基于APM32F407开发的通用伺服方案的ADC配置说明-注入通道配置

只看该作者 · 2024-12-26 09:30

#申请原创#
使用APM32F407开发伺服或其他电机控制代码中，ADC配置是最为重要的一部分，它实际影响整个电机运行的性能。本帖就以实际通用伺服的ADC注入通道配置来举例说明。
本伺服案例实际ADC使用情况为：ADC1负责电压采样以及模拟量输入采样，共三路；ADC2负责U相电流采样，采用过采样技术，共4路输入；ADC3负责V相电流采样，采用过采样技术，共4路输入。这里展示V相电流采样的配置代码来进行说明。

配置ADC注入通道的基本步骤
1.使能ADC时钟：确保ADC外设的时钟已经使能。
2.配置GPIO：选择要使用的注入通道及其对应的外部输入引脚。
3.配置ADC模式：选择单次转换模式或连续转换模式。
4.设置注入通道的触发源：可以选择软件触发或外部触发。
5.配置ADC转换顺序：定义注入通道的转换顺序。
6.使能ADC：使能ADC并开始转换。

void MX_ADC3_Init(void)
{
  LL_ADC_InitTypeDef ADC_InitStruct = {0};
  LL_ADC_REG_InitTypeDef ADC_REG_InitStruct = {0};
  LL_ADC_INJ_InitTypeDef ADC_INJ_InitStruct = {0};
  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
  LL_ADC_CommonInitTypeDef ADC_CommonInitStruct = {0};
  /* Peripheral clock enable */
  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC3);
  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOC);
  /**ADC3 GPIO Configuration
  PC0 ------> ADC3_IN10
  PC1 ------> ADC3_IN11
  PC2 ------> ADC3_IN12
  PC3 ------> ADC3_IN13
  */
  GPIO_InitStruct.Pin = ISU1_Pin|ISU2_Pin|ISU3_Pin|ISU4_Pin;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  LL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  ADC_InitStruct.Resolution = LL_ADC_RESOLUTION_12B;
ADC_InitStruct.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
ADC_InitStruct.SequencersScanMode = LL_ADC_SEQ_SCAN_ENABLE;
LL_ADC_Init(ADC3, &ADC_InitStruct);
ADC_REG_InitStruct.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE;
ADC_REG_InitStruct.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
ADC_REG_InitStruct.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
ADC_REG_InitStruct.ContinuousMode = LL_ADC_REG_CONV_CONTINUOUS;
ADC_REG_InitStruct.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
// ADC_REG_InitStruct.Overrun = LL_ADC_REG_OVR_DATA_OVERWRITTEN;
LL_ADC_REG_Init(ADC3, &ADC_REG_InitStruct);

   LL_ADC_REG_SetFlagEndOfConversion(ADC3, LL_ADC_REG_FLAG_EOC_UNITARY_CONV);

// LL_ADC_EnableInternalRegulator(ADC1);
ADC_CommonInitStruct.CommonClock = LL_ADC_CLOCK_SYNC_PCLK_DIV4;
ADC_CommonInitStruct.Multimode = LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_ALT;
LL_ADC_CommonInit(__LL_ADC_COMMON_INSTANCE(ADC3), &ADC_CommonInitStruct);
ADC_INJ_InitStruct.TriggerSource = LL_ADC_INJ_TRIG_EXT_TIM1_TRGO;
ADC_INJ_InitStruct.SequencerLength = LL_ADC_INJ_SEQ_SCAN_ENABLE_4RANKS;
ADC_INJ_InitStruct.SequencerDiscont = LL_ADC_INJ_SEQ_DISCONT_DISABLE;//LL_ADC_INJ_SEQ_DISCONT_DISABLE;
ADC_INJ_InitStruct.TrigAuto = LL_ADC_INJ_TRIG_INDEPENDENT; //LL_ADC_INJ_TRIG_FROM_GRP_REGULAR
LL_ADC_INJ_Init(ADC3, &ADC_INJ_InitStruct);

/** Configure Injected Channel
*/
LL_ADC_SetChannelSamplingTime(ADC3, LL_ADC_CHANNEL_10, LL_ADC_SAMPLINGTIME_28CYCLES);
LL_ADC_INJ_SetSequencerRanks(ADC3, LL_ADC_INJ_RANK_1, LL_ADC_CHANNEL_10);
LL_ADC_INJ_SetOffset(ADC3, LL_ADC_INJ_RANK_1, 0);
LL_ADC_INJ_StartConversionExtTrig(ADC3, LL_ADC_INJ_TRIG_EXT_RISING);
LL_ADC_EnableIT_JEOS(ADC3);

LL_ADC_SetChannelSamplingTime(ADC3, LL_ADC_CHANNEL_11, LL_ADC_SAMPLINGTIME_28CYCLES);
LL_ADC_INJ_SetSequencerRanks(ADC3, LL_ADC_INJ_RANK_2, LL_ADC_CHANNEL_11);
LL_ADC_INJ_SetOffset(ADC3, LL_ADC_INJ_RANK_2, 0);
LL_ADC_INJ_StartConversionExtTrig(ADC3, LL_ADC_INJ_TRIG_EXT_RISING);

LL_ADC_SetChannelSamplingTime(ADC3, LL_ADC_CHANNEL_12, LL_ADC_SAMPLINGTIME_28CYCLES);
LL_ADC_INJ_SetSequencerRanks(ADC3, LL_ADC_INJ_RANK_3, LL_ADC_CHANNEL_12);
LL_ADC_INJ_SetOffset(ADC3, LL_ADC_INJ_RANK_3, 0);
LL_ADC_INJ_StartConversionExtTrig(ADC3, LL_ADC_INJ_TRIG_EXT_RISING);

LL_ADC_SetChannelSamplingTime(ADC3, LL_ADC_CHANNEL_13, LL_ADC_SAMPLINGTIME_28CYCLES);
LL_ADC_INJ_SetSequencerRanks(ADC3, LL_ADC_INJ_RANK_4, LL_ADC_CHANNEL_13);
LL_ADC_INJ_SetOffset(ADC3, LL_ADC_INJ_RANK_4, 0);
LL_ADC_INJ_StartConversionExtTrig(ADC3, LL_ADC_INJ_TRIG_EXT_RISING);
//LL_ADC_DisableIT_JEOS(ADC3);
LL_ADC_EnableIT_JEOS(ADC3);
SET_BIT(ADC3->CR1,ADC_CR1_JAUTO);
SET_BIT(ADC3->CR1,ADC_CR1_EOCIE);
}