AM32 电调学习--setInput()函数解析

最新推荐文章于 2024-08-26 16:37:37 发布

ashang2002

最新推荐文章于 2024-08-26 16:37:37 发布

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AM32 电调学习–setInput()函数解析

#define INTERVAL_TIMER TIM2 ; 过零时间测量
TIM_InitStruct.Prescaler = 31; 0.5us
#define TEN_KHZ_TIMER TIM6 ;tenKhzRoutine frq=1M load=1M/20k
*** TIM_InitStruct.Prescaler = 63 1us ***
#define UTILITY_TIMER TIM17
TIM_InitStruct.Prescaler = 63; 1us
#define COM_TIMER TIM14 //PeriodElapsedCallback 过零后等待时间中断
TIM_InitStruct.Prescaler = 31; 0.5us
TIM3: ***TIM_InitStruct.Prescaler = 0 ***

一、常用变量及其范围

bi_direction：3d开关设置参数，非互补pwm时为0
dshot: 输入方式设置
RC_CAR_REVERSE：设置标志
uint16_t newinput = 0; 读取到的输入值
forward：目前转动方向
uint16_t adjusted_input = 0; 经处理 newinput 后的输入值

bi_direction==1：
   非dshot输入时：
        if (newinput > (1000 + (servo_dead_band << 1)))   
              adjusted_input = map(newinput, 1000 + (servo_dead_band << 1), 2000, 47, 2047);
        if (newinput < (1000 - (servo_dead_band << 1))) 
            adjusted_input = map(newinput, 0, 1000 - (servo_dead_band << 1), 2047, 47);
   dshot输入时:
       if (newinput > 1047)
            adjusted_input = ((newinput - 1048) * 2 + 47) - reversing_dead_band;
       if (newinput <= 1047 && newinput > 47)
            adjusted_input = ((newinput - 48) * 2 + 47) - reversing_dead_band;
bi_direction==0：
          adjusted_input = newinput;

char prop_brake_active = 0; 刹车标志，有引标志后不再换相
char return_to_center = 0; 刹车结束标志
char old_routine = 1; 盲启动标志
bemf_timeout_happened 堵转记数
if (INTERVAL_TIMER_COUNT > 45000 && running == 1) bemf_timeout_happened++；
char bemf_timeout = 10; 堵转最大尝试次数,若超过，则停机
use_sin_start 设置标志
uint16_t input = 0; 经处理 adjusted_input 后的输入值

use_sin_start:
             if (adjusted_input < 30) { // dead band ?
                input = 0;
            }
            if (adjusted_input > 30 && adjusted_input < (sine_mode_changeover_thottle_level * 20)) {
                input = map(adjusted_input, 30,
                    (sine_mode_changeover_thottle_level * 20), 47, 160);
            }
            if (adjusted_input >= (sine_mode_changeover_thottle_level * 20)) {
                input = map(adjusted_input, (sine_mode_changeover_thottle_level * 20),
                    2047, 160, 2047);
            }
!use_sin_start:
use_speed_control_loop:
                     input = (uint16_t)input_override; // speed control pid override
                    if (input_override > 2047) {
                        input = 2047;
                    }
                    if (input_override < 48) {
                        input = 48;
                    }
else:
     input = adjusted_input;

float input_override = 0;
input_override += doPidCalculations(&speedPid, e_com_time, target_e_com_time) / 10000;
char armed = 0; 正常识别电机标志。

 if (armed_timeout_count > LOOP_FREQUENCY_HZ) { // one second
                        if (zero_input_count > 30) {
                            armed = 1;

uint16_t last_duty_cycle = 0; 上一次输出占空比
uint8_t max_duty_cycle_change = 2; 占空比最大允许改变

           if (last_duty_cycle < 150) {
                max_duty_cycle_change = RAMP_SPEED_STARTUP;//2
            } else {
                if (average_interval > 500) {
                    max_duty_cycle_change = RAMP_SPEED_LOW_RPM;  //10
                } else {
                    max_duty_cycle_change = RAMP_SPEED_HIGH_RPM;//40
                }
            }

uint16_t duty_cycle_setpoint = 0; 根据input计算出的占空比

           if (use_sin_start) {
                duty_cycle_setpoint = map(input, 137, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
            } else {
                duty_cycle_setpoint = map(input, 47, 2047, minimum_duty_cycle, TIMER1_MAX_ARR);
            }

int16_t phase_A_position;
int16_t phase_B_position;
int16_t phase_C_position;

phase_A_position = ((step - 1) * 60) + enter_sine_angle;
                if (phase_A_position > 359) {
                    phase_A_position -= 360;
                }
                phase_B_position = phase_A_position + 119;
                if (phase_B_position > 359) {
                    phase_B_position -= 360;
                }
                phase_C_position = phase_A_position + 239;
                if (phase_C_position > 359) {
                    phase_C_position -= 360;
                }

uint16_t min_startup_duty = 120;
uint16_t startup_max_duty_cycle = 300 + DEAD_TIME; 启动时最大值

二、函数流程分析

newinput转换到adjusted_input
如果堵转尝试次数到，则停机，否则
adjusted_input转换到input
if (input >= 47 + (80 * use_sin_start) && armed) 则计算占空比duty_cycle_setpoint
if (input < 47 + (80 * use_sin_start)) ，则命令处理
若盲启阶段，if (input >= 47 && (zero_crosses < (20 >> stall_protection)))

                if (input >= 47 && (zero_crosses < (20 >> stall_protection))) {
                if (duty_cycle_setpoint < min_startup_duty) {
                    duty_cycle_setpoint = min_startup_duty;
                }
                if (duty_cycle_setpoint > startup_max_duty_cycle) {
                    duty_cycle_setpoint = startup_max_duty_cycle;
                }
            }

履带车低速加油门处理

            if (stall_protection_adjust > 0 && input > 47) {

                duty_cycle_setpoint = duty_cycle_setpoint + (uint16_t)stall_protection_adjust;
            }