/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 6000000)
#error "不支持使用 Keil ARM Compiler V5编译器 请使用 Keil ARM Compiler V6编译"
#endif
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "motor/motor_runtime_param.h"
#include "motor/foc.h"
#include "global_def.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void set_pwm_duty(float d_u, float d_v, float d_w)
{
d_u = min(d_u, 0.9); // 留出10%的电流采样时间
d_v = min(d_v, 0.9);
d_w = min(d_w, 0.9);
__disable_irq();
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, d_u * htim1.Instance->ARR);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, d_v * htim1.Instance->ARR);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, d_w * htim1.Instance->ARR);
__enable_irq();
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_SPI1_Init();
MX_USART2_UART_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_ADC1_Init();
MX_ADC2_Init();
/* USER CODE BEGIN 2 */
set_motor_pid(
3.5, 0, 7,
0.02, 0.001, 0,
1.2, 0.02, 0,
1.2, 0.02, 0);
extern uint8_t mt6701_rx_data[3];
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET); // 磁编码器mt6701 SPI的片选引脚
HAL_SPI_TransmitReceive_DMA(&hspi1, mt6701_rx_data, mt6701_rx_data, 3);
HAL_Delay(10); // 延时一会，让角度变量被赋值，不然默认角度是0
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_Base_Start_IT(&htim3);
HAL_ADCEx_Calibration_Start(&hadc1);
HAL_ADCEx_Calibration_Start(&hadc2);
HAL_ADCEx_InjectedStart_IT(&hadc1);
HAL_ADCEx_InjectedStart(&hadc2);
encoder_init_angle = encoder_angle;
set_pwm_duty(0.5, 0, 0); // d轴强拖，形成SVPWM模型中的基础矢量1，即对应转子零度位置
HAL_Delay(400); // 保持一会
rotor_zero_angle = encoder_angle;
set_pwm_duty(0, 0, 0); // 松开电机
HAL_Delay(100);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
// 【电流模式】
motor_control_context.torque_norm_d = 0;
motor_control_context.torque_norm_q = 0.4; // 百分比强度
motor_control_context.type = control_type_torque;
HAL_Delay(1000);
// 【位置（角度）模式】
motor_control_context.position = deg2rad(90); // 上电时的角度当作0度
// motor_control_context.position = deg2rad(90) - encoder_init_angle; // 编码器零位当作0度
motor_control_context.type = control_type_position;
// 【速度模式】
// motor_control_context.speed = 30; //每秒转30弧度
// motor_control_context.type = control_type_speed;
// 理论讲解以及FOC代码逐步实现讲解请前往查看：https://blog.csdn.net/qq570437459/category_12672491.html
while (1)
{
printf("%.3f\n", rad2deg(motor_logic_angle));
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
什么意思，请帮我翻译
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本文解决在编译Rotor过程中遇到的无法检测操作系统版本的问题。通过修改env.core.pl脚本来确保正确识别非英文版Windows的版本信息。
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