#include "hpm_adc.h"
#include "hpm_bldc_define.h"
#include "hpm_clock_drv.h"
#include "board.h"

Go to the source code of this file.

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...

Macros
#define	BOARD_PMSM0_ADC_MODULE ADCX_MODULE_ADC16
	Motor0 adc define ;轴0 adc相关宏定义 More...

#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_ADC_TRIG_FLAG adc16_event_trig_complete

#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_SEQ_DMA_SIZE_IN_4BYTES (40U)

#define	BOARD_PMSM0_ADC_TRG ADC16_CONFIG_TRG0A

#define	BOARD_PMSM0_ADC_PREEMPT_TRIG_LEN (1U)

#define	BOARD_PMSM0_PWM_TRIG_CMP_INDEX (8U)

#define	BOARD_PMSM0_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U)

#define	BOARD_PMSM0_TRIGMUX_IN_NUM HPM_TRGM0_INPUT_SRC_PWM0_CH8REF

#define	BOARD_PMSM0_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A

#define	BOARD_PMSM0_ADC_IRQn IRQn_ADC1

#define	BOARD_PMSM0PWM HPM_PWM0
	Motor0 pwm define ;轴0 pwm相关宏定义 More...

#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_PMSM0PWM_TRGM HPM_TRGM0
	Motor trgm define ;互联管理器相关宏定义 More...

#define	BOARD_PMSM0APP_PWM_IRQ IRQn_PWM0

#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_BLDCPWM_CMP_TRIG_CMP (15U)

#define	BOARD_PMSM0_QEI_BASE HPM_QEI0
	Motor0 qei define ;轴0 qei相关宏定义 More...

#define	BOARD_PMSM0_QEI_IRQ IRQn_QEI0

#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_QEI_MOTOR_PHASE_COUNT_PER_REV (16U)

#define	BOARD_PMSM0_QEI_CLOCK_SOURCE clock_mot0

#define	BOARD_PMSM0_QEI_FOC_PHASE_COUNT_PER_REV (4000U)

#define	BOARD_PMSM1_ADC_MODULE ADCX_MODULE_ADC16
	Motor1 adc define ;轴1 adc相关宏定义 More...

#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_ADC_TRIG_FLAG adc16_event_trig_complete

#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_SEQ_DMA_SIZE_IN_4BYTES (40U)

#define	BOARD_PMSM1_ADC_TRG ADC16_CONFIG_TRG1A

#define	BOARD_PMSM1_ADC_PREEMPT_TRIG_LEN (1U)

#define	BOARD_PMSM1_PWM_TRIG_CMP_INDEX (8U)

#define	BOARD_PMSM1_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U)

#define	BOARD_PMSM1_TRIGMUX_IN_NUM HPM_TRGM1_INPUT_SRC_PWM1_CH8REF

#define	BOARD_PMSM1_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A

#define	BOARD_PMSM1_ADC_IRQn IRQn_ADC1

#define	BOARD_PMSM1PWM HPM_PWM1
	Motor1 pwm define ;轴1 pwm相关宏定义 More...

#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_PMSM1PWM_TRGM HPM_TRGM1

#define	BOARD_PMSM1APP_PWM_IRQ IRQn_PWM1

#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_PMSM1_QEI_BASE HPM_QEI1
	Motor1 qei define ;轴1 qei相关宏定义 More...

#define	BOARD_PMSM1_QEI_IRQ IRQn_QEI1

#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_QEI_MOTOR_PHASE_COUNT_PER_REV (16U)

#define	BOARD_PMSM1_QEI_CLOCK_SOURCE clock_mot1

#define	BOARD_PMSM1_QEI_FOC_PHASE_COUNT_PER_REV (4000U)

#define	BOARD_PMSM2_ADC_MODULE ADCX_MODULE_ADC16
	Motor2 adc define ;轴2 adc相关宏定义 More...

#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_ADC_TRIG_FLAG adc16_event_trig_complete

#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_SEQ_DMA_SIZE_IN_4BYTES (40U)

#define	BOARD_PMSM2_ADC_TRG ADC16_CONFIG_TRG2A

#define	BOARD_PMSM2_ADC_PREEMPT_TRIG_LEN (1U)

#define	BOARD_PMSM2_PWM_TRIG_CMP_INDEX (8U)

#define	BOARD_PMSM2_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U)

#define	BOARD_PMSM2_TRIGMUX_IN_NUM HPM_TRGM2_INPUT_SRC_PWM2_CH8REF

#define	BOARD_PMSM2_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A

#define	BOARD_PMSM2_ADC_IRQn IRQn_ADC0

#define	BOARD_PMSM2PWM HPM_PWM2
	Motor2 pwm define ;轴2 pwm相关宏定义 More...

