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HPM APP
HPMicro Application solution
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HPM APP
HPMicro Application solution
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PARM GLOBAL API ;全局参数定义 More...
Data Structures | |
| struct | MOTOR_CONTROL_Global |
| Global control variable ;全局控制变量 More... | |
| struct | MOTOR_PARA |
| Motor parameter structure ;电机参数结构体 More... | |
Typedefs | |
| typedef enum _tag_OpMode | OpMode_Typ |
| enum for motor operation mode ;电机运行模式 More... | |
Variables | |
| MOTOR_PARA | motor0 |
| MOTOR_PARA | motor1 |
| MOTOR_PARA | motor2 |
| MOTOR_PARA | motor3 |
| MOTOR_CONTROL_Global | Motor_Control_Global |
PARM GLOBAL API ;全局参数定义
| #define BOARD_BLDCPWM_CMP_TRIG_CMP (15U) |
| #define BOARD_PMSM0_ADC_CH_U (13U) |
| #define BOARD_PMSM0_ADC_CH_V (4U) |
| #define BOARD_PMSM0_ADC_CH_W (13U) |
| #define BOARD_PMSM0_ADC_IRQn IRQn_ADC1 |
| #define BOARD_PMSM0_ADC_IRQn IRQn_ADC1 |
| #define BOARD_PMSM0_ADC_MODULE ADCX_MODULE_ADC16 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor0 adc define ;轴0 adc相关宏定义
| #define BOARD_PMSM0_ADC_PREEMPT_TRIG_LEN (1U) |
| #define BOARD_PMSM0_ADC_SEQ_DMA_SIZE_IN_4BYTES (40U) |
| #define BOARD_PMSM0_ADC_TRG ADC16_CONFIG_TRG0A |
| #define BOARD_PMSM0_ADC_TRIG_FLAG adc16_event_trig_complete |
| #define BOARD_PMSM0_ADC_U_BASE HPM_ADC1 |
| #define BOARD_PMSM0_ADC_V_BASE HPM_ADC0 |
| #define BOARD_PMSM0_ADC_W_BASE HPM_ADC2 |
| #define BOARD_PMSM0_PWM_TRIG_CMP_INDEX (8U) |
| #define BOARD_PMSM0_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U) |
| #define BOARD_PMSM0_QEI_BASE HPM_QEI0 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor0 qei define ;轴0 qei相关宏定义
| #define BOARD_PMSM0_QEI_CLOCK_SOURCE clock_mot0 |
| #define BOARD_PMSM0_QEI_FOC_PHASE_COUNT_PER_REV (4000U) |
| #define BOARD_PMSM0_QEI_IRQ IRQn_QEI0 |
| #define BOARD_PMSM0_QEI_MOTOR_PHASE_COUNT_PER_REV (16U) |
| #define BOARD_PMSM0_QEI_TRGM HPM_TRGM0 |
| #define BOARD_PMSM0_QEI_TRGM_QEI_A_SRC HPM_TRGM0_INPUT_SRC_TRGM0_P0 |
| #define BOARD_PMSM0_QEI_TRGM_QEI_B_SRC HPM_TRGM0_INPUT_SRC_TRGM0_P1 |
| #define BOARD_PMSM0_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A |
| #define BOARD_PMSM0_TRIGMUX_IN_NUM HPM_TRGM0_INPUT_SRC_PWM0_CH8REF |
| #define BOARD_PMSM0_UH_PWM_OUTPIN (0U) |
| #define BOARD_PMSM0_UL_PWM_OUTPIN (1U) |
| #define BOARD_PMSM0_VH_PWM_OUTPIN (2U) |
| #define BOARD_PMSM0_VL_PWM_OUTPIN (3U) |
| #define BOARD_PMSM0_WH_PWM_OUTPIN (4U) |
| #define BOARD_PMSM0_WL_PWM_OUTPIN (5U) |
| #define BOARD_PMSM0APP_PWM_IRQ IRQn_PWM0 |
| #define BOARD_PMSM0PWM HPM_PWM0 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor0 pwm define ;轴0 pwm相关宏定义
| #define BOARD_PMSM0PWM_CMP_INDEX_0 (0U) |
| #define BOARD_PMSM0PWM_CMP_INDEX_1 (1U) |
| #define BOARD_PMSM0PWM_CMP_INDEX_2 (2U) |
| #define BOARD_PMSM0PWM_CMP_INDEX_3 (3U) |
| #define BOARD_PMSM0PWM_CMP_INDEX_4 (4U) |
| #define BOARD_PMSM0PWM_CMP_INDEX_5 (5U) |
