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【凌鷗創(chuàng)芯電機(jī)開發(fā)板LKS32MC071CBT8評測報(bào)告】6.用MCPWM讓電機(jī)轉(zhuǎn)起來

2023-06-25
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本帖最后由 yuyy1989 于 2023-6-24 19:01 編輯 #申請?jiān)瓌?chuàng)# 6.用MCPWM讓電機(jī)轉(zhuǎn)起來之前用手動(dòng)控制IO的方法成功讓電機(jī)轉(zhuǎn)了起來，不過LKS32MC071有電機(jī)控制專用的MCPWM模塊，是一個(gè)精確控制電機(jī)驅(qū)動(dòng)波形輸出的

本帖最后由 yuyy1989 于 2023-6-24 19:01 編輯

#申請?jiān)瓌?chuàng)# 6.用MCPWM讓電機(jī)轉(zhuǎn)起來
之前用手動(dòng)控制IO的方法成功讓電機(jī)轉(zhuǎn)了起來，不過LKS32MC071有電機(jī)控制專用的MCPWM模塊，是一個(gè)精確控制電機(jī)驅(qū)動(dòng)波形輸出的模塊。
首先對上一貼的控制序列做個(gè)處理，UP UN VP VN WP WN序列
1 1 0 0 0 1
0 1 1 1 0 0
0 0 0 1 1 1
停止時(shí)
0 1 0 1 0 1
轉(zhuǎn)換為波形是這樣的

從手冊里看MCPWM的介紹，貌似找不到合適的波形輸出，改一下這個(gè)序列，因?yàn)殡姍C(jī)引腳有個(gè)下拉電阻

我想是不是不用的引腳直接拉低也行，所以變成
1 1 0 0 0 0
0 0 1 1 0 0
0 0 0 0 1 1
再轉(zhuǎn)成波形

這次就很容易找到對應(yīng)的了

中心對齊輸出，但是CH<n>N要翻轉(zhuǎn)一下
先用上一貼的手動(dòng)控制IO的方法試了一下，這個(gè)序列是可以轉(zhuǎn)起來的，接下來編寫MCPWM的代碼
為了保證能轉(zhuǎn)起來，IO的切換速度盡量靠近手動(dòng)控制IO的速度，手動(dòng)控制IO時(shí)是每10ms轉(zhuǎn)動(dòng)三分之一，換成一個(gè)PWM周期是30ms，頻率在30Hz左右，用12M的系統(tǒng)時(shí)鐘可以正好得到這個(gè)頻率，但是在實(shí)際使用時(shí)發(fā)現(xiàn)設(shè)置成12M時(shí)鐘后MCU不工作了，嘗試24M時(shí)鐘可以正常工作，因此最終頻率設(shè)置成了50Hz
工程需添加庫文件lks32mc07x_mcpwm.c

