// //输出低电平
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TIMER_CH0CV(TIMER2) = 0;
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TIMER_CH1CV(TIMER2) = 0;
|
||
TIMER_CH2CV(TIMER2) = 0;
|
||
|
||
H_EN1_OFF;//U
|
||
H_EN2_OFF;//V
|
||
H_EN3_OFF;//W
|
||
// //定时器关闭
|
||
// timer_disable(TIMER2);
|
||
// timer_interrupt_disable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
|
||
}
|
||
|
||
void v_stop_motor()
|
||
{
|
||
v_pwm_duty_change(0);
|
||
// //输出低电平
|
||
TIMER_CH0CV(TIMER3) = 0;
|
||
TIMER_CH1CV(TIMER3) = 0;
|
||
TIMER_CH2CV(TIMER3) = 0;
|
||
|
||
V_EN1_OFF;//U
|
||
V_EN2_OFF;//V
|
||
V_EN3_OFF;//W
|
||
// //定时器关闭
|
||
// timer_disable(TIMER3);
|
||
// timer_interrupt_disable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/*!
|
||
\brief hall引脚初始化
|
||
\param[in] none
|
||
\param[out] none
|
||
\retval none
|
||
\note LH @2022.10.11
|
||
*/
|
||
static void hall_io_init(void)
|
||
{
|
||
// //配置引脚时钟
|
||
// rcu_periph_clock_enable(RCU_GPIOE);
|
||
//
|
||
// //水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3
|
||
// //设置引脚为输入模式
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12);
|
||
//
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_13);
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_14);
|
||
// gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
|
||
|
||
H_Hall_state.Hall_H1_state = 0;
|
||
H_Hall_state.Hall_H2_state = 0;
|
||
H_Hall_state.Hall_H3_state = 0;
|
||
H_Hall_state.Hall_value = 0;
|
||
|
||
V_Hall_state.Hall_H1_state = 0;
|
||
V_Hall_state.Hall_H2_state = 0;
|
||
V_Hall_state.Hall_H3_state = 0;
|
||
V_Hall_state.Hall_value = 0;
|
||
|
||
}
|
||
|
||
/*!
|
||
\brief none 驱动桥引脚初始化
|
||
\param[in] none
|
||
\param[out] none
|
||
\retval none
|
||
\note LH @2022.10.11
|
||
*/
|
||
void bridge_io_init(void)
|
||
{
|
||
rcu_periph_clock_enable(RCU_GPIOA);
|
||
rcu_periph_clock_enable(RCU_GPIOC);
|
||
rcu_periph_clock_enable(RCU_GPIOD);
|
||
rcu_periph_clock_enable(RCU_GPIOE);
|
||
//H_EN1--PC9//H_EN2--PA8//H_EN3--PA11
|
||
gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
|
||
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_8);
|
||
gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
|
||
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8| GPIO_PIN_11);
|
||
gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
|
||
//V_EN1--PD10//V_EN2--PD11//V_EN3--PD15
|
||
gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
|
||
gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
|
||
gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
|
||
gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10| GPIO_PIN_11| GPIO_PIN_15);
|
||
|
||
//GD改版后驱动策略进行了修改————新增驱动桥电源控制引脚，便于驱动器的断电复位等
|
||
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//水平电源控制引脚
|
||
gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//垂直电源控制引脚
|
||
gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1);
|
||
|
||
H_EN1_OFF;
|
||
H_EN2_OFF;
|
||
H_EN3_OFF;
|
||
|
||
V_EN1_OFF;
|
||
V_EN2_OFF;
|
||
V_EN3_OFF;
|
||
hall_io_init();
|
||
|
||
H_BRIDGE_POWER_ON;
|
||
// V_BRIDGE_POWER_ON;
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
#endif
|
||
|
||
|