pwm uart gipo i2c

3rd/dfoc.c

@@ -0,0 +1,129 @@
+
+#include <stdlib.h>
+#include "pwm.h"
+#include "mt6701.h"
+#include "delay.h"
+#include "lowpass_filter.h"
+#include "pid_control.h"
+#include <math.h>
+
+#define PI         3.14159265359f
+#define _3PI_2     4.71238898f
+#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;
+float voltage_limit = 8;
+float voltage_power_supply = 0;
+float zero_electric_Angle=0.0;
+
+extern int pp;
+extern int Dir;
+
+void Motor_en()
+{
+//	GPIO_InitTypeDef GPIO_InitStructure;
+//	
+//	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
+//	
+//	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+//	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
+//	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+//	GPIO_Init(GPIOA,&GPIO_InitStructure);
+//	
+//	GPIO_SetBits(GPIOA, GPIO_Pin_8);
+}
+
+//限制幅值
+float constrain(float amt, float low, float high)
+{
+	 return ((amt<low)?(low):((amt)>(high)?(high):(amt)));
+}
+
+//将角度归化到0-2PI
+float normalizeAngle(float angle)
+{
+	float a = fmod(angle, 2*PI);
+	return ((a>=0) ? a : (a + 2*PI));
+}
+
+float electricAngle(void)
+{
+	return normalizeAngle((GetAngle_NoTrack() * pp * Dir) - zero_electric_Angle);
+}
+
+void SetPwm(float Ua, float Ub, float Uc)
+{
+	float U_a=0.0;
+	float U_b=0.0;
+	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);
+	
+	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);
+	
+	PWM_Channel1(dc_a * 4800.0f);  // 频率15k
+	PWM_Channel2(dc_b * 4800.0f);
+	PWM_Channel3(dc_c * 4800.0f);
+	
+}
+
+//FOC核心算法，克拉克逆变换/帕克逆变换
+float test_angle = 0.0;
+float last_test_angle = 0.0;
+void SetPhaseVoltage(float Uq, float Ud, float angle_el)
+{
+//	angle_el = normalizeAngle(angle_el);
+	test_angle = angle_el - last_test_angle;
+	
+	Ualpha = -Uq*sin(angle_el);
+	Ubeta = Uq*cos(angle_el);
+	
+	Ua = Ualpha + voltage_power_supply / 2;
+	Ub = (sqrt(3)*Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
+	Uc = -(Ualpha + sqrt(3)*Ubeta) / 2 + voltage_power_supply / 2;
+	
+	SetPwm(Ua,Ub,Uc);
+	
+	last_test_angle = angle_el;
+}
+
+void Check_Sensor(void)
+{
+	SetPhaseVoltage(3, 0, _3PI_2);
+	delay_ms(3000);
+	zero_electric_Angle = electricAngle();
+	SetPhaseVoltage(0, 0, _3PI_2);
+	delay_ms(500);
+}
+
+void FOC_Init(float power)
+{
+	voltage_power_supply = power;
+	//PWM_Init();
+	//CurrSense_Init();
+	//AS5600_Init();
+	
+	Check_Sensor();
+}
+
+
+// 单角度环
+void Set_Angle(float Target)
+{
+	float angle = GetAngle();
+	float Uq = PID_Controller(0.133, 0.01, 0, (Target - Dir*angle)*180/PI);
+	SetPhaseVoltage(Uq, 0, electricAngle());
+}
+
+
+
+
+
+
+
+

3rd/dfoc.h

@@ -0,0 +1,19 @@
+#ifndef __DFOC_H
+#define __DFOC_H
+
+void Motor_en(void);
+float constrain(float amt, float low, float high);
+void SetPwm(float Ua, float Ub, float Uc);
+float normalizeAngle(float angle);
+void SetPhaseVoltage(float Uq, float Ud, float angle_el);
+void Check_Sensor(void);
+void FOC_Init(float power);
+float electricAngle(void);
+float GetCommand(void);
+void Set_Angle(float Target);
+
+
+
+#endif
+
+

