STM32F103C8T6移植DengFOC--闭环位置(CubeIDE)

 

 

/* 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.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdlib.h>
#include "stdio.h"
#include <math.h>
#include "bsp_as5600.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif

PUTCHAR_PROTOTYPE
{
//同样USART2改为你的串口
	HAL_UART_Transmit(&huart1, (uint8_t*)&ch,1,HAL_MAX_DELAY);
    return ch;
}
/* 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 */

//初始变量及函数定�????????????????????????
#define _constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#define PI 3.141592
#define _3PI_2 4.71238898038f

float V=0;
float v=0;
int line=0;
char Buff[4]={0,0,0,0};
char RxBuff[100];
int PP=7,DIR=-1;
float Kp=0.133;
float Sensor_Angle=0;
int angle=0;
float motor_target=0;
float voltage_limit=12;
float voltage_power_supply=12;
float shaft_angle=0,open_loop_timestamp=0;
float zero_electric_angle=0,Ualpha,Ubeta=0,Ua=0,Ub=0,Uc=0,dc_a=0,dc_b=0,dc_c=0;


// 归一化角度到 [0,2PI]
float _normalizeAngle(float angle){
  float a = fmod(angle, 2*PI);   //取余运算可以用于归一化，列出特殊值例子算便知
  return a >= 0 ? a : (a + 2*PI);
  //三目运算符�?�格式：condition ? expr1 : expr2
  //其中，condition 是要求�?�的条件表达式，如果条件成立，则返回 expr1 的�?�，否则返回 expr2 的�?��?�可以将三目运算符视�?? if-else 语句的简化形式�??
  //fmod 函数的余数的符号与除数相同�?�因此，�?? angle 的�?�为负数时，余数的符号将�?? _2PI 的符号相反�?�也就是说，如果 angle 的�?�小�?? 0 �?? _2PI 的�?�为正数，则 fmod(angle, _2PI) 的余数将为负数�??
  //例如，当 angle 的�?�为 -PI/2，_2PI 的�?�为 2PI 时，fmod(angle, _2PI) 将返回一个负数�?�在这种情况下，可以通过将负数的余数加上 _2PI 来将角度归一化到 [0, 2PI] 的范围内，以确保角度的�?�始终为正数�??
}

float _electricalAngle(){
  return  _normalizeAngle((float)(DIR *  PP) * getAngle_Without_track()-zero_electric_angle);
}

// 设置PWM到控制器输出
void setPwm(float Ua, float Ub, float Uc) {

  // 限制上限
  Ua = _constrain(Ua, 0.0f, voltage_limit);
  Ub = _constrain(Ub, 0.0f, voltage_limit);
  Uc = _constrain(Uc, 0.0f, voltage_limit);
  // 计算占空�??????????`
  // 限制占空比从0�??????????1
  dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f );
  dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f );
  dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f );

  //写入PWM到PWM 0 1 2 通道
//  htim2.Instance->CCR2=dc_a*200;//调节占空�??????????
//  htim3.Instance->CCR2=dc_b*200;//调节占空�??????????
//  htim4.Instance->CCR1=dc_c*200;//调节占空�??????????

  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_2,dc_a*200);
  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_3,dc_b*200);
  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_4,dc_c*200);

}

void setPhaseVoltage(float Uq,float Ud, float angle_el) {
  angle_el = _normalizeAngle(angle_el);
  // 帕克逆变�??????????
  Ualpha =  -Uq*sin(angle_el);
  Ubeta =   Uq*cos(angle_el);

  // 克拉克�?�变�??????????
  Ua = Ualpha + voltage_power_supply/2;
  Ub = (sqrt(3)*Ubeta-Ualpha)/2 + voltage_power_supply/2;
  Uc = (-Ualpha-sqrt(3)*Ubeta)/2 + voltage_power_supply/2;
  setPwm(Ua,Ub,Uc);
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
//	HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, 0);
  /* 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 BEGIN 2 */

  /* USER CODE END 2 */
  /* 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_TIM2_Init();
  MX_USART1_UART_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, 1);
  setPhaseVoltage(3, 0,_3PI_2);
  HAL_Delay(3000);
  zero_electric_angle=_electricalAngle();
  setPhaseVoltage(0, 0,_3PI_2);
  printf("0电角度：");printf("%f\n",zero_electric_angle);
  HAL_UART_Receive_IT(&huart1, (char *)Buff, 1);
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//	  printf("%f\n",getAngle_Without_track());
	  angle=(int)100*bsp_as5600GetAngle();
	  Sensor_Angle=(float)angle/100;
	  printf("%f\n",Sensor_Angle);
	  setPhaseVoltage(_constrain(Kp*(motor_target-DIR*Sensor_Angle)*180/PI,-6,6),0,_electricalAngle());
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {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();
  }
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart==&huart1)
	{
		++line;
		RxBuff[line-1]=Buff[0];
		if(Buff[0]==0x0A || Buff[0]==0x0D)
		{
			float x,y,z;
			if(line==5)
			{
				x = RxBuff[0]-'0';
				y = RxBuff[2]-'0';
				z = RxBuff[3]-'0';
				motor_target=x+y/10+z/100;
			}
			if(line==4)
			{
				x = RxBuff[0]-'0';
				y = RxBuff[2]-'0';
				motor_target=x+y/10;
			}
			if(line==2)
			{
				x = RxBuff[0]-'0';
				motor_target=x;
			}
			line=0;
		}
	}
	Buff[0]=0;
	HAL_UART_Receive_IT(&huart1, (char *)Buff, 1);
}
/* 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 */