📄 stm32f10x_svpwm_1shunt.c
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#endif
TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY; //是否正确，应该用高电位吗？
TIM_OC1Init(TIM1, &TIM1_OCInitStructure);
TIM_OC3Init(TIM1, &TIM1_OCInitStructure);
TIM_OC2Init(TIM1, &TIM1_OCInitStructure);
//===================================================================
/*Timer1 alternate function full remapping*/
GPIO_PinRemapConfig(GPIO_FullRemap_TIM1,ENABLE);
GPIO_StructInit(&GPIO_InitStructure);
/* GPIOE Configuration: Channel 1, 1N, 2, 2N, 3, 3N and 4 Output */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_StructInit(&GPIO_InitStructure);
/* GPIOE Configuration: Channel 1N, 2N, 3N */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/* Lock GPIOE Pin9 and Pin11 Pin 13 (High sides) */
GPIO_PinLockConfig(GPIOE, GPIO_Pin_9 | GPIO_Pin_11 | GPIO_Pin_13 );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
// 设定TIM1_CH4的工作状态 为比较输出模式,触发AD转换。
TIM_OCStructInit(&TIM1_OCInitStructure);
/* Channel 4 Configuration in OC */
TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //TIM1 脉冲宽度调制模式 2 TIM1_CCMR1
// 寄存器的4-6位。
TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM1_OCInitStructure.TIM_Pulse = PWM_PERIOD - TMIN - TBEFORE; // 占空比 ，确定一个触发ADC检测电流
// 时机，可以调整电流取样时间。
TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY;
TIM_OC4Init(TIM1, &TIM1_OCInitStructure);
/* Enables the TIM1 Preload on CC1 Register */
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Disable);
/* Enables the TIM1 Preload on CC2 Register */
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Disable);
/* Enables the TIM1 Preload on CC3 Register */
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Disable);
/* Enables the TIM1 Preload on CC4 Register */
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Disable);
/* Automatic Output enable, Break, dead time and lock configuration*/
TIM1_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM1_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM1_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
TIM1_BDTRInitStructure.TIM_DeadTime = DEADTIME;
TIM1_BDTRInitStructure.TIM_Break = TIM_Break_Enable; //没有打开紧急停车功能
//NVIC中断向量也要关闭
TIM1_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM1_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM1_BDTRInitStructure);
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
// Clear Break Flag and enable interrupt
TIM_ClearITPendingBit(TIM1, TIM_IT_Break);
TIM_ITConfig(TIM1, TIM_IT_Break,ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
// Disnable update interrupt
TIM_ITConfig(TIM1, TIM_IT_Update, DISABLE);
// Resynch to have the Update evend during Undeflow
TIM_GenerateEvent(TIM1, TIM_EventSource_Update); //软件产生TIM 更新事件源
// Enable DMA event
TIM_DMACmd(TIM1, TIM_DMA_CC1, DISABLE); //TIM1 捕获/比较1的DMA源
TIM_DMACmd(TIM1, TIM_DMA_CC2, DISABLE); //TIM1 捕获/比较2的DMA源
TIM_DMACmd(TIM1, TIM_DMA_CC3, DISABLE); //TIM1 捕获/比较3的DMA源
TIM_DMACmd(TIM1, TIM_DMA_Update,ENABLE); //TIM1 更新 DMA源
TIM_DMAConfig(TIM1, TIM_DMABase_CCR1, TIM_DMABurstLength_4Bytes); //TIM1 CCR1 寄存器作为 DMA传输起始
//TIM1 DMA连续传送长度 4 字节
// Sets the disable preload vars for CCMR
hPreloadCCMR1Disable = TIM1->CCMR1 & 0x8F8F;
hPreloadCCMR2Disable = TIM1->CCMR2 & 0x8F8F;
/* ADC1 registers reset ----------------------------------------------------*/
ADC_DeInit(ADC1);
/* ADC1 registers reset ----------------------------------------------------*/
ADC_DeInit(ADC2);
/* Enable ADC1 */
ADC_Cmd(ADC1, ENABLE);
/* Enable ADC2 */
ADC_Cmd(ADC2, ENABLE);
/* ADC1 configuration ------------------------------------------------------*/
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent; // 工作在独立模式
ADC_InitStructure.ADC_ScanConvMode = DISABLE; // 单次（单通道）模式
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; // 单次模式
