pmsm_four_axis_62/html/parm__global_8h_source.html

 #ifndef PARM_GLOBAL_H_

 #define PARM_GLOBAL_H_


 #include "hpm_adc.h"

 #include "hpm_bldc_define.h"

 #include "hpm_clock_drv.h"

 #include "board.h"


 /***********************************************************************************************************************

  *

  * Definitions

  *

  **********************************************************************************************************************/


 #define BOARD_PMSM0_ADC_MODULE                  ADCX_MODULE_ADC16

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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

 #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//60

 #define SPEEDLOOP_KI                            0.01

 #define SPEEDLOOP_OUTMAX                        500


 #define POSITIONLOOP_KP                         0.0005//0.001

 #define POSITIONLOOP_KI                         0

 #define POSITIONLOOP_OUTMAX                     50


 #define MOVE_ABSOLUTE_POS_r                     20

 #define MOVE_SPEED                              10

 #define MOVE_ACC                                100

 #define MOVE_JERK                               1000

 #define CONSTANT_SPEED_TIME_s                   5

 #define CYCLE_CNT                               1

 #define CONTINOUS_RONUD_MOVE_TYPE               0

 #define SIGNLE_MOVE_TYPE                        1

 #define MULTIPLE_MOVE_TYPE                      2

 #define DWELLTIME_ms                            500

 #define ISR_TIME_s                              0.001


 typedef struct {


     uint8_t        ControlWord[4];

     uint8_t        OpMode[4];

     uint8_t        flag_1ms;

     float          commu_theta;

     float          commu_IdRef;

 }MOTOR_CONTROL_Global;


 typedef enum _tag_OpMode{

     POSITION_MODE,

     SPEED_MODE,

 }OpMode_Typ;

 typedef struct {

     BLDC_CONTROL_FOC_PARA       foc_para;

     BLDC_CONTRL_PID_PARA        speedloop_para;

 #if MOTOR0_SMC_EN

     BLDC_CONTROL_SMC_PARA       smc_para;

 #endif

     BLDC_CONTRL_PID_PARA        position_para;

     void (*adc_trig_event_callback)(void);

 }MOTOR_PARA;


 extern MOTOR_PARA motor0;

 extern MOTOR_PARA motor1;

 extern MOTOR_PARA motor2;

 extern MOTOR_PARA motor3;

 extern MOTOR_CONTROL_Global Motor_Control_Global;


 #endif //__PARM_GLOBAL_H

motor2
MOTOR_PARA motor2
Definition: pmsm_init.c:15

Motor_Control_Global
MOTOR_CONTROL_Global Motor_Control_Global
Definition: pmsm_init.c:18

motor1
MOTOR_PARA motor1
Definition: pmsm_init.c:14

OpMode_Typ
enum _tag_OpMode OpMode_Typ
enum for motor operation mode ;电机运行模式

motor3
MOTOR_PARA motor3
Definition: pmsm_init.c:16

motor0
MOTOR_PARA motor0
Definition: pmsm_init.c:13

POSITION_MODE
@ POSITION_MODE
position mode   ;位置模式
Definition: parm_global.h:353

SPEED_MODE
@ SPEED_MODE
speed mode   ;速度模式
Definition: parm_global.h:356

MOTOR_CONTROL_Global
Global control variable ;全局控制变量
Definition: parm_global.h:326

MOTOR_CONTROL_Global::flag_1ms
uint8_t flag_1ms
flag 1ms   ;1ms中断标志位
Definition: parm_global.h:336

MOTOR_CONTROL_Global::commu_theta
float commu_theta
user define elec_theta   ;预定位控制电角度
Definition: parm_global.h:339

MOTOR_CONTROL_Global::commu_IdRef
float commu_IdRef
user define id value   ;预定位控制d轴电流
Definition: parm_global.h:342

MOTOR_PARA
Motor parameter structure ;电机参数结构体
Definition: parm_global.h:362

MOTOR_PARA::position_para
BLDC_CONTRL_PID_PARA position_para
Positional parameter structure   ;位置参数结构体
Definition: parm_global.h:374

MOTOR_PARA::foc_para
BLDC_CONTROL_FOC_PARA foc_para
Control parameter structure   ;控制参数结构体
Definition: parm_global.h:365

MOTOR_PARA::speedloop_para
BLDC_CONTRL_PID_PARA speedloop_para
Velocity parameter structure   ;速度参数结构体
Definition: parm_global.h:368