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#include "includes.h"
/********************CoOS變量**********************/
#define TASK_STK_SIZE 128
#define TASK0_PRIO 2
#define TASK1_PRIO 3
#define TASK2_PRIO 4
#define TASK3_PRIO 5
OS_STK STK_TASK0[TASK_STK_SIZE];
OS_STK STK_TASK1[TASK_STK_SIZE];
OS_STK STK_TASK2[TASK_STK_SIZE];
OS_STK STK_TASK3[TASK_STK_SIZE];
void TASK0(void *param);
void TASK1(void *param);
void TASK2(void *param);
void TASK3(void *param);
/*************************************************/
/*********************一般變量********************/
extern uint32_t Speed_count;
uint8_t USART_Flag = 0;
/*************************************************/
int main(void)
{
/* 片內外設初始化 */
Periph_Init();
/* 操作系統初始化 */
CoInitOS();
CoCreateTask( TASK0, (void*)0, TASK0_PRIO, &STK_TASK0[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoCreateTask( TASK1, (void*)0, TASK1_PRIO, &STK_TASK1[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoCreateTask( TASK2, (void*)0, TASK2_PRIO, &STK_TASK2[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoCreateTask( TASK3, (void*)0, TASK3_PRIO, &STK_TASK3[TASK_STK_SIZE - 1], TASK_STK_SIZE);
CoStartOS();
while(1);
}
void TASK0(void *param)
{
uint8_t start_flag=0;
uint8_t sw_state = 1;
KEY_Init();
Speed_PIDInit();
for(;;)
{
//SW__Read()=1 Direction = SET
if(SW__Read()^sw_state)
{
if(start_flag)
{
BLDC_Stop();
}
sw_state = SW__Read();
if(sw_state)
{
Direction = SET;
}
else
{
Direction = RESET;
}
if(start_flag)
{
BLDC_Start();
}
}
if(KEY_Read(KEY1))
{
CoTickDelay(5);
if(KEY_Read(KEY1))
{
BLDC_Start();
start_flag = 1;
}
}
if(KEY_Read(KEY2))
{
CoTickDelay(5);
if(KEY_Read(KEY2))
{
BLDC_Stop();
start_flag = 0;
}
}
CoTickDelay(10);
}
}
void TASK1(void *param)
{
uint16_t adc_value= 0;
uint8_t i = 0;
for(;;)
{
adc_value= 0;
for(i=0;i<4;i++)
{
ADC_SoftwareStartConvCmd(ADC1,ENABLE); /* 使能轉換開始 */
while(ADC_GetSoftwareStartConvStatus(ADC1));
adc_value += ADC_GetConversionValue(ADC1);
}
ADC_Speed = adc_value/4;
CoTickDelay(10);
}
}
void TASK2(void *param)
{
uint16_t data;
for(;;)
{
if(USART_Flag)
{
data = 1000000/(6*Speed_count);
USART_SendData( USART2, data);
USART_Flag = 0;
}
CoTickDelay(1);
}
}
void TASK3(void *param)
{
LED_Off();
for(;;)
{
LED_On();
CoTickDelay(200);
LED_Off();
CoTickDelay(200);
}
}

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#include "includes.h"
/**********常量定義**********/
#define IDLE 0
#define START 1
#define RUN 2
#define STOP 3
#define FAULT 4
#define HIGH 1480
#define LOW 3
/*********全局變量***********/
u8 state; //主狀態
FlagStatus Direction = SET;//初始化后為正轉
uint8_t stalling_count = 0; //堵轉計數器
void Delay_us(uint8_t t);
/**********************************************************************
* Description : 對定時器1和定時器3的GPIO定義
* Input : None
* Output : None
* Return : None
* Attention : None
**********************************************************************/
void BLDC_GPIOConfig(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10; //TIM1輸出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;//TIM1輸出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //TIM3的霍爾輸入
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //TIM3的霍爾輸入
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //TIM1_BKIN
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
// GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/**********************************************************************
* Description : None
* Input : None
* Output : None
* Return : None
* Attention : None
**********************************************************************/
void BLDC_TIM1Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本結構體變量定義
TIM_OCInitTypeDef TIM_OCInitStructure; //輸出結構體變量定義
TIM_BDTRInitTypeDef TIM_BDTRInitStructure; //死區剎車結構體變量定義
TIM_DeInit(TIM1);
TIM_TimeBaseStructure.TIM_Prescaler = 2; //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;//中央對齊計數模式,輸出比較標志位只有在比較器向上計算被設置
TIM_TimeBaseStructure.TIM_Period = 1500 - 1; //PWM 16K
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM輸出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;//TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OC2Init(TIM1,&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OC3Init(TIM1,&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM輸出通道4初始化，用來觸發AD注入采樣
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse =1495;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM1,&TIM_OCInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //死區剎車初始化
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM_BDTRInitStructure.TIM_DeadTime = 100;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable; //如打開，開機無輸出且狀態紊亂？？？？
