AM32电调学习笔记

最新推荐文章于 2025-05-29 22:31:35 发布

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#学习 #笔记 #java

AM32 电调学习

基于AM32固件和G071的32位无刷电机电调及原理图

1.设置参数

char dir_reversed = 0;
char bi_direction = 0;
char use_sin_start = 0;
char comp_pwm = 1;
char VARIABLE_PWM = 1;
char stuck_rotor_protection = 1; // Turn off for Crawlers
char advance_level = 2; // 7.5 degree increments 0 , 7.5, 15, 22.5)
uint16_t TIMER1_MAX_ARR = TIM1_AUTORELOAD; // maximum auto reset register value
自动调整

   if (eepromBuffer[24] < 49 && eepromBuffer[24] > 7) {
        if (eepromBuffer[24] < 49 && eepromBuffer[24] > 23) {
            TIMER1_MAX_ARR = map(eepromBuffer[24], 24, 48, TIM1_AUTORELOAD, TIM1_AUTORELOAD / 2);
        }
        if (eepromBuffer[24] < 24 && eepromBuffer[24] > 11) {
            TIMER1_MAX_ARR = map(eepromBuffer[24], 12, 24, TIM1_AUTORELOAD * 2, TIM1_AUTORELOAD);
        }
        if (eepromBuffer[24] < 12 && eepromBuffer[24] > 7) {
            TIMER1_MAX_ARR = map(eepromBuffer[24], 7, 16, TIM1_AUTORELOAD * 3,
                TIM1_AUTORELOAD / 2 * 3);
        }
        SET_AUTO_RELOAD_PWM(TIMER1_MAX_ARR);
        throttle_max_at_high_rpm = TIMER1_MAX_ARR;
        duty_cycle_maximum = TIMER1_MAX_ARR;
    } else {
        tim1_arr = TIM1_AUTORELOAD;
        SET_AUTO_RELOAD_PWM(tim1_arr);
    }

uint16_t min_startup_duty = 120;
uint16_t minimum_duty_cycle = DEAD_TIME;

    if (eepromBuffer[25] < 151 && eepromBuffer[25] > 49) {
        min_startup_duty = (eepromBuffer[25] + DEAD_TIME);
        minimum_duty_cycle = (eepromBuffer[25] / 2 + DEAD_TIME / 3);
        stall_protect_minimum_duty = minimum_duty_cycle + 10;
    } else {
        min_startup_duty = 150;
        minimum_duty_cycle = (min_startup_duty / 2) + 10;
    }

uint16_t motor_kv = 2000; motor_kv = (eepromBuffer[26] * 40) + 20;
motor_poles = eepromBuffer[27];
char brake_on_stop = 0;
char stall_protection = 0;
volumn

        if (eepromBuffer[30] > 11) {
            setVolume(5);
        } else {
            setVolume(eepromBuffer[30]);
        }

char TLM_ON_INTERVAL = 0;
servo_low_threshold = (eepromBuffer[32] * 2) + 750; // anything below this point considered 0
uint16_t servo_low_threshold = 1100; // anything below this point considered 0
uint16_t servo_high_threshold = 1900; // anything above this point considered 2000 (max)
servo_high_threshold = (eepromBuffer[33] * 2) + 1750;
servo_neutral = (eepromBuffer[34]) + 1374;
uint16_t servo_neutral = 1500;
servo_dead_band = eepromBuffer[35];
uint8_t servo_dead_band = 100;
char LOW_VOLTAGE_CUTOFF = 0; // Turn Low Voltage CUTOFF on or off
low_cell_volt_cutoff = eepromBuffer[37] + 250; // 2.5 to 3.5 volts per cell range
uint16_t low_cell_volt_cutoff = 330; // 3.3volts per cell
char RC_CAR_REVERSE = 0; // have to set bidirectional, comp_pwm off and stall
char USE_HALL_SENSOR = 0;
char sine_mode_changeover_thottle_level = 5; // Sine Startup Range

        if (eepromBuffer[40] > 4 && eepromBuffer[40] < 26) { // sine mode changeover 5-25 percent throttle
            sine_mode_changeover_thottle_level = eepromBuffer[40];
        }
        if (eepromBuffer[41] > 0 && eepromBuffer[41] < 11) { // drag brake 1-10
            drag_brake_strength = eepromBuffer[41];
        }

uint8_t driving_brake_strength = 10

        if (eepromBuffer[42] > 0 && eepromBuffer[42] < 10) { // motor brake 1-9
            driving_brake_strength = eepromBuffer[42];
            dead_time_override = DEAD_TIME + (150 - (driving_brake_strength * 10));
            if (dead_time_override > 200) {
                dead_time_override = 200;
            }
            min_startup_duty = eepromBuffer[25] + dead_time_override;
            minimum_duty_cycle = eepromBuffer[25] / 2 + dead_time_override;
            throttle_max_at_low_rpm = throttle_max_at_low_rpm + dead_time_override;
            startup_max_duty_cycle = startup_max_duty_cycle + dead_time_override;
#ifdef STMICRO
            TIM1->BDTR |= dead_time_override;
#endif
#ifdef ARTERY
            TMR1->brk |= dead_time_override;
#endif
#ifdef GIGADEVICES
            TIMER_CCHP(TIMER0) |= dead_time_override;
#endif
        }

uint8_t TEMPERATURE_LIMIT = 255; // degrees 255 to disable
uint16_t CURRENT_LIMIT = 202;

        if (eepromBuffer[44] > 0 && eepromBuffer[44] < 100) {
            CURRENT_LIMIT = eepromBuffer[44] * 2;
            use_current_limit = 1;
        }

uint8_t sine_mode_power = 5;

       if (eepromBuffer[45] > 0 && eepromBuffer[45] < 11) {
            sine_mode_power = eepromBuffer[45];
        }

dshot servopwm edt_arm

    if (eepromBuffer[46] >= 0 && eepromBuffer[46] < 10) {
            switch (eepromBuffer[46]) {
            case AUTO_IN:
                dshot = 0;
                servoPwm = 0;
                EDT_ARMED = 1;
                break;
            case DSHOT_IN:
                dshot = 1;
                EDT_ARMED = 1;
                break;
            case SERVO_IN:
                servoPwm = 1;
                break;
            case SERIAL_IN:
                break;
            case EDTARM:
                EDT_ARM_ENABLE = 1;
                EDT_ARMED = 0;
                dshot = 1;
                break;
            };
        } else {
            dshot = 0;
            servoPwm = 0;
            EDT_ARMED = 1;
        }

char low_rpm_throttle_limit = 1;

       if (motor_kv < 300) {
           low_rpm_throttle_limit = 0;
       }

low_rpm_level = motor_kv / 100 / (32 / motor_poles);
high_rpm_level = motor_kv / 17 / (32 / motor_poles);
- reverse_speed_threshold = map(motor_kv, 300, 3000, 1000, 500);
bi_direction

   if (!comp_pwm) {
        bi_direction = 0;
    }