| #define BOARD_PMSM0PWM_TRGM HPM_TRGM0 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor trgm define ;互联管理器相关宏定义
| #define BOARD_PMSM0PWM_TRGM HPM_TRGM0 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor trgm define ;互联管理器相关宏定义
| #define BOARD_PMSM1_ADC_CH_U (15U) |
| #define BOARD_PMSM1_ADC_CH_V (5U) |
| #define BOARD_PMSM1_ADC_CH_W (15U) |
| #define BOARD_PMSM1_ADC_IRQn IRQn_ADC1 |
| #define BOARD_PMSM1_ADC_IRQn IRQn_ADC1 |
| #define BOARD_PMSM1_ADC_MODULE ADCX_MODULE_ADC16 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor1 adc define ;轴1 adc相关宏定义
| #define BOARD_PMSM1_ADC_PREEMPT_TRIG_LEN (1U) |
| #define BOARD_PMSM1_ADC_SEQ_DMA_SIZE_IN_4BYTES (40U) |
| #define BOARD_PMSM1_ADC_TRG ADC16_CONFIG_TRG1A |
| #define BOARD_PMSM1_ADC_TRIG_FLAG adc16_event_trig_complete |
| #define BOARD_PMSM1_ADC_U_BASE HPM_ADC1 |
| #define BOARD_PMSM1_ADC_V_BASE HPM_ADC0 |
| #define BOARD_PMSM1_ADC_W_BASE HPM_ADC2 |
| #define BOARD_PMSM1_PWM_TRIG_CMP_INDEX (8U) |
| #define BOARD_PMSM1_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U) |
| #define BOARD_PMSM1_QEI_BASE HPM_QEI1 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor1 qei define ;轴1 qei相关宏定义
| #define BOARD_PMSM1_QEI_CLOCK_SOURCE clock_mot1 |
| #define BOARD_PMSM1_QEI_FOC_PHASE_COUNT_PER_REV (4000U) |
| #define BOARD_PMSM1_QEI_IRQ IRQn_QEI1 |
| #define BOARD_PMSM1_QEI_MOTOR_PHASE_COUNT_PER_REV (16U) |
| #define BOARD_PMSM1_QEI_TRGM HPM_TRGM1 |
| #define BOARD_PMSM1_QEI_TRGM_QEI_A_SRC HPM_TRGM1_INPUT_SRC_TRGM1_P6 |
| #define BOARD_PMSM1_QEI_TRGM_QEI_B_SRC HPM_TRGM1_INPUT_SRC_TRGM1_P7 |
| #define BOARD_PMSM1_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A |
| #define BOARD_PMSM1_TRIGMUX_IN_NUM HPM_TRGM1_INPUT_SRC_PWM1_CH8REF |
| #define BOARD_PMSM1_UH_PWM_OUTPIN (0U) |
| #define BOARD_PMSM1_UL_PWM_OUTPIN (1U) |
| #define BOARD_PMSM1_VH_PWM_OUTPIN (2U) |
| #define BOARD_PMSM1_VL_PWM_OUTPIN (3U) |
| #define BOARD_PMSM1_WH_PWM_OUTPIN (4U) |
| #define BOARD_PMSM1_WL_PWM_OUTPIN (5U) |
| #define BOARD_PMSM1APP_PWM_IRQ IRQn_PWM1 |
| #define BOARD_PMSM1PWM HPM_PWM1 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor1 pwm define ;轴1 pwm相关宏定义
| #define BOARD_PMSM1PWM_CMP_INDEX_0 (0U) |
| #define BOARD_PMSM1PWM_CMP_INDEX_1 (1U) |
| #define BOARD_PMSM1PWM_CMP_INDEX_2 (2U) |
| #define BOARD_PMSM1PWM_CMP_INDEX_3 (3U) |
| #define BOARD_PMSM1PWM_CMP_INDEX_4 (4U) |
| #define BOARD_PMSM1PWM_CMP_INDEX_5 (5U) |
| #define BOARD_PMSM1PWM_TRGM HPM_TRGM1 |
| #define BOARD_PMSM1PWM_TRGM HPM_TRGM1 |
| #define BOARD_PMSM2_ADC_CH_U (6U) |
| #define BOARD_PMSM2_ADC_CH_V (6U) |
| #define BOARD_PMSM2_ADC_CH_W (6U) |
| #define BOARD_PMSM2_ADC_IRQn IRQn_ADC0 |
| #define BOARD_PMSM2_ADC_IRQn IRQn_ADC0 |
| #define BOARD_PMSM2_ADC_MODULE ADCX_MODULE_ADC16 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor2 adc define ;轴2 adc相关宏定义
| #define BOARD_PMSM2_ADC_PREEMPT_TRIG_LEN (1U) |
| #define BOARD_PMSM2_ADC_SEQ_DMA_SIZE_IN_4BYTES (40U) |
| #define BOARD_PMSM2_ADC_TRG ADC16_CONFIG_TRG2A |
| #define BOARD_PMSM2_ADC_TRIG_FLAG adc16_event_trig_complete |