#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_PMSM2PWM_TRGM HPM_TRGM2

#define	BOARD_PMSM2APP_PWM_IRQ IRQn_PWM2

#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_PMSM2_QEI_BASE HPM_QEI2
	Motor2 qei define ;轴2 qei相关宏定义 More...

#define	BOARD_PMSM2_QEI_IRQ IRQn_QEI2

#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_QEI_MOTOR_PHASE_COUNT_PER_REV (16U)

#define	BOARD_PMSM2_QEI_CLOCK_SOURCE clock_mot2

#define	BOARD_PMSM2_QEI_FOC_PHASE_COUNT_PER_REV (4000U)

#define	BOARD_PMSM3_ADC_MODULE ADCX_MODULE_ADC16
	Motor3 adc define ;轴3 adc相关宏定义 More...

#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_ADC_TRIG_FLAG adc16_event_trig_complete

#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_SEQ_DMA_SIZE_IN_4BYTES (40U)

#define	BOARD_PMSM3_ADC_TRG ADC16_CONFIG_TRG3A

#define	BOARD_PMSM3_ADC_PREEMPT_TRIG_LEN (1U)

#define	BOARD_PMSM3_PWM_TRIG_CMP_INDEX (8U)

#define	BOARD_PMSM3_PWM_TRIG_CMP_INDEX_CURRENTLOOP (9U)

#define	BOARD_PMSM3_TRIGMUX_IN_NUM HPM_TRGM3_INPUT_SRC_PWM3_CH8REF

#define	BOARD_PMSM3_TRG_NUM TRGM_TRGOCFG_ADCX_PTRGI0A

#define	BOARD_PMSM3_ADC_IRQn IRQn_ADC0

#define	BOARD_PMSM3PWM HPM_PWM3
	Motor3 pwm define ;轴3 pwm相关宏定义 More...

#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_PMSM3PWM_TRGM HPM_TRGM3

#define	BOARD_PMSM3APP_PWM_IRQ IRQn_PWM3

#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_PMSM3_QEI_BASE HPM_QEI3
	Motor3 qei define ;轴3 qei相关宏定义 More...

#define	BOARD_PMSM3_QEI_IRQ IRQn_QEI3

#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_QEI_MOTOR_PHASE_COUNT_PER_REV (16U)

#define	BOARD_PMSM3_QEI_CLOCK_SOURCE clock_mot3

#define	BOARD_PMSM3_QEI_FOC_PHASE_COUNT_PER_REV (4000U)

#define	BOARD_PMSM0PWM_TRGM HPM_TRGM0
	Motor trgm define ;互联管理器相关宏定义 More...

#define	BOARD_PMSM1PWM_TRGM HPM_TRGM1

#define	BOARD_PMSM2PWM_TRGM HPM_TRGM2

#define	BOARD_PMSM3PWM_TRGM HPM_TRGM3

#define	MOTOR_PMSM_PWM_SYNC HPM_SYNT

#define	BOARD_PMSM_MOTOR_CLOCK_SOURCE clock_mot0

#define	SPEEDLOOP_KP 50
	Motor speed loop ki/kp params ;速度环kp/ki. More...

#define	SPEEDLOOP_KI 0.01

#define	SPEEDLOOP_OUTMAX 500

#define	POSITIONLOOP_KP 0.0005
	Motor position loop ki/kp params ;位置环kp/ki. More...

#define	POSITIONLOOP_KI 0

#define	POSITIONLOOP_OUTMAX 50

#define	MOVE_ABSOLUTE_POS_r 20
	user define motor absloute position ;绝对运动距离，单位：r More...

#define	MOVE_SPEED 10
	user define motor move speed ;运动速度，单位：r/s More...

#define	MOVE_ACC 100
	user define motor move acc ;运动加速度，单位：r/s/s More...

#define	MOVE_JERK 1000
	user define motor move jerk ;运动加加速度，单位：r/s/s/s More...

#define	CONSTANT_SPEED_TIME_s 5
	user define motor move time with constant speed ;速度模式下，匀速运动时间，单位：s More...

#define	CYCLE_CNT 1
	user define motor move cycle count ;位置模式下，电机轴往返运动次数 More...

#define	CONTINOUS_RONUD_MOVE_TYPE 0
	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 More...

#define	SIGNLE_MOVE_TYPE 1
	user define motor in signle move type ;位置模式下，电机轴以单次往返模式运动 More...

#define	MULTIPLE_MOVE_TYPE 2
	user define motor in multiple move type ;位置模式下，电机轴以多次往返模式运动 More...

#define	DWELLTIME_ms 500
	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 More...

#define	ISR_TIME_s 0.001
	set isr time ;更新位置/速度序列的中断时间，单位：s 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

Data Structures

Macros

Typedefs

Variables