PMSM INIT API ;电机初始化接口函数 More...

Macros
#define	SYNC_TIME_0 (1000U)
	sync time ;四轴同步时间定义 More...

#define	SYNC_TIME_1 (2000U)

#define	SYNC_TIME_2 (3000U)

#define	SYNC_TIME_3 (4000U)

#define	PWM_FREQUENCY (20000)
	PWM freq uint HZ ;pwm 频率 More...

#define	PWM_RELOAD (motor0_clock_hz/PWM_FREQUENCY)
	pwm reload value ;pwm 重载值 More...

#define	BLDC_CURRENT_SET_TIME_MS (200)
	Zero drift calculate times(ms),must less than 250. ;电流采样次数，用于计算零漂 More...

Functions
void	parm_global_init (void)
	Parameter initialization ;参数初始化 More...

void	pi_para_init (BLDC_CONTRL_PID_PARA *par, float KP, float KI, float MAX)
	init kp,ki,pi control function ;pi控制器初始化 More...

void	pmsm_param_init (BLDC_CONTROL_FOC_PARA *par, uint8_t MOTOR_ID)
	init foc control para ;电机矢量控制初始化 More...

void	pwm_duty_init (PWM_Type *ptr, uint32_t PWM_PRD, uint8_t CMP_SHADOW_REGISTER_UPDATE_TYPE, uint8_t CMP_COMPARE)
	Config PWM ;pwm配置 More...

void	pwm_trigfor_adc_init (PWM_Type *ptr, uint32_t PWM_PRD, uint8_t CMP_SHADOW_REGISTER_UPDATE_TYPE, uint8_t CMP_COMPARE, uint8_t PWM_CH_TRIG_ADC)
	Config the PWM channel for ADC trigger ;pwm触发adc采样 More...

void	pwm_trigfor_currentctrl_init (PWM_Type *ptr, uint32_t PWM_PRD, uint8_t CMP_SHADOW_REGISTER_UPDATE_TYPE, uint8_t CMP_COMPARE, uint8_t PWM_CH_TRIG_CURRENTCtrl)
	Config the PWM channel for current loop interrupt ;pwm触发电流环中断 More...

void	timer_init (void)
	1ms timer for speed loop. ;1ms中断配置gptimer More...

void	init_trigger_mux (TRGM_Type *ptr, uint8_t TRAG_INPUT, uint8_t TRAG_INPUT_FOR_ADC)
	Config TRGM output&input ;互联管理器配置 More...

void	init_trigger_cfg (ADC16_Type *ptr, uint8_t trig_ch, uint8_t channel, bool inten, uint32_t ADC_MODULE, uint8_t ADC_PREEMPT_TRIG_LEN)
	Config the preemption mode for an ADC instancet ;adc抢占模式配置 More...

void	adc_cfg_init (ADC16_Type *ptr, uint8_t channel, uint32_t sample_cycle, uint32_t ADC_MODULE)
	adc cfg init ;adc配置初始化 More...

void	adc_pins_init (PWM_Type *ptr)
	adc pins init ;adc引脚初始化 More...

void	lv_set_adval_middle (BLDC_CONTROL_FOC_PARA *par, uint32_t ADC_TRG)
	get current value in steady state ;零漂计算 More...

void	pwm_pins_init (PWM_Type *ptr)
	pwm pins init ;pwm引脚初始化 More...

void	qei_cfg_init (TRGM_Type ptr, QEI_Type ptr_qei, uint8_t trag_in_A, uint8_t trag_out_A, uint8_t trag_in_B, uint8_t trag_out_B, uint32_t QEI_IRQ, uint32_t MAX_cnt)
	qei cfg ;qei配置 More...

void	qei_pins_init (PWM_Type *ptr)
	qei pins init ;qei引脚初始化 More...

void	pwm_sync (void)
	pwm enable at synci. ;pwm 同步使能配置 More...

void	pmsm_motor0_init (void)
	PMSM Motor1 initialization ;轴0 adc pwm qei等初始化配置 More...

void	pmsm_motor1_init (void)

void	pmsm_motor2_init (void)

void	pmsm_motor3_init (void)

void	pmsm_motor_init (void)

void	pmsm0_foc_angle_align (void)
	Rotor Angle alignment aligns the encoder midpoint value with the actual physical Angle midpoint value . ;给定d轴电流，使得d轴与A轴重合，电角度为0. More...

void	pmsm1_foc_angle_align (void)

void	pmsm2_foc_angle_align (void)

void	pmsm3_foc_angle_align (void)

void	pmsm_foc_angle_align (void)

Variables
uint32_t	adc_buff [3][(40U)]

Detailed Description

PMSM INIT API ;电机初始化接口函数

Macro Definition Documentation

◆ BLDC_CURRENT_SET_TIME_MS

#define BLDC_CURRENT_SET_TIME_MS (200)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Zero drift calculate times(ms),must less than 250. ;电流采样次数，用于计算零漂