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low ;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕獲比較寄存器預裝載（通道1）
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕獲比較寄存器預裝載（通道2）
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable); //使能捕獲比較寄存器預裝載（通道3）
TIM_SelectInputTrigger(TIM1, TIM_TS_ITR2); //輸入觸發源選擇TIM3
//TIM_SelectSlaveMode(TIM1, TIM_SlaveMode_Trigger);//從模式選擇觸發
TIM_CtrlPWMOutputs(TIM1,ENABLE);
// TIM_ClearITPendingBit(TIM1, TIM_IT_Break|TIM_IT_COM);
// TIM_ITConfig(TIM1, TIM_IT_Break | TIM_IT_COM ,ENABLE);
TIM_ClearITPendingBit( TIM1, TIM_IT_COM);
TIM_ITConfig(TIM1, TIM_IT_COM ,ENABLE);
TIM_Cmd(TIM1,ENABLE);
}
/**********************************************************************
* Description : None
* Input : None
* Output : None
* Return : None
* Attention : None
**********************************************************************/
void BLDC_TIM3Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //基本結構體變量定義
TIM_ICInitTypeDef TIM_ICInitStructure; //定義結構體變量
TIM_OCInitTypeDef TIM_OCInitStructure; //輸出結構體變量定義
TIM_DeInit(TIM3);
TIM_TimeBaseStructure.TIM_Prescaler = 71; //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period =65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; //選擇通道1
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //輸入上升沿捕獲
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC; //配置通道為輸入，并映射到哪里
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1; //輸入捕獲預分頻值
TIM_ICInitStructure.TIM_ICFilter = 10; //輸入濾波器帶寬設置
TIM_ICInit(TIM3, &TIM_ICInitStructure); //輸入通道配置
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM輸出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse =1023;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC2Init(TIM3,&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing; //TIM輸出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse =65535;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC4Init(TIM3,&TIM_OCInitStructure);
TIM_SelectHallSensor(TIM3,ENABLE); //使能TIMx的霍爾傳感器接口
TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED); //輸入觸發源選擇
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset); //從模式選擇
TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主從模式選擇
TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref); //選擇輸出觸發模式(TRGO端)
TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE); //開定時器中斷
//TIM_Cmd(TIM3,ENABLE);
}
/**********************************************************************
* Description : None
* Input : None
* Output : None
* Return : None
* Attention : None
**********************************************************************/
void huanxiang(void)
{
u8 Hall_data = 0;
Hall_data=(u8)((GPIOA->IDR&0x000000c0)>>6); //讀轉子位置
Hall_data|=(u8)((GPIOB->IDR&0x00000001)<<2);
if(Direction)
{ //正轉
switch(Hall_data) //根據轉子位置，決定CCER輸出相位和轉子字偏移量
{
case 0x05:{
TIM1->CCER=0x3081; //1,4
};break;
case 0x04:{
TIM1->CCER=0x3180; //4,5
};break;
case 0x06:{
TIM1->CCER=0x3108; //2,5
};break;
case 0x02:{
TIM1->CCER=0x3018; //2,3
};break;
case 0x03:{
TIM1->CCER=0x3810; //3,6
};break;
case 0x01:{
TIM1->CCER=0x3801; //1,6
};break;
default:break;
}
}
else
{ //反轉
switch(Hall_data) //根據轉子位置，決定CCER輸出相位和轉子字偏移量
{
case 0x05:{
TIM1->CCER=0x3018; //2 3
};break;
case 0x04:{
TIM1->CCER=0x3810; //3 6
};break;
case 0x06:{
TIM1->CCER=0x3801; //1 6
};break;
case 0x02:{
TIM1->CCER=0x3081; //1 4
};break;
case 0x03:{
TIM1->CCER=0x3180; //4 5
};break;
case 0x01:{
TIM1->CCER=0x3108; //2 5
};break;
default:break;
}
}
}
/**************啟動******************/
void BLDC_Start(void)
{
TIM1->SMCR|=0x0006; //開TIM1的輸入觸發
TIM1->DIER=0x0040; //開TIM1的觸發中斷
huanxiang(); //調用換向函數，啟動
TIM3->CR1|=0x0001; //開TIM3
TIM3->DIER|=0x0050; //開TIM3中斷
}
void BLDC_Stop(void)
{
TIM1->SMCR&=0xfff8; //關閉TIM1的輸入觸發
TIM1->CCER=0; //關閉TIM1的六路輸出
Delay_us(40); //延時（加死區）
TIM1->CCER=0x0ccc; //打開三路下管，進行能耗制動
while(stalling_count<1); //等待電機停止（TIM3連續溢出10次，即認為電機已停轉）
TIM1->CCER=0; //關閉TIM1的六路輸出，關剎車
TIM3->CR1&=0xfffe; //關閉TIM3
TIM3->CNT=0; //清TIM3的計數器
TIM3->DIER&=0xffaf; //關TIM3中斷
}
void Delay_us(uint8_t t)
{
while(t--)
{
}
}
/**************停止******************/
/*void stop(void)
{
TIM1->SMCR&=0xfff8; //關閉TIM1的輸入觸發
TIM1->CCER=0; //關閉TIM1的六路輸出
Delay(20); //延時（加死區）
TIM1->CCER=0x0ccc; //打開三路下管，進行能耗制動
while(duzhuan_value<1); //等待電機停止（TIM3連續溢出10次，即認為電機已停轉）
TIM1->CCER=0; //關閉TIM1的六路輸出，關剎車
TIM3->CR1&=0xfffe; //關閉TIM3
TIM3->CNT=0; //清TIM3的計數器
TIM3->DIER&=0xffaf; //關TIM3中斷
data_reset(); //復位運行參數
}*/

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