closed loop test passed

3rd/config.h

@@ -3,5 +3,5 @@
 
 #define DEBUG_ENABLED true
 #define DEBUG_MT_ENABLED false
-#define DEBUG_DFOC true
+#define DEBUG_DFOC false
 #endif /* ti_msp_dl_config_h */

3rd/dfoc.c

@@ -15,10 +15,10 @@
 #define _1_SQRT3 	 0.57735026919f
 #define _2_SQRT3   1.15470053838f
 
-float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0, dc_c = 0;
+volatile float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0, dc_c = 0;
-float voltage_limit = 8;
+const float voltage_limit = 12;
-float voltage_power_supply = 0;
+const float voltage_power_supply = 12.0f;
-float zero_electric_Angle = 0.0;
+volatile float zero_electric_Angle = 0.0;
 
 extern int pp;
 extern int Dir;
@@ -48,7 +48,7 @@ float constrain(float amt, float low, float high)
 //将角度归化到0-2PI
 float normalizeAngle(float angle)
 {
-    float a = fmod(angle, 2 * PI);
+    volatile float a = fmod(angle, 2 * PI);
     return ((a >= 0) ? a : (a + 2 * PI));
 }
 
@@ -59,14 +59,14 @@ float electricAngle(void)
 
 void SetPwm(float Ua, float Ub, float Uc)
 {
-    float U_a = 0.0;
+    volatile float U_a = 0.0;
-    float U_b = 0.0;
+    volatile float U_b = 0.0;
-    float U_c = 0.0;
+    volatile float U_c = 0.0;
 
     U_a = constrain(Ua, 0.0f, voltage_limit);
     U_b = constrain(Ub, 0.0f, voltage_limit);
     U_c = constrain(Uc, 0.0f, voltage_limit);
-
+		//printf("Ua : %f  -- Ub : %f -- Uc : %f -- U_a : %f  -- U_b : %f -- U_c : %f \n",Ua,Ub,Uc,U_a,U_b,U_c);
     dc_a = constrain(U_a / voltage_power_supply, 0.0f, 1.0f);
     dc_b = constrain(U_b / voltage_power_supply, 0.0f, 1.0f);
     dc_c = constrain(U_c / voltage_power_supply, 0.0f, 1.0f);
@@ -74,19 +74,14 @@ void SetPwm(float Ua, float Ub, float Uc)
     PWM_Channel1(dc_a * 1000.0f);  // 频率15k
     PWM_Channel2(dc_b * 1000.0f);
     PWM_Channel3(dc_c * 1000.0f);
-    if(DEBUG_ENABLED & DEBUG_DFOC)
+
-    {
-        printf("dc_a %f \n", dc_a);
-        printf("dc_b %f \n", dc_b);
-        printf("dc_c %f \n", dc_c);
-    }
 
 
 }
 
 //FOC核心算法，克拉克逆变换/帕克逆变换
-float test_angle = 0.0;
+volatile float test_angle = 0.0;
-float last_test_angle = 0.0;
+volatile float last_test_angle = 0.0;
 void SetPhaseVoltage(float Uq, float Ud, float angle_el)
 {
     //	angle_el = normalizeAngle(angle_el);
@@ -101,21 +96,23 @@ void SetPhaseVoltage(float Uq, float Ud, float angle_el)
 
     SetPwm(Ua, Ub, Uc);
 
+		
+	
     last_test_angle = angle_el;
 }
 
 void Check_Sensor(void)
 {
-    SetPhaseVoltage(3, 0, _3PI_2);
+    //SetPhaseVoltage(3, 0, _3PI_2);
-    delay_ms(3000);
+    //delay_ms(3000);
     zero_electric_Angle = electricAngle();
-    SetPhaseVoltage(0, 0, _3PI_2);
+    // SetPhaseVoltage(0, 0, _3PI_2);
-    delay_ms(500);
+    //delay_ms(500);
 }
 
 void FOC_Init(float power)
 {
-    voltage_power_supply = power;
+    //voltage_power_supply = power;
     //PWM_Init();
     //CurrSense_Init();
     //AS5600_Init();
@@ -127,28 +124,28 @@ void FOC_Init(float power)
 // 单角度环
 void Set_Angle(float Target)
 {
-    float angle = GetAngle();
+    volatile float angle = GetAngle();
-    float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * angle) * 180 / PI);
+    volatile float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir * angle) * 180 / PI);
     SetPhaseVoltage(Uq, 0, electricAngle());
 }
 
-double shaft_angle;
+volatile double openloop_timestamp;
-double openloop_timestamp;
 float velocityopenloop(float target)
 {
-    float Uq = 0.0;
+    volatile float Uq = 0.0;
-    double Ts = 0.0;
+    volatile double Ts = 0.0;
+    volatile double shaft_angle;
 
-    uint32_t now_ts  =   DL_SYSTICK_getValue();
+    volatile uint32_t now_ts  =   DL_SYSTICK_getValue();
 
 
     if(now_ts < openloop_timestamp)
     {
-        Ts = (openloop_timestamp - now_ts) / 32.0f * 1e-6f;
+        Ts = (openloop_timestamp - now_ts) / 80.0f * 1e-6f;
     }
     else
     {
-        Ts = (0xFFFFFF - now_ts + openloop_timestamp) / 32.0f * 1e-6f;
+        Ts = (0xFFFFFF - now_ts + openloop_timestamp) / 80.0f * 1e-6f;
     }
 
     if(Ts < 0 || Ts >= 0.005)
@@ -158,10 +155,16 @@ float velocityopenloop(float target)
 
     shaft_angle = normalizeAngle(shaft_angle + pp * target * Ts);
 
+    if(DEBUG_ENABLED)
+    {
+        //printf("shaft_angle : %f -- target : %f -- Ts : %f",shaft_angle,target,Ts);
+    }
+
+
     Uq = voltage_limit;
 
     SetPhaseVoltage(Uq, 0, shaft_angle);
-
+		printf("shaft_angle : %f \n",shaft_angle);
     openloop_timestamp = now_ts;
 
     return Uq;

empty.c

@@ -47,32 +47,39 @@ extern bool gIsI2cError;
 const float num_f = 0.123456f;
 
 volatile uint16_t count = 0  ;
-const float Target = 10.0; //串口目标值
+const float Target = 10; //串口目标值
 
 
-int pp = 7; //电机极对数
+const int pp = 7; //电机极对数
-int Dir = 1; //电机编码器方向
+const int Dir = -1; //电机编码器方向
 
 int main(void)
 {
     SYSCFG_DL_init();
     NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
     DL_TimerA_startCounter(PWM_0_INST);
-		FOC_Init(12);
+    FOC_Init(12.6);
+    DL_SYSTICK_resetValue();
+
     while(1)
     {
         DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
         //delay_ms(10);
-        volatile float angle_rad = GetAngle();
-			if(DEBUG_ENABLED)
-			{
-				 printf("angle %.5f \n", angle_rad);
-			}
-       
-        //			volatile  uint32_t tick = DL_SYSTICK_getValue();
-        //			printf("systick is %x \n",tick);
-        velocityopenloop(Target);
 
+        if(DEBUG_ENABLED)
+        {
+            //volatile float angle_rad = GetAngle();
+            //printf("angle %.5f \n", angle_rad);
+        }
+        if(DEBUG_ENABLED)
+        {
+            volatile  uint32_t tick = DL_SYSTICK_getValue();
+            //printf("systick is %x \n",tick);
+        }
+        //开环
+        //velocityopenloop(Target);
+        //闭环
+        Set_Angle(Target);