changed to HF; test open loop with 2204; issue uart receiving failed sometime; motor jitter;

3rd/dfoc.c

@@ -15,27 +15,19 @@
 #define _1_SQRT3 0.57735026919f
 #define _2_SQRT3 1.15470053838f
 
+#define VOLTAGE_POWER_SUPPLY 12.0f
+#define VOLTAGE_LIMIT 6
+#define PWM_COMPARE_VALUE 750.0f
+
 volatile float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0,
                dc_c = 0;
-const float voltage_limit = 5.5;
+
-const float voltage_power_supply = 12.0f;
 volatile float zero_electric_Angle = 0.0;
 
 extern int pp;
 extern int Dir;
 
-void Motor_en() {
+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) {
@@ -57,18 +49,20 @@ void SetPwm(float Ua, float Ub, float Uc) {
   volatile float U_b = 0.0;
   volatile float U_c = 0.0;
 
-  U_a = constrain(Ua, 0.0f, voltage_limit);
+  U_a = constrain(Ua, 0.0f, VOLTAGE_LIMIT);
-  U_b = constrain(Ub, 0.0f, voltage_limit);
+  U_b = constrain(Ub, 0.0f, VOLTAGE_LIMIT);
-  U_c = constrain(Uc, 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);
 
-  PWM_Channel1(dc_a * 500.0f); // 频率15k
+  dc_a = constrain(U_a / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
-  PWM_Channel2(dc_b * 500.0f);
+  dc_b = constrain(U_b / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
-  PWM_Channel3(dc_c * 500.0f);
+  dc_c = constrain(U_c / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
+  if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
+
+    printf("dc_a : %f  -- dc_b : %f -- dc_c : %f  \n", dc_a, dc_b, dc_c);
+  }
+  PWM_Channel1((1 - dc_a) * PWM_COMPARE_VALUE); // 频率15k
+  PWM_Channel2((1 - dc_b) * PWM_COMPARE_VALUE);
+  PWM_Channel3((1 - dc_c) * PWM_COMPARE_VALUE);
 }
 
 // FOC核心算法，克拉克逆变换/帕克逆变换
@@ -81,9 +75,9 @@ void SetPhaseVoltage(float Uq, float Ud, float angle_el) {
   Ualpha = -Uq * sin(angle_el);
   Ubeta = Uq * cos(angle_el);
 
-  Ua = Ualpha + voltage_power_supply / 2;
+  Ua = Ualpha + VOLTAGE_POWER_SUPPLY / 2;
-  Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
+  Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + VOLTAGE_POWER_SUPPLY / 2;
-  Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + voltage_power_supply / 2;
+  Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + VOLTAGE_POWER_SUPPLY / 2;
 
   SetPwm(Ua, Ub, Uc);
 
@@ -94,16 +88,15 @@ void Check_Sensor(void) {
   // SetPhaseVoltage(3, 0, _3PI_2);
   // delay_ms(3000);
   zero_electric_Angle = electricAngle();
+  printf("Check_Sensor zero_electric_Angle is %f \n", zero_electric_Angle);
   // SetPhaseVoltage(0, 0, _3PI_2);
   // delay_ms(500);
 }
 
-void FOC_Init(float power) {
+void FOC_Init() {
-  // voltage_power_supply = power;
   // PWM_Init();
   // CurrSense_Init();
   // AS5600_Init();
-
   Check_Sensor();
 }
 
@@ -114,8 +107,8 @@ void Set_Angle(float Target) {
     printf("angle readback in dfoc.c is %f \n", langle);
   }
   volatile float Uq =
-      PID_Controller(0.067, 0.01, 0, (Target - Dir * langle) * 180 / PI);
+      PID_Controller(0.03, 0.01, 0, (Target - Dir * langle) * 180 / PI);
-  // volatile float Uq = PID_Controller(0.06, 0, 0, (Target - Dir * langle) *
+  // volatile float Uq = PID_Controller(0.133, 0, 0, (Target - Dir * langle) *
   // 180 / PI);
   if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
     printf("Uq is %f \n", Uq);
@@ -147,7 +140,7 @@ float velocityopenloop(float target) {
     printf("shaft_angle : %f -- Ts : %f \n", shaft_angle, Ts);
   }
 
-  Uq = voltage_limit;
+  Uq = VOLTAGE_LIMIT;
 
   SetPhaseVoltage(Uq, 0, shaft_angle);
   openloop_timestamp = now_ts;

empty.c

@@ -48,7 +48,7 @@ extern bool gIsI2cError;
 const float num_f = 0.123456f;
 
 volatile uint16_t count = 0;
-volatile float Target = 15; // 串口目标值
+volatile float Target = 20; // 串口目标值
 
 const int pp = 7;   // 电机极对数
 const int Dir = -1; // 电机编码器方向

empty.syscfg

@@ -26,20 +26,40 @@ const UART1   = UART.addInstance();
 /**
  * Write custom configuration values to the imported modules.
  */
+const divider2       = system.clockTree["HFCLK4MFPCLKDIV"];
+divider2.divideValue = 10;
+
 const divider7       = system.clockTree["PLL_PDIV"];
 divider7.divideValue = 2;
 
