本帖最后由 yuyy1989 于 2023-6-24 19:01 编辑
#申请原创# 6.用MCPWM让电机转起来
之前用手动控制IO的方法成功让电机转了起来，不过LKS32MC071有电机控制专用的MCPWM模块，是一个精确控制电机驱动波形输出的模块。
首先对上一贴的控制序列做个处理，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
停止时
0 1 0 1 0 1
转换为波形是这样的
从手册里看MCPWM的介绍，貌似找不到合适的波形输出，改一下这个序列，因为电机引脚有个下拉电阻
我想是不是不用的引脚直接拉低也行，所以变成
1 1 0 0 0 0
0 0 1 1 0 0
0 0 0 0 1 1
再转成波形
这次就很容易找到对应的了
中心对齐输出，但是CH<n>N要翻转一下
先用上一贴的手动控制IO的方法试了一下，这个序列是可以转起来的，接下来编写MCPWM的代码
为了保证能转起来，IO的切换速度尽量靠近手动控制IO的速度，手动控制IO时是每10ms转动三分之一，换成一个PWM周期是30ms，频率在30Hz左右，用12M的系统时钟可以正好得到这个频率，但是在实际使用时发现设置成12M时钟后MCU不工作了，尝试24M时钟可以正常工作，因此最终频率设置成了50Hz
工程需添加库文件lks32mc07x_mcpwm.c
代码示例
#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模块运行主频 */
#define PWM_MCLK ((u32)MCU_MCLK) /**< PWM模块运行主频 */
#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模块运行预分频器 */
#endif
#define PWM_FREQ0 ((u16)50) /**< *< MCPWM_CNT0PWM斩波频率 */
/**< 电机控制PWM 周期计数器值 */
#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) /**< 死区时间 */
#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; /* 模块时钟开启 */
MCPWM_InitStructure.CLK_DIV = PWM_MCLK_DIV; /* MCPWM时钟分频设置 */
MCPWM_InitStructure.IO_FLT_CLKDIV = 12; /* 急停事件(来自IO口信号)数字滤波器时间设置 */
MCPWM_InitStructure.CMP_FLT_CLKDIV = 12; /* 急停事件(来自比较器信号)数字滤波器时间设置 */
MCPWM_InitStructure.AUEN = MCPWM0_ALL_AUPDAT; /*自动加载使能*/
/* MCPWM0_CNT0 */
MCPWM_InitStructure.BASE_CNT0_EN = ENABLE; /* 主计数器开始计数使能开关 */
MCPWM_InitStructure.TH0 = MCPWM_PERIOD0; /* 计数周期设置即MCPWM输出周期*/
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：中心对齐PWM模式 */
MCPWM_InitStructure.MCPWM_WorkModeCH1 = MCPWM0_CENTRAL_PWM_MODE; /* 通道工作模式设置，中心对齐或边沿对齐 */
MCPWM_InitStructure.MCPWM_WorkModeCH2 = MCPWM0_CENTRAL_PWM_MODE;
MCPWM_InitStructure.DeadTimeCH012N = DEADTIME;/* 死区时间设置 */
MCPWM_InitStructure.DeadTimeCH012P = DEADTIME;
MCPWM_InitStructure.CMP_CTRL_CNT0 = DISABLE ;/* CMP控制CNT0失能 */
MCPWM_InitStructure.EVT_CNT0_EN = DISABLE ;/* MCPWM_CNT1外部触发失能 */
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 中断关闭 */
MCPWM_InitStructure.T1_Update0_INT_EN = DISABLE ; /* T1更新事件 中断使能 */
MCPWM_InitStructure.Update1_INT_EN = DISABLE; /* CNT0 更新事件 中断使能 */
MCPWM_InitStructure.CH0N_Polarity_INV = ENABLE; /* CH0N通道输出极性设置 | 正常输出或取反输出*/
MCPWM_InitStructure.CH0P_Polarity_INV = DISABLE; /* CH0P通道输出极性设置 | 正常输出或取反输出 */
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; /* 通道交换选择设置 | CH0P和CH0N是否选择信号交换 */
MCPWM_InitStructure.Switch_CH1N_CH1P = DISABLE; /* 通道交换选择设置 */
MCPWM_InitStructure.Switch_CH2N_CH2P = DISABLE; /* 通道交换选择设置 */
/* 默认电平设置 默认电平输出不受MCPWM_IO01和MCPWM_IO23的 BIT0、BIT1、BIT8、BIT9、BIT6、BIT14通道交换和极性控制的影响，直接控制通道输出 */
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对应引脚在空闲状态输出低电平 */
MCPWM_InitStructure.CH1N_default_output = MCPWM0_HIGH_LEVEL; /* CH1N对应引脚在空闲状态输出高电平 */
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(); /* 关闭中断 中断总开关 */
SYS_WR_PROTECT = 0x7a83; /*使能系统寄存器写操作*/
FLASH_CFG |= 0x00080000; /* enable prefetch ，FLASH预取加速使能*/
IWDG_DISABLE(); /*关闭清零看门狗*/
SYS_MclkChoice(SYS_MCLK_24M_RC); /*选择当前主时钟频率*/
led_init();
key_init();
uvw_testinit();
mcpwm_init();
yuyy_delay_us(100); /* 延时等待硬件初始化稳定 */
SYS_WR_PROTECT = 0x0; /*关闭系统寄存器写操作*/
__enable_irq(); /* 开启总中断 */
}
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);
}
}
运行效果
这只是一个刚入门无刷电机的人做的一个简单的用MCPWM驱动电机的示例，后面会继续研究无刷电机的控制方法
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