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None; // 软件触发启动
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left; // 数据左对齐
ADC_InitStructure.ADC_NbrOfChannel = 1; // 顺序进行规则转换的 ADC 通道的数目
ADC_Init(ADC1, &ADC_InitStructure); // 上面的这些设置只是为了校准AD精度。
/* ADC2 Configuration ------------------------------------------------------*/
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left;
ADC_InitStructure.ADC_NbrOfChannel = 1;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_InjectedDiscModeCmd(ADC1,ENABLE);
ADC_InjectedDiscModeCmd(ADC2,ENABLE);
// Start calibration of ADC1
ADC_StartCalibration(ADC1);
// Start calibration of ADC2
ADC_StartCalibration(ADC2);
// Wait for the end of ADCs calibration
while (ADC_GetCalibrationStatus(ADC1) & ADC_GetCalibrationStatus(ADC2))
{
}
SVPWM_1ShuntCurrentReadingCalibration();
/* Configure one bit for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
// NVIC_StructInit(&NVIC_InitStructure);
/* Enable the ADC Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = ADC1_2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = ADC_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = ADC_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the Update Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = TIM1_UP_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = TIM1_UP_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM1 BRK Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM1_BRK_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = BRK_PRE_EMPTION_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = BRK_SUB_PRIORITY;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //没有打开紧急停车功能
NVIC_Init(&NVIC_InitStructure);
// Default value of DutyValues
dvDutyValues.hTimeSmp1 = (PWM_PERIOD >> 1) - TBEFORE;
dvDutyValues.hTimeSmp2 = (PWM_PERIOD >> 1) + TAFTER;
}
/*******************************************************************************
* Function Name : SVPWM_1ShuntCurrentReadingCalibration
* Description : Store zero current converted values for current reading
network offset compensation in case of 1 shunt resistors
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SVPWM_1ShuntCurrentReadingCalibration(void)
{
static u16 bIndex;
/* ADC1 Injected group of conversions end interrupt disabling */
ADC_ITConfig(ADC1, ADC_IT_JEOC, DISABLE);
hPhaseOffset=0;
/* ADC1 Injected conversions trigger is given by software and enabled */
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_T1_TRGO); // 选择定时器 1 的 TRGO作为注入转换外部触发
ADC_ExternalTrigInjectedConvCmd(ADC1,ENABLE); // 启动注入组转换功能
/* ADC1 Injected conversions configuration */
ADC_InjectedSequencerLengthConfig(ADC1,2); // 设置注入组通道的转换数量
// 设置指定 ADC 的注入组通道，设置它们的转化顺序和采样时间,这里对B相电流采样2次。
ADC_InjectedChannelConfig(ADC1, PHASE_B_ADC_CHANNEL, 1,SAMPLING_TIME_CK);
ADC_InjectedChannelConfig(ADC1, PHASE_B_ADC_CHANNEL, 2,SAMPLING_TIME_CK);
/* Clear the ADC1 JEOC pending flag */
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
/* ADC Channel used for current reading are read
in order to get zero currents ADC values*/
for(bIndex=0; bIndex <NB_CONVERSIONS; bIndex++)
{
while(!ADC_GetFlagStatus(ADC1,ADC_FLAG_JEOC)) { }
// 获得零电流的AD转换值，实际上是每次/8，共计16个数，最后是2倍的实际电流值。
hPhaseOffset += (ADC_GetInjectedConversionValue(ADC1,ADC_InjectedChannel_1)>>3);
/* Clear the ADC1 JEOC pending flag */
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
}
// 设置温度和直流母线电压转换，使用ADC2。
SVPWM_InjectedConvConfig();
}
/*******************************************************************************
* Function Name : SVPWM_InjectedConvConfig
* Description : This function configure ADC1 for 1 shunt current
* reading and ADC2 temperature and voltage feedbcak after a
* calibration, it also setup the DMA and the default value of the
* variables after the start command
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SVPWM_InjectedConvConfig(void)