+const divider9       = system.clockTree["UDIV"];
+divider9.divideValue = 2;
+
 const gate7  = system.clockTree["MFCLKGATE"];
 gate7.enable = true;
 
+const gate8  = system.clockTree["MFPCLKGATE"];
+gate8.enable = true;
+
 const multiplier2         = system.clockTree["PLL_QDIV"];
 multiplier2.multiplyValue = 4;
 
 const mux4       = system.clockTree["EXHFMUX"];
 mux4.inputSelect = "EXHFMUX_XTAL";
 
-const pinFunction4     = system.clockTree["HFXT"];
+const mux8       = system.clockTree["HSCLKMUX"];
-pinFunction4.inputFreq = 40;
+mux8.inputSelect = "HSCLKMUX_SYSPLL2X";
+
+const mux10       = system.clockTree["MFPCLKMUX"];
+mux10.inputSelect = "MFPCLKMUX_HFCLK";
+
+const mux12       = system.clockTree["SYSPLLMUX"];
+mux12.inputSelect = "zSYSPLLMUX_HFCLK";
+
+const pinFunction4       = system.clockTree["HFXT"];
+pinFunction4.inputFreq   = 40;
+pinFunction4.enable      = true;
+pinFunction4.HFXTStartup = 20;
 
 GPIO1.$name                         = "LED";
 GPIO1.associatedPins[0].$name       = "PA0";
@@ -73,8 +93,9 @@ I2C1.sclPinConfig.$name                = "ti_driverlib_gpio_GPIOPinGeneric3";
 
 PWM1.$name                      = "PWM_0";
 PWM1.ccIndex                    = [0,1,2];
-PWM1.clockDivider               = 2;
 PWM1.pwmMode                    = "CENTER_ALIGN";
+PWM1.clockDivider               = 4;
+PWM1.timerCount                 = 2000;
 PWM1.PWM_CHANNEL_0.$name        = "ti_driverlib_pwm_PWMTimerCC0";
 PWM1.PWM_CHANNEL_1.$name        = "ti_driverlib_pwm_PWMTimerCC1";
 PWM1.ccp0PinConfig.$name        = "ti_driverlib_gpio_GPIOPinGeneric4";
@@ -87,7 +108,7 @@ PWM1.PWM_CHANNEL_2.$name        = "ti_driverlib_pwm_PWMTimerCC2";
 PWM1.ccp2PinConfig.$name        = "ti_driverlib_gpio_GPIOPinGeneric6";
 
 SYSCTL.forceDefaultClkConfig = true;
-SYSCTL.peripheral.$assign    = "SYSCTL";
+SYSCTL.clockTreeEn           = true;
 
 SYSTICK.periodEnable  = true;
 SYSTICK.systickEnable = true;
@@ -105,13 +126,13 @@ TIMER1.peripheral.$assign = "TIMG0";
 UART1.$name                             = "UART_0";
 UART1.rxFifoThreshold                   = "DL_UART_RX_FIFO_LEVEL_ONE_ENTRY";
 UART1.targetBaudRate                    = 115200;
-UART1.uartClkDiv                        = "8";
 UART1.enableFIFO                        = true;
 UART1.txFifoThreshold                   = "DL_UART_TX_FIFO_LEVEL_ONE_ENTRY";
 UART1.enabledDMATXTriggers              = "DL_UART_DMA_INTERRUPT_TX";
 UART1.enabledInterrupts                 = ["DMA_DONE_RX"];
 UART1.enabledDMARXTriggers              = "DL_UART_DMA_INTERRUPT_RX";
 UART1.interruptPriority                 = "1";
+UART1.uartClkDiv                        = "3";
 UART1.peripheral.$assign                = "UART0";
 UART1.peripheral.rxPin.$assign          = "PA11";
 UART1.peripheral.txPin.$assign          = "PA10";
@@ -136,5 +157,8 @@ ProjectConfig.migrationCondition = true;
  * version of the tool will not impact the pinmux you originally saw.  These lines can be completely deleted in order to
  * re-solve from scratch.
  */
-I2C1.peripheral.$suggestSolution                 = "I2C1";
+pinFunction4.peripheral.$suggestSolution           = "SYSCTL";
-UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution = "DMA_CH1";
+pinFunction4.peripheral.hfxInPin.$suggestSolution  = "PA5";
+pinFunction4.peripheral.hfxOutPin.$suggestSolution = "PA6";
+I2C1.peripheral.$suggestSolution                   = "I2C1";
+UART1.DMA_CHANNEL_RX.peripheral.$suggestSolution   = "DMA_CH1";