代碼示例

#include "lks32mc07x.h"
#include "yuyy_delay.h"
void led_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_Pin = LED_PINS;
GPIO_Init(LED_GPIO, &GPIO_InitStruct);
GPIO_ResetBits(LED_GPIO, LED1_PIN|LED2_PIN);
GPIO_SetBits(LED_GPIO, LED3_PIN);
}
void key_init()
{
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_Pin = KEY_PINS;
GPIO_Init(KEY_GPIO, &GPIO_InitStruct);
}
void uvw_testinit()
{
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;
GPIO_Init(GPIO1, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_4, AF3_MCPWM);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_5, AF3_MCPWM);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_6, AF3_MCPWM);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_7, AF3_MCPWM);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_8, AF3_MCPWM);
GPIO_PinAFConfig(GPIO1, GPIO_PinSource_9, AF3_MCPWM);
}
#define MCU_MCLK (24000000LL) /**< PWM模塊運(yùn)行主頻 */
#define PWM_MCLK ((u32)MCU_MCLK) /**< PWM模塊運(yùn)行主頻 */
#define PWM_MCLK_DIV 3
#if(PWM_MCLK_DIV == 0)
#define PWM_PRSC
#elif(PWM_MCLK_DIV == 1)
#define PWM_PRSC 2
#elif(PWM_MCLK_DIV == 2)
#define PWM_PRSC 4
#elif(PWM_MCLK_DIV == 3)
#define PWM_PRSC 8 /**< *< *< PWM模塊運(yùn)行預(yù)分頻器 */
#endif
#define PWM_FREQ0 ((u16)50) /**< *< MCPWM_CNT0PWM斬波頻率 */
/**< 電機(jī)控制PWM 周期計(jì)數(shù)器值 */
#define MCPWM_PERIOD0 ((u16) (PWM_MCLK / (u32)(2 * PWM_FREQ0 *(PWM_PRSC)))) //15位最大32767
#define MCPWM_WIDTH (MCPWM_PERIOD0*2/3)
#define DEADTIME_NS ((u16)1200) /**< 死區(qū)時(shí)間 */
#define DEADTIME (u16)(((unsigned long long)PWM_MCLK * (unsigned long long)DEADTIME_NS)/1000000000uL)
void mcpwm_init()
{
MCPWM_InitTypeDef MCPWM_InitStructure;
MCPWM_StructInit(&MCPWM_InitStructure);
MCPWM_InitStructure.MCLK_EN = ENABLE; /* 模塊時(shí)鐘開啟 */
MCPWM_InitStructure.CLK_DIV = PWM_MCLK_DIV; /* MCPWM時(shí)鐘分頻設(shè)置 */
MCPWM_InitStructure.IO_FLT_CLKDIV = 12; /* 急停事件(來自IO口信號(hào))數(shù)字濾波器時(shí)間設(shè)置 */
MCPWM_InitStructure.CMP_FLT_CLKDIV = 12; /* 急停事件(來自比較器信號(hào))數(shù)字濾波器時(shí)間設(shè)置 */
MCPWM_InitStructure.AUEN = MCPWM0_ALL_AUPDAT; /*自動(dòng)加載使能*/
/* MCPWM0_CNT0 */
MCPWM_InitStructure.BASE_CNT0_EN = ENABLE; /* 主計(jì)數(shù)器開始計(jì)數(shù)使能開關(guān) */
MCPWM_InitStructure.TH0 = MCPWM_PERIOD0; /* 計(jì)數(shù)周期設(shè)置即MCPWM輸出周期*/
MCPWM_InitStructure.TH00 = (u16)(-MCPWM_PERIOD0+5);
MCPWM_InitStructure.TH01 = (u16)(-MCPWM_PERIOD0+MCPWM_WIDTH-5);
MCPWM_InitStructure.TH10 = (u16)(-MCPWM_PERIOD0+MCPWM_WIDTH+5);