{
/* ADC2 Injected conversions configuration */
ADC_InjectedSequencerLengthConfig(ADC2,2);
ADC_InjectedChannelConfig(ADC2, TEMP_FDBK_CHANNEL, 1,SAMPLING_TIME_CK);
ADC_InjectedChannelConfig(ADC2, BUS_VOLT_FDBK_CHANNEL, 2,SAMPLING_TIME_CK);
/* ADC2 Injected conversions trigger is TIM1 TRGO */
ADC_ExternalTrigInjectedConvConfig(ADC2, ADC_ExternalTrigInjecConv_T1_TRGO); //选择定时器 1 的 TRGO作为注入转换外部触发
ADC_ExternalTrigInjectedConvCmd(ADC2,ENABLE); // 启动注入组转换功能
/* Bus voltage protection initialization*/
ADC_AnalogWatchdogCmd(ADC2,ADC_AnalogWatchdog_SingleInjecEnable);// 单个注入通道上设置模拟看门狗
ADC_AnalogWatchdogSingleChannelConfig(ADC2,BUS_VOLT_FDBK_CHANNEL); // 设置模拟看门狗的 ADC 通道
ADC_AnalogWatchdogThresholdsConfig(ADC2,OVERVOLTAGE_THRESHOLD>>3,0x00);// 设置模拟看门狗的高/低阈值
/* ADC1 Injected group of conversions end and Analog Watchdog interrupts
enabling */
ADC_ITConfig(ADC2, ADC_IT_AWD, ENABLE);
ADC_ITConfig(ADC1, ADC_IT_JEOC, ENABLE);
// Default value of DutyValues
dvDutyValues.hTimeSmp1 = (PWM_PERIOD >> 1) - TBEFORE;
dvDutyValues.hTimeSmp2 = (PWM_PERIOD >> 1) + TAFTER;
// Default value of sampling point
hCCDmaBuffCh4[0] = dvDutyValues.hTimeSmp2; // Second point
hCCDmaBuffCh4[1] = dvDutyValues.hTimeSmp2;
hCCDmaBuffCh4[2] = dvDutyValues.hTimeSmp1; // First point
hCCDmaBuffCh4[3] = dvDutyValues.hTimeSmp1;
// Set TIM1 CCx start value
TIM1->CCR1 = PWM_PERIOD >> 1;
TIM1->CCR2 = PWM_PERIOD >> 1;
TIM1->CCR3 = PWM_PERIOD >> 1;
TIM1->CCR4 = (PWM_PERIOD >> 1) - TBEFORE;
// Default Update DMA buffer Ch 1,2,3,4 after reset
hCCRBuff[0] = PWM_PERIOD >> 1;
hCCRBuff[1] = PWM_PERIOD >> 1;
hCCRBuff[2] = PWM_PERIOD >> 1;
hCCRBuff[3] = (PWM_PERIOD >> 1) - TBEFORE;
TIM_DMACmd(TIM1, TIM_DMA_CC4, ENABLE);
// After start value of DMA buffers
hCCDmaBuffCh1[0] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh1[1] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh1[2] = PWM_PERIOD >> 1;
hCCDmaBuffCh1[3] = PWM_PERIOD >> 1;
hCCDmaBuffCh2[0] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh2[1] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh2[2] = PWM_PERIOD >> 1;
hCCDmaBuffCh2[3] = PWM_PERIOD >> 1;
hCCDmaBuffCh3[0] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh3[1] = PWM_PERIOD-HTMIN;
hCCDmaBuffCh3[2] = PWM_PERIOD >> 1;
hCCDmaBuffCh3[3] = PWM_PERIOD >> 1;
// After start value of dvDutyValues
dvDutyValues.hTimePhA = PWM_PERIOD >> 1;
dvDutyValues.hTimePhB = PWM_PERIOD >> 1;
dvDutyValues.hTimePhC = PWM_PERIOD >> 1;
// Set the default previous value of Phase A,B,C current
hCurrAOld=0;
hCurrBOld=0;
hCurrCOld=0;
hDeltaA = 0;
hDeltaB = 0;
hDeltaC = 0;
bReadDelta = 0;
bStatorFluxPosOld = REGULAR;
bStatorFluxPos = REGULAR;
}
/*******************************************************************************
* Function Name : SVPWM_1ShuntCalcDutyCycles
* Description : Implementation of the single shunt algorithm to setup the
TIM1 register and DMA buffers values for the next PWM period.
* Input : Stat_Volt_alfa_beta
* Output : None
* Return : None
*******************************************************************************/
void SVPWM_1ShuntCalcDutyCycles (Volt_Components Stat_Volt_Input)
{
s32 wX, wY, wZ, wUAlpha, wUBeta;
s16 hDeltaDuty[2];
u16 hDutyV[4]; // the 4th element is the swap tmp
/*******************************************************************************
* Function Name : SVPWM_1ShuntGetDuty
* Description : Computes the three duty cycle values corresponding to the input value
using space vector modulation techinque
* Input : Stat_Volt_alfa_beta
* Output : None
* Return : None
*******************************************************************************/
//SVPWM_1ShuntGetDuty(Stat_Volt_Input);
wUAlpha = Stat_Volt_Input.qV_Component1 * T_SQRT3 ;
wUBeta = -(Stat_Volt_Input.qV_Component2 * T);
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