📄 stm32f10x_svpwm_ics.c
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/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name : STM32x_svpwm_ics.c
* Author : IMS Systems Lab
* Date First Issued : 21/11/07
* Description : ICS current reading and PWM generation module
********************************************************************************
* History:
* 21/11/07 v1.0
* 29/05/08 v2.0
* 09/07/08 v2.0.1
* 14/07/08 v2.0.2
* 17/07/08 v2.0.3
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/
#include "STM32F10x_MCconf.h"
#ifdef ICS_SENSORS
/* Includes-------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stm32f10x_svpwm_ics.h"
#include "MC_Globals.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define NB_CONVERSIONS 16
#define SQRT_3 1.732051
#define T (PWM_PERIOD * 4)
#define T_SQRT3 (u16)(T * SQRT_3)
#define SECTOR_1 (u32)1
#define SECTOR_2 (u32)2
#define SECTOR_3 (u32)3
#define SECTOR_4 (u32)4
#define SECTOR_5 (u32)5
#define SECTOR_6 (u32)6
#define PHASE_A_MSK (u32)((u32)(PHASE_A_ADC_CHANNEL) << 10)
#define PHASE_B_MSK (u32)((u32)(PHASE_B_ADC_CHANNEL) << 10)
#define TEMP_FDBK_MSK (u32)((u32)(TEMP_FDBK_CHANNEL) <<15)
#define BUS_VOLT_FDBK_MSK (u32)((u32)(BUS_VOLT_FDBK_CHANNEL) <<15)
#define SEQUENCE_LENGHT 0x00100000 //该参数只用在3-shnut方式，其他2种方式不用。
#define ADC_PRE_EMPTION_PRIORITY 1
#define ADC_SUB_PRIORITY 0
#define BRK_PRE_EMPTION_PRIORITY 0
#define BRK_SUB_PRIORITY 0
#define DMA_CH1_PRE_EMPTION_PRIORITY 1
#define DMA_CH1_SUB_PRIORITY 1
#ifdef IR_2101S
#define LOW_SIDE_POLARITY TIM_OCNIdleState_Reset //停车不锁转子,转子可以自由转动
//#define LOW_SIDE_POLARITY TIM_OCNIdleState_Set //停车锁定转子，绕组刹车
#endif
#ifdef IR_2103S
#define LOW_SIDE_POLARITY TIM_OCNIdleState_Set //停车不锁转子,转子可以自由转动
//#define LOW_SIDE_POLARITY TIM_OCNIdleState_Reset //停车锁定转子，绕组刹车
#endif
#define ADC_RIGHT_ALIGNMENT 3
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static u16 hPhaseAOffset;
static u16 hPhaseBOffset;
/* Private function prototypes -----------------------------------------------*/
void SVPWM_IcsInjectedConvConfig(void);
/*******************************************************************************
* Function Name : SVPWM_IcsInit
* Description : It initializes PWM and ADC peripherals
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void SVPWM_IcsInit(void)
{
ADC_InitTypeDef ADC_InitStructure;
TIM_TimeBaseInitTypeDef TIM1_TimeBaseStructure;
TIM_OCInitTypeDef TIM1_OCInitStructure;
TIM_BDTRInitTypeDef TIM1_BDTRInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
/* ADC1, ADC2, DMA, GPIO, TIM1 clocks enabling -----------------------------*/
/* ADCCLK = PCLK2/6 */
RCC_ADCCLKConfig(RCC_PCLK2_Div6);
/* Enable DMA clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); //DMA使用。
/* Enable ADC1 clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
/* Enable ADC2 clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC2, ENABLE);
/* Enable GPIOA-GPIOC clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA |
RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOE, ENABLE);
/* Enable TIM1 clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
/* ADC1, ADC2, PWM pins configurations -------------------------------------*/
GPIO_StructInit(&GPIO_InitStructure);
/****** Configure phase A ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = PHASE_A_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(PHASE_A_GPIO_PORT, &GPIO_InitStructure);
/****** Configure phase B ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = PHASE_B_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(PHASE_B_GPIO_PORT, &GPIO_InitStructure);
/****** Configure temperature reading ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = TEMP_FDBK_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(TEMP_FDBK_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/****** Configure bus voltage reading ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = BUS_VOLT_FDBK_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(BUS_VOLT_FDBK_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/****** Configure POT1 reading ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = POT1_VOLT_FDBK_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(POT1_VOLT_FDBK_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/****** Configure BUS_SHUNT reading ADC channel GPIO as analog input ****/
GPIO_InitStructure.GPIO_Pin = BUS_SHUNT_CURR_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(BUS_SHUNT_CURR_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/****** Configure BREAK_SHUNT reading ADC channel GPIO as analog input ****/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BRK_SHUNT_CURR_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(BRK_SHUNT_CURR_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/****** Configure AIN0 & AIN1 reading ADC channel GPIO as analog input ****/