◆ PWM_FREQUENCY

#define PWM_FREQUENCY (20000)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

PWM freq uint HZ ;pwm 频率

◆ PWM_RELOAD

#define PWM_RELOAD (motor0_clock_hz/PWM_FREQUENCY)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

pwm reload value ;pwm 重载值

◆ SYNC_TIME_0

#define SYNC_TIME_0 (1000U)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

sync time ;四轴同步时间定义

◆ SYNC_TIME_1

#define SYNC_TIME_1 (2000U)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ SYNC_TIME_2

#define SYNC_TIME_2 (3000U)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ SYNC_TIME_3

#define SYNC_TIME_3 (4000U)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Function Documentation

◆ adc_cfg_init()

void adc_cfg_init	(	ADC16_Type *	ptr,
		uint8_t	channel,
		uint32_t	sample_cycle,
		uint32_t	ADC_MODULE
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

adc cfg init ;adc配置初始化

Parameters

[in]	ptr	ADC base address;adc结构体
[in]	channel	adc channel;adc通道
[in]	sample_cycle	adc sample cycle;adc采样个数
[in]	ADC_MODULE	adc module;16位adc

◆ adc_pins_init()

void adc_pins_init ( PWM_Type * ptr )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

adc pins init ;adc引脚初始化

Parameters

[in] ptr PWM base address;pwm结构体

◆ init_trigger_cfg()

void init_trigger_cfg	(	ADC16_Type *	ptr,
		uint8_t	trig_ch,
		uint8_t	channel,
		bool	inten,
		uint32_t	ADC_MODULE,
		uint8_t	ADC_PREEMPT_TRIG_LEN
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Config the preemption mode for an ADC instancet ;adc抢占模式配置

Parameters

[in]	ptr	ADC base address;adc结构体
[in]	trig_ch	trig channel;触发通道
[in]	channel	adc channel;adc采样通道
[in]	inten	inten;中断使能标志
[in]	ADC_MODULE	adc module;16位adc
[in]	ADC_PREEMPT_TRIG_LEN	tirg len;抢占转换队列长度

◆ init_trigger_mux()

void init_trigger_mux	(	TRGM_Type *	ptr,
		uint8_t	TRAG_INPUT,
		uint8_t	TRAG_INPUT_FOR_ADC
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Config TRGM output&input ;互联管理器配置

Parameters

[in]	ptr	TRGM base address;trgm结构体
[in]	TRAG_INPUT	input selection;互联管理器输入
[in]	TRAG_INPUT_FOR_ADC	target output;互联管理器目标输出

◆ lv_set_adval_middle()

void lv_set_adval_middle	(	BLDC_CONTROL_FOC_PARA *	par,
		uint32_t	ADC_TRG
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

get current value in steady state ;零漂计算

Parameters

[in]	par	foc struct;矢量控制结构体
[in]	ADC_TRG	adc trig channel;adc通道

◆ parm_global_init()

void parm_global_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Parameter initialization ;参数初始化

◆ pi_para_init()

void pi_para_init	(	BLDC_CONTRL_PID_PARA *	par,
		float	KP,
		float	KI,
		float	MAX
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

init kp,ki,pi control function ;pi控制器初始化

Parameters

[in]	par	motor para to operate on;电机参数结构体
[in]	KP	proportional gain;比例增益
[in]	KI	integral gain;积分
[in]	MAX	output max;输出限幅

◆ pmsm0_foc_angle_align()

void pmsm0_foc_angle_align ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Rotor Angle alignment aligns the encoder midpoint value with the actual physical Angle midpoint value . ;给定d轴电流，使得d轴与A轴重合，电角度为0.

◆ pmsm1_foc_angle_align()

void pmsm1_foc_angle_align ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm2_foc_angle_align()

void pmsm2_foc_angle_align ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm3_foc_angle_align()

void pmsm3_foc_angle_align ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_foc_angle_align()

void pmsm_foc_angle_align ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_motor0_init()

void pmsm_motor0_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

PMSM Motor1 initialization ;轴0 adc pwm qei等初始化配置

◆ pmsm_motor1_init()

void pmsm_motor1_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_motor2_init()

void pmsm_motor2_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_motor3_init()

void pmsm_motor3_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_motor_init()

void pmsm_motor_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

◆ pmsm_param_init()

void pmsm_param_init	(	BLDC_CONTROL_FOC_PARA *	par,
		uint8_t	MOTOR_ID
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

init foc control para ;电机矢量控制初始化

Parameters

[in]	par	foc contorl para to operate on;电机矢量控制参数结构体
[in]	MOTOR_ID	motor index;电机轴号

◆ pwm_duty_init()

void pwm_duty_init	(	PWM_Type *	ptr,
		uint32_t	PWM_PRD,
		uint8_t	CMP_SHADOW_REGISTER_UPDATE_TYPE,
		uint8_t	CMP_COMPARE
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Config PWM ;pwm配置