| #define BOARD_PMSM2_ADC_U_BASE HPM_ADC1 |
| #define BOARD_PMSM2_ADC_V_BASE HPM_ADC0 |
| #define BOARD_PMSM2_ADC_W_BASE HPM_ADC2 |
| #define BOARD_PMSM2_PWM_TRIG_CMP_INDEX (8U) |
| #define BOARD_PMSM2_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U) |
| #define BOARD_PMSM2_QEI_BASE HPM_QEI2 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor2 qei define ;轴2 qei相关宏定义
| #define BOARD_PMSM2_QEI_CLOCK_SOURCE clock_mot2 |
| #define BOARD_PMSM2_QEI_FOC_PHASE_COUNT_PER_REV (4000U) |
| #define BOARD_PMSM2_QEI_IRQ IRQn_QEI2 |
| #define BOARD_PMSM2_QEI_MOTOR_PHASE_COUNT_PER_REV (16U) |
| #define BOARD_PMSM2_QEI_TRGM HPM_TRGM2 |
| #define BOARD_PMSM2_QEI_TRGM_QEI_A_SRC HPM_TRGM2_INPUT_SRC_TRGM2_P6 |
| #define BOARD_PMSM2_QEI_TRGM_QEI_B_SRC HPM_TRGM2_INPUT_SRC_TRGM2_P7 |
| #define BOARD_PMSM2_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A |
| #define BOARD_PMSM2_TRIGMUX_IN_NUM HPM_TRGM2_INPUT_SRC_PWM2_CH8REF |
| #define BOARD_PMSM2_UH_PWM_OUTPIN (0U) |
| #define BOARD_PMSM2_UL_PWM_OUTPIN (1U) |
| #define BOARD_PMSM2_VH_PWM_OUTPIN (2U) |
| #define BOARD_PMSM2_VL_PWM_OUTPIN (3U) |
| #define BOARD_PMSM2_WH_PWM_OUTPIN (4U) |
| #define BOARD_PMSM2_WL_PWM_OUTPIN (5U) |
| #define BOARD_PMSM2APP_PWM_IRQ IRQn_PWM2 |
| #define BOARD_PMSM2PWM HPM_PWM2 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor2 pwm define ;轴2 pwm相关宏定义
| #define BOARD_PMSM2PWM_CMP_INDEX_0 (0U) |
| #define BOARD_PMSM2PWM_CMP_INDEX_1 (1U) |
| #define BOARD_PMSM2PWM_CMP_INDEX_2 (2U) |
| #define BOARD_PMSM2PWM_CMP_INDEX_3 (3U) |
| #define BOARD_PMSM2PWM_CMP_INDEX_4 (4U) |
| #define BOARD_PMSM2PWM_CMP_INDEX_5 (5U) |
| #define BOARD_PMSM2PWM_TRGM HPM_TRGM2 |
| #define BOARD_PMSM2PWM_TRGM HPM_TRGM2 |
| #define BOARD_PMSM3_ADC_CH_U (7U) |
| #define BOARD_PMSM3_ADC_CH_V (7U) |
| #define BOARD_PMSM3_ADC_CH_W (7U) |
| #define BOARD_PMSM3_ADC_IRQn IRQn_ADC0 |
| #define BOARD_PMSM3_ADC_IRQn IRQn_ADC0 |
| #define BOARD_PMSM3_ADC_MODULE ADCX_MODULE_ADC16 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor3 adc define ;轴3 adc相关宏定义
| #define BOARD_PMSM3_ADC_PREEMPT_TRIG_LEN (1U) |
| #define BOARD_PMSM3_ADC_SEQ_DMA_SIZE_IN_4BYTES (40U) |
| #define BOARD_PMSM3_ADC_TRG ADC16_CONFIG_TRG3A |
| #define BOARD_PMSM3_ADC_TRIG_FLAG adc16_event_trig_complete |
| #define BOARD_PMSM3_ADC_U_BASE HPM_ADC1 |
| #define BOARD_PMSM3_ADC_V_BASE HPM_ADC0 |
| #define BOARD_PMSM3_ADC_W_BASE HPM_ADC2 |
| #define BOARD_PMSM3_PWM_TRIG_CMP_INDEX (8U) |
| #define BOARD_PMSM3_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U) |
| #define BOARD_PMSM3_QEI_BASE HPM_QEI3 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor3 qei define ;轴3 qei相关宏定义
| #define BOARD_PMSM3_QEI_CLOCK_SOURCE clock_mot3 |
| #define BOARD_PMSM3_QEI_FOC_PHASE_COUNT_PER_REV (4000U) |
| #define BOARD_PMSM3_QEI_IRQ IRQn_QEI3 |
| #define BOARD_PMSM3_QEI_MOTOR_PHASE_COUNT_PER_REV (16U) |
| #define BOARD_PMSM3_QEI_TRGM HPM_TRGM3 |
| #define BOARD_PMSM3_QEI_TRGM_QEI_A_SRC HPM_TRGM3_INPUT_SRC_TRGM3_P1 |