3rd/lowpass_filter.c

@@ -0,0 +1,42 @@
+
+#include <stdint.h>
+
+
+float y = 0;
+float Lowpassfilter_sim(float x)
+{
+	float out = 0.9*x + 0.1*y;
+	y = x;
+	return out;
+}
+
+uint32_t Last_Timesamp = 0.0;
+float Last_y = 0.0;
+float Lowpassfilter(float Tf, float x)
+{
+	float dt = 0.0;
+
+	//TODO
+	uint32_t Timesamp = 0;
+	//uint32_t Timestamp = SysTick->VAL;
+	if(Timesamp < Last_Timesamp) dt = (float)(Last_Timesamp - Timesamp)/9*1e-6;
+	else
+		dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp)/9*1e-6;
+
+	if(dt<0.0||dt==0) dt = 0.0015f;
+	else if(dt>0.005f)
+	{
+		Last_y = x;
+		Last_Timesamp = Timesamp;
+		return x;
+	}
+	float alpha = Tf / (Tf + dt);
+	float y = alpha * Last_y + (1.0f - alpha) * x;
+	
+	Last_y = y;
+	Last_Timesamp = Timesamp;
+
+	
+	return y;
+}
+

3rd/lowpass_filter.h

@@ -0,0 +1,12 @@
+#ifndef __LOWPASS_FILTER_H
+#define __LOWPASS_FILTER_H
+
+
+float Lowpassfilter(float Tf, float x);
+float Lowpassfilter_sim(float x);
+
+
+
+#endif
+
+

3rd/mt6701.c

@@ -1,6 +1,7 @@
 #include "MT6701.h"
 #include "ti_msp_dl_config.h"
-
+#include "uart_redircet.h"
+#include "stdio.h"
 volatile int16_t angle;
 volatile float angle_f;
 volatile float angle_f_rad;
@@ -77,6 +78,7 @@ void MT6701_iic_read_angel(void)
     if(DL_I2C_getControllerStatus(I2C_1_INST) &
             DL_I2C_CONTROLLER_STATUS_ERROR)
     {
+			//printf("i2c error \n");
         /* LED will remain high if there is an error */
         __BKPT(0);
     }

3rd/pid_control.c

@@ -0,0 +1,45 @@
+#include <stdint.h>
+
+#define  limit            6.3
+#define  Output_ramp      10000
+
+//限幅
+float  _constrain(float amt, float low, float high)    
+{
+	return ((amt<low)?(low):((amt)>(high)?(high):(amt)));
+}
+
+unsigned long Timestamp_Last = 0.0;
+float Last_Error = 0.0;
+float Last_intergration = 0.0;
+float Last_Output = 0.0;
+float PID_Controller(float Kp, float Ki, float Kd, float Error)
+{
+	float Ts = 0.0;
+	//TODO
+	uint32_t Timestamp = 0;
+	//uint32_t Timestamp = SysTick->VAL;
+  if(Timestamp < Timestamp_Last) Ts = (float)(Timestamp_Last - Timestamp)/9*1e-6;
+	else
+		Ts = (0xFFFFFF - Timestamp + Timestamp_Last)/9*1e-6;
+	
+	if(Ts<=0 || Ts > 0.05f) Ts = 0.001;
+	
+	float proportion = Kp * Error;//P环
+	
+	float intergration = Last_intergration + Ki * 0.5f * Ts * Error;//I环
+	intergration = _constrain(intergration, -limit, limit);
+	
+	float differential = Kd * (Error - Last_Error)/Ts;//D环
+	
+	float Output = proportion + intergration + differential;
+	Output = _constrain(Output, -limit, limit);
+	
+	Last_Error = Error;
+	Last_intergration = intergration;
+	Last_Output = Output;
+	Timestamp_Last = Timestamp;
+	
+	return Output;
+}
+

3rd/pid_control.h

@@ -0,0 +1,9 @@
+#ifndef __PID_CONTROL_H
+#define __PID_CONTROL_H
+
+float PID_Controller(float Kp, float Ki, float Kd, float Error);
+float  _constrain(float amt, float low, float high);
+
+#endif
+
+

3rd/pwm.c

@@ -0,0 +1,25 @@
+#include "pwm.h"
+#include "ti_msp_dl_config.h"
+
+void PWM_Channel1(uint16_t Compare)
+{
+	        DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C0_IDX);
+}
+
+void PWM_Channel2(uint16_t Compare)
+{
+	        //DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C1_IDX);
+}
+
+void PWM_Channel3(uint16_t Compare)
+{
+	        //DL_TimerA_setCaptureCompareValue(PWM_0_INST,Compare,GPIO_PWM_0_C2_IDX);
+}
+
+
+
+
+
+
+
+

3rd/pwm.h

@@ -0,0 +1,11 @@
+#ifndef __PWM_H
+#define __PWM_H
+#include <stdint.h>
+
+void PWM_Channel1(uint16_t Compare);
+void PWM_Channel2(uint16_t Compare);
+void PWM_Channel3(uint16_t Compare);
+
+#endif
+
+