Parameters

[in]	ptr	pwm struct;pwm结构体
[in]	PWM_PRD	pwm timer counter reload value;pwm重载值
[in]	CMP_SHADOW_REGISTER_UPDATE_TYPE	compare configuration update trigger;CMP值更新时机
[in]	CMP_COMPARE	compare work mode;比较器工作模式

◆ pwm_pins_init()

void pwm_pins_init ( PWM_Type * ptr )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

pwm pins init ;pwm引脚初始化

Parameters

[in] ptr PWM base address;pwm结构体

◆ pwm_sync()

void pwm_sync ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

pwm enable at synci. ;pwm 同步使能配置

◆ pwm_trigfor_adc_init()

void pwm_trigfor_adc_init	(	PWM_Type *	ptr,
		uint32_t	PWM_PRD,
		uint8_t	CMP_SHADOW_REGISTER_UPDATE_TYPE,
		uint8_t	CMP_COMPARE,
		uint8_t	PWM_CH_TRIG_ADC
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Config the PWM channel for ADC trigger ;pwm触发adc采样

Parameters

[in]	ptr	pwm struct;pwm结构体
[in]	PWM_PRD	pwm timer counter reload value;pwm重载值
[in]	CMP_SHADOW_REGISTER_UPDATE_TYPE	compare configuration update trigger;CMP值更新时机
[in]	CMP_COMPARE	compare work mode;比较器工作模式
[in]	PWM_CH_TRIG_ADC	coutput channel compare start index;比较器通道号

◆ pwm_trigfor_currentctrl_init()

void pwm_trigfor_currentctrl_init	(	PWM_Type *	ptr,
		uint32_t	PWM_PRD,
		uint8_t	CMP_SHADOW_REGISTER_UPDATE_TYPE,
		uint8_t	CMP_COMPARE,
		uint8_t	PWM_CH_TRIG_CURRENTCtrl
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Config the PWM channel for current loop interrupt ;pwm触发电流环中断

Parameters

[in]	ptr	pwm struct;pwm结构体
[in]	PWM_PRD	pwm timer counter reload value;pwm重载值
[in]	CMP_SHADOW_REGISTER_UPDATE_TYPE	compare configuration update trigger;CMP值更新时机
[in]	CMP_COMPARE	compare work mode;比较器工作模式
[in]	PWM_CH_TRIG_CURRENTCtrl	coutput channel compare start index;比较器通道号

◆ qei_cfg_init()

void qei_cfg_init	(	TRGM_Type *	ptr,
		QEI_Type *	ptr_qei,
		uint8_t	trag_in_A,
		uint8_t	trag_out_A,
		uint8_t	trag_in_B,
		uint8_t	trag_out_B,
		uint32_t	QEI_IRQ,
		uint32_t	MAX_cnt
	)

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

qei cfg ;qei配置

Parameters

[in]	ptr	trgm struct;互联管理器结构体
[in]	ptr_qei	qei struct;qei结构体
[in]	trag_in_A	input selection;互联管理器输入
[in]	trag_out_A	target output;互联管理器输出
[in]	trag_in_B	input selection;互联管理器输入
[in]	trag_out_B	target output;互联管理器输出
[in]	QEI_IRQ	interrupt number;qei中断
[in]	MAX_cnt	maximum phcnt number;电机一圈脉冲数

◆ qei_pins_init()

void qei_pins_init ( PWM_Type * ptr )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

qei pins init ;qei引脚初始化

Parameters

[in] ptr PWM base address;pwm结构体

◆ timer_init()

void timer_init ( void )

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

1ms timer for speed loop. ;1ms中断配置gptimer

Variable Documentation

◆ adc_buff

uint32_t adc_buff[3][(40U)]

extern

#include <apps/pmsm_four_axis_62/software/src/pmsm_init.h>

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ BLDC_CURRENT_SET_TIME_MS

◆ PWM_FREQUENCY

◆ PWM_RELOAD

◆ SYNC_TIME_0

◆ SYNC_TIME_1

◆ SYNC_TIME_2

◆ SYNC_TIME_3

Function Documentation

◆ adc_cfg_init()

◆ adc_pins_init()

◆ init_trigger_cfg()

◆ init_trigger_mux()

◆ lv_set_adval_middle()

◆ parm_global_init()

◆ pi_para_init()

◆ pmsm0_foc_angle_align()

◆ pmsm1_foc_angle_align()

◆ pmsm2_foc_angle_align()

◆ pmsm3_foc_angle_align()

◆ pmsm_foc_angle_align()

◆ pmsm_motor0_init()

◆ pmsm_motor1_init()

◆ pmsm_motor2_init()

◆ pmsm_motor3_init()

◆ pmsm_motor_init()

◆ pmsm_param_init()

◆ pwm_duty_init()

◆ pwm_pins_init()

◆ pwm_sync()

◆ pwm_trigfor_adc_init()

◆ pwm_trigfor_currentctrl_init()

◆ qei_cfg_init()

◆ qei_pins_init()

◆ timer_init()

Variable Documentation

◆ adc_buff