移植 simpleFoc笔记（二）

brotherwyz

已于 2022-11-10 20:24:11 修改

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文章标签：单片机嵌入式硬件 simpleFoc

于 2022-11-10 18:31:50 首次发布

本文链接：https://blog.youkuaiyun.com/brotherwyz/article/details/50766473

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继上篇之后，大概看了下源码，今天移植的主要任务是commander,方便以后串口发指令调试电机参数。

由于odrive主板有UART4可用，目前使用它打印信息，并接收指令，后续再将usb虚拟串口专门用来接收指令。

uart4接收中断

void UART4_IRQHandler(void)
{
  /* USER CODE BEGIN UART4_IRQn 0 */
  uint8_t recDat;
  /* USER CODE END UART4_IRQn 0 */
  // HAL_UART_IRQHandler(&huart4);
  /* USER CODE BEGIN UART4_IRQn 1 */
  uint32_t isrflags   = READ_REG(huart4.Instance->SR);
  if ((isrflags & USART_SR_RXNE) != RESET)
  {
    recDat = (uint8_t)(huart4.Instance->DR & (uint8_t)0x00FF);
    recvTask(recDat);
  }

  /* USER CODE END UART4_IRQn 1 */
}

保持commander 接收数据和解析指令。

// Commander command = Commander(Serial);
Commander *pCommander;

void recvTask(uint8_t ch)
{
  // int ch ;//= serial.read();
  if(pCommander->com_port!=nullptr)
  {
    pCommander->received_chars[pCommander->rec_cnt++] = (char)ch;
    // end of user input
    if(pCommander->echo)
      pCommander->print((char)ch);
    if (pCommander->isSentinel(ch)) {
      // execute the user command
      pCommander->run(pCommander->received_chars);
      // reset the command buffer
      pCommander->received_chars[0] = 0;
      pCommander->rec_cnt=0;
    }
    if (pCommander->rec_cnt>=MAX_COMMAND_LENGTH) { // prevent buffer overrun if message is too long
        pCommander->received_chars[0] = 0;
        pCommander->rec_cnt=0;
    }
  }
}

并且开了一个基本定时器6，84MHz 分频为1MHz 周期为50000个，即最大周期50ms

time_utils.cpp delay函数里变量即在sysTick（1KHz）中断里如果大于0 减 1

#include "time_utils.h"
#include "tim.h"

volatile unsigned int tim_cnt = 0;

void delay(unsigned long dly)
{
	tim_cnt=dly;
	while(tim_cnt);
}


void delayMicroseconds(unsigned long dly)
{
  unsigned long t = _micros() + dly;
  if(t>=50000)
  {
    t -= 50000;
    while(_micros() < 50000){};
    while(_micros() < t){};
  }
  else
  {
    while( _micros() < t ){};
  }
}


// function buffering delay() 
// arduino uno function doesn't work well with interrupts
void _delay(unsigned long ms){

  unsigned long t = _micros() + ms*1000;
  if(t>=50000)
  {
    t -= 50000;
    while(_micros() < 50000){};
    while(_micros() < t){};
  }
  else
  {
    while( _micros() < t ){}; 
  }
}


// function buffering _micros() 
// arduino function doesn't work well with interrupts
unsigned long _micros(){
  uint16_t t= __HAL_TIM_GET_COUNTER(&htim6);
  return t;
}

今天基本将drv8301及大部分代码添加到了工程里，接下来就是将timer,pwm,电流采样，有感采集接入 simpleFoc，即可以调试起来。源码工程更新了：https://github.com/wenyezhong/simpleFoc