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = AIN0_VOLT_FDBK_CHANNEL_GPIO_PIN | AIN1_VOLT_FDBK_CHANNEL_GPIO_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(AIN0_VOLT_FDBK_CHANNEL_GPIO_PORT, &GPIO_InitStructure);
/* TIM1 Peripheral Configuration -------------------------------------------*/
/* TIM1 Registers reset */
TIM_DeInit(TIM1);
TIM_TimeBaseStructInit(&TIM1_TimeBaseStructure);
/* Time Base configuration */
TIM1_TimeBaseStructure.TIM_Prescaler = PWM_PRSC;
TIM1_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
TIM1_TimeBaseStructure.TIM_Period = PWM_PERIOD;
TIM1_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV2; //设置死区时间和数字滤波器时间。DTS
TIM1_TimeBaseStructure.TIM_RepetitionCounter = REP_RATE;
TIM_TimeBaseInit(TIM1, &TIM1_TimeBaseStructure);
TIM_OCStructInit(&TIM1_OCInitStructure);
/* Channel 1, 2,3 and 4 Configuration in PWM mode */
TIM1_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM1_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM1_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM1_OCInitStructure.TIM_Pulse = 0x505; //dummy value
TIM1_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
//设置使用IR2101S或者IR2103S
#ifdef IR_2101S
TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; //IR2101S
#endif
#ifdef IR_2103S
TIM1_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; //IR2103S
#endif
TIM1_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM1_OCInitStructure.TIM_OCNIdleState = LOW_SIDE_POLARITY; // 使用IR2103的NLIN.不锁转子
TIM_OC1Init(TIM1, &TIM1_OCInitStructure);
TIM1_OCInitStructure.TIM_Pulse = 0x505; //dummy value
TIM_OC2Init(TIM1, &TIM1_OCInitStructure);
TIM1_OCInitStructure.TIM_Pulse = 0x505; //dummy value
TIM_OC3Init(TIM1, &TIM1_OCInitStructure);
//这里设置TIM1_CH4用于ADC1、2触发
//===================================================================
/*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);
/* 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_Disable; //没有使能刹车功能。
TIM1_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM1_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM1_BDTRInitStructure);
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update); //选择TIM1的触发输出模式，使用更新事件作为触发输出。
TIM_ClearITPendingBit(TIM1, TIM_IT_Break);
TIM_ITConfig(TIM1, TIM_IT_Break, ENABLE);
/* TIM1 counter enable */
TIM_Cmd(TIM1, ENABLE);
//设置DMA，用于存储ADC1和ADC2的转换值。
//=================================================================================
/* DMA1 Channel1 Config */
DMA_DeInit(DMA1_Channel1);
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ADC_DualConvertedValueTab;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = BufferLenght;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
DMA_ClearITPendingBit(DMA1_IT_TC1);
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC, ENABLE);
/* DMA1 Channel1 enable */
DMA_Cmd(DMA1_Channel1, ENABLE);
//=====================================================================================
/* ADC1 registers reset ----------------------------------------------------*/
ADC_DeInit(ADC1);
/* ADC2 registers reset ----------------------------------------------------*/
ADC_DeInit(ADC2);
//============================================================================
/* ADC1 configuration ------------------------------------------------------*/
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_RegInjecSimult; //ADC1和ADC2工作在混合同步规则及注入模式
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T4_CC4; //非外部触发，先用软件触发
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left; //数据左对齐。
ADC_InitStructure.ADC_NbrOfChannel = 3; //BUS_SHUNT+BREAK_SHUNT+Chip Temp
ADC_Init(ADC1, &ADC_InitStructure);
ADC_DMACmd(ADC1, ENABLE); //如何把数据正确取出来？？？，使用DMA中断吧。
/* ADC2 Configuration ------------------------------------------------------*/
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_RegInjecSimult; //ADC1和ADC2工作在混合同步规则及注入模式
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Left;
ADC_InitStructure.ADC_NbrOfChannel = 3; //POT1+AIN0+AIN1
ADC_Init(ADC2, &ADC_InitStructure);
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
// ADC_SoftwareStartConvCmd(ADC1, DISABLE); //先关闭软件触发规则组，连续扫描
//下面分别设置规则通道组和注入通道组
/* Temp On CPU */
ADC_RegularChannelConfig(ADC1, ADC_Channel_16, 1, ADC_SampleTime_239Cycles5);
/* ADC1 Regular Channel BREAK_SHUNT */
ADC_RegularChannelConfig(ADC1, BRK_SHUNT_CURR_CHANNEL, 2, ADC_SampleTime_239Cycles5);
/* ADC1 Regular Channel BUS_SHUNT */
ADC_RegularChannelConfig(ADC1, BUS_SHUNT_CURR_CHANNEL, 3, ADC_SampleTime_239Cycles5);
/* ADC2 Regular Channel POT1 */
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