| #define BOARD_PMSM3_QEI_TRGM_QEI_B_SRC HPM_TRGM3_INPUT_SRC_TRGM3_P2 |
| #define BOARD_PMSM3_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A |
| #define BOARD_PMSM3_TRIGMUX_IN_NUM HPM_TRGM3_INPUT_SRC_PWM3_CH8REF |
| #define BOARD_PMSM3_UH_PWM_OUTPIN (0U) |
| #define BOARD_PMSM3_UL_PWM_OUTPIN (1U) |
| #define BOARD_PMSM3_VH_PWM_OUTPIN (2U) |
| #define BOARD_PMSM3_VL_PWM_OUTPIN (3U) |
| #define BOARD_PMSM3_WH_PWM_OUTPIN (4U) |
| #define BOARD_PMSM3_WL_PWM_OUTPIN (5U) |
| #define BOARD_PMSM3APP_PWM_IRQ IRQn_PWM3 |
| #define BOARD_PMSM3PWM HPM_PWM3 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor3 pwm define ;轴3 pwm相关宏定义
| #define BOARD_PMSM3PWM_CMP_INDEX_0 (0U) |
| #define BOARD_PMSM3PWM_CMP_INDEX_1 (1U) |
| #define BOARD_PMSM3PWM_CMP_INDEX_2 (2U) |
| #define BOARD_PMSM3PWM_CMP_INDEX_3 (3U) |
| #define BOARD_PMSM3PWM_CMP_INDEX_4 (4U) |
| #define BOARD_PMSM3PWM_CMP_INDEX_5 (5U) |
| #define BOARD_PMSM3PWM_TRGM HPM_TRGM3 |
| #define BOARD_PMSM3PWM_TRGM HPM_TRGM3 |
| #define BOARD_PMSM_MOTOR_CLOCK_SOURCE clock_mot0 |
| #define CONSTANT_SPEED_TIME_s 5 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor move time with constant speed ;速度模式下，匀速运动时间，单位：s
| #define CONTINOUS_RONUD_MOVE_TYPE 0 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor in continous round move type ;位置模式下，电机轴以连续往返模式运动
| #define CYCLE_CNT 1 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor move cycle count ;位置模式下，电机轴往返运动次数
| #define DWELLTIME_ms 500 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor dwell time
;位置模式下，运行相对位置后轴停止时间，单位：ms
| #define ISR_TIME_s 0.001 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
set isr time
;更新位置/速度序列的中断时间，单位：s
| #define MOTOR_PMSM_PWM_SYNC HPM_SYNT |
| #define MOVE_ABSOLUTE_POS_r 20 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor absloute position ;绝对运动距离，单位：r
| #define MOVE_ACC 100 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor move acc ;运动加速度，单位：r/s/s
| #define MOVE_JERK 1000 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor move jerk ;运动加加速度，单位：r/s/s/s
| #define MOVE_SPEED 10 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor move speed ;运动速度，单位：r/s
| #define MULTIPLE_MOVE_TYPE 2 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor in multiple move type ;位置模式下，电机轴以多次往返模式运动
| #define POSITIONLOOP_KI 0 |
| #define POSITIONLOOP_KP 0.0005 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor position loop ki/kp params ;位置环kp/ki.
| #define POSITIONLOOP_OUTMAX 50 |
| #define SIGNLE_MOVE_TYPE 1 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
user define motor in signle move type ;位置模式下，电机轴以单次往返模式运动
| #define SPEEDLOOP_KI 0.01 |
| #define SPEEDLOOP_KP 50 |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
Motor speed loop ki/kp params ;速度环kp/ki.
| #define SPEEDLOOP_OUTMAX 500 |
| typedef enum _tag_OpMode OpMode_Typ |
#include <apps/pmsm_four_axis_62/software/src/parm_global.h>
enum for motor operation mode ;电机运行模式
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1.9.1