MCPWM_InitStructure.TH11 = (u16)(MCPWM_PERIOD0-MCPWM_WIDTH-5);
MCPWM_InitStructure.TH20 = (u16)(MCPWM_PERIOD0-MCPWM_WIDTH+5);
MCPWM_InitStructure.TH21 = (u16)(MCPWM_PERIOD0-5);
MCPWM_InitStructure.MCPWM_WorkModeCH0 = MCPWM0_CENTRAL_PWM_MODE; /* MCPWM CH0工作模式：中心對齊PWM模式 */
MCPWM_InitStructure.MCPWM_WorkModeCH1 = MCPWM0_CENTRAL_PWM_MODE; /* 通道工作模式設(shè)置，中心對齊或邊沿對齊 */
MCPWM_InitStructure.MCPWM_WorkModeCH2 = MCPWM0_CENTRAL_PWM_MODE;
MCPWM_InitStructure.DeadTimeCH012N = DEADTIME;/* 死區(qū)時(shí)間設(shè)置 */
MCPWM_InitStructure.DeadTimeCH012P = DEADTIME;
MCPWM_InitStructure.CMP_CTRL_CNT0 = DISABLE ;/* CMP控制CNT0失能 */
MCPWM_InitStructure.EVT_CNT0_EN = DISABLE ;/* MCPWM_CNT1外部觸發(fā)失能 */
MCPWM_InitStructure.EVT0 = DISABLE ;
MCPWM_InitStructure.TR0_UP_INTV = DISABLE;
MCPWM_InitStructure.TR0_T0_UpdateEN = ENABLE ;
MCPWM_InitStructure.TR0_T1_UpdateEN = DISABLE ;
MCPWM_InitStructure.TR0_AEC = DISABLE;
MCPWM_InitStructure.T0_Update0_INT_EN = DISABLE; /* T0更新事件中斷關(guān)閉 */
MCPWM_InitStructure.T1_Update0_INT_EN = DISABLE ; /* T1更新事件中斷使能 */
MCPWM_InitStructure.Update1_INT_EN = DISABLE; /* CNT0 更新事件中斷使能 */
MCPWM_InitStructure.CH0N_Polarity_INV = ENABLE; /* CH0N通道輸出極性設(shè)置 | 正常輸出或取反輸出*/
MCPWM_InitStructure.CH0P_Polarity_INV = DISABLE; /* CH0P通道輸出極性設(shè)置 | 正常輸出或取反輸出 */
MCPWM_InitStructure.CH1N_Polarity_INV = ENABLE;
MCPWM_InitStructure.CH1P_Polarity_INV = DISABLE;
MCPWM_InitStructure.CH2N_Polarity_INV = ENABLE;
MCPWM_InitStructure.CH2P_Polarity_INV = DISABLE;
MCPWM_InitStructure.Switch_CH0N_CH0P = DISABLE; /* 通道交換選擇設(shè)置 | CH0P和CH0N是否選擇信號(hào)交換 */
MCPWM_InitStructure.Switch_CH1N_CH1P = DISABLE; /* 通道交換選擇設(shè)置 */
MCPWM_InitStructure.Switch_CH2N_CH2P = DISABLE; /* 通道交換選擇設(shè)置 */
/* 默認(rèn)電平設(shè)置默認(rèn)電平輸出不受MCPWM_IO01和MCPWM_IO23的 BIT0、BIT1、BIT8、BIT9、BIT6、BIT14通道交換和極性控制的影響，直接控制通道輸出 */
MCPWM_InitStructure.CH0P_default_output = MCPWM0_LOW_LEVEL;
MCPWM_InitStructure.CH0N_default_output = MCPWM0_HIGH_LEVEL;
MCPWM_InitStructure.CH1P_default_output = MCPWM0_LOW_LEVEL; /* CH1P對應(yīng)引腳在空閑狀態(tài)輸出低電平 */
MCPWM_InitStructure.CH1N_default_output = MCPWM0_HIGH_LEVEL; /* CH1N對應(yīng)引腳在空閑狀態(tài)輸出高電平 */
MCPWM_InitStructure.CH2P_default_output = MCPWM0_LOW_LEVEL;
MCPWM_InitStructure.CH2N_default_output = MCPWM0_HIGH_LEVEL;
MCPWM_InitStructure.CH0N_FAIL_EN = ENABLE ;
MCPWM_InitStructure.CH0P_FAIL_EN = ENABLE ;
MCPWM_InitStructure.CH1N_FAIL_EN = ENABLE ;
MCPWM_InitStructure.CH1P_FAIL_EN = ENABLE ;
MCPWM_InitStructure.CH2N_FAIL_EN = ENABLE ;
MCPWM_InitStructure.CH2P_FAIL_EN = ENABLE ;
MCPWM_InitStructure.FAIL0_INPUT_EN = DISABLE ;//FAIL_0CAP
MCPWM_InitStructure.FAIL0_INT_EN = DISABLE;
MCPWM_InitStructure.FAIL0_Signal_Sel = MCPWM0_FAIL_SEL_CMP ;//FAIL_0CAP
MCPWM_InitStructure.FAIL0_Polarity = MCPWM0_HIGH_LEVEL_ACTIVE ;
MCPWM_InitStructure.FAIL1_INPUT_EN = DISABLE ;//FAIL_0CAP
MCPWM_InitStructure.FAIL1_INT_EN = DISABLE;
MCPWM_InitStructure.FAIL1_Signal_Sel = MCPWM0_FAIL_SEL_IO ;//FAIL_0CAP
MCPWM_InitStructure.FAIL1_Polarity = MCPWM0_HIGH_LEVEL_ACTIVE ;
MCPWM_InitStructure.HALT_PRT0 = DISABLE ;
MCPWM_InitStructure.FAIL_0CAP = DISABLE ;
MCPWM_Init(&MCPWM_InitStructure);
NVIC_SetPriority(MCPWM0_IRQn, 1);
NVIC_EnableIRQ(MCPWM0_IRQn);
}
void MCPWM0_IRQHandler(void)
{
}
void mcu_init(void)
{
__disable_irq(); /* 關(guān)閉中斷中斷總開關(guān) */
SYS_WR_PROTECT = 0x7a83; /*使能系統(tǒng)寄存器寫操作*/
FLASH_CFG |= 0x00080000; /* enable prefetch ，F(xiàn)LASH預(yù)取加速使能*/
IWDG_DISABLE(); /*關(guān)閉清零看門狗*/
SYS_MclkChoice(SYS_MCLK_24M_RC); /*選擇當(dāng)前主時(shí)鐘頻率*/
led_init();
key_init();
uvw_testinit();
mcpwm_init();
yuyy_delay_us(100); /* 延時(shí)等待硬件初始化穩(wěn)定 */
SYS_WR_PROTECT = 0x0; /*關(guān)閉系統(tǒng)寄存器寫操作*/
__enable_irq(); /* 開啟總中斷 */
}
int main(void)
{
uint8_t run = 0;
uint8_t key_start_downcount = 0;
uint8_t key_stop_downcount = 0;
uint8_t runstep = 0;
mcu_init();
while (1)
{
if(Bit_RESET == GPIO_ReadInputDataBit(KEY_GPIO,KEY_START_PIN))
{
if(key_start_downcount < 0xFF)
key_start_downcount++;
}
else
{
if(key_start_downcount > 3 && run == 0)
{
run = 1;
runstep = 0;
PWMOutputs(ENABLE);
}
key_start_downcount = 0;
}
if(Bit_RESET == GPIO_ReadInputDataBit(KEY_GPIO,KEY_STOP_PIN))
{
if(key_stop_downcount < 0xFF)
key_stop_downcount++;
}
else
{
if(key_stop_downcount > 3 && run > 0)
{
run = 0;
runstep = 0;
PWMOutputs(DISABLE);
}
key_stop_downcount = 0;
}
if(runstep > 0)
runstep--;
else
{
runstep = 20;
switch(run)
{
case 1:
GPIO_SetBits(LED_GPIO, LED1_PIN);
GPIO_ResetBits(LED_GPIO, LED2_PIN);
GPIO_SetBits(LED_GPIO, LED3_PIN);
run = 2;
break;
case 2:
GPIO_ResetBits(LED_GPIO, LED1_PIN);
GPIO_SetBits(LED_GPIO, LED2_PIN);
GPIO_SetBits(LED_GPIO, LED3_PIN);
run = 3;
break;
case 3:
GPIO_ResetBits(LED_GPIO, LED1_PIN);
GPIO_ResetBits(LED_GPIO, LED2_PIN);
GPIO_ResetBits(LED_GPIO, LED3_PIN);
run = 1;
break;
default:
GPIO_ResetBits(LED_GPIO, LED1_PIN);
GPIO_ResetBits(LED_GPIO, LED2_PIN);
GPIO_SetBits(LED_GPIO, LED3_PIN);
run = 0;
break;
}
}
yuyy_delay_ms(10);
}
}