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make some fix

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This commit is contained in:
Guo Yaoxin
2022-04-11 17:49:23 +08:00
parent aba9266b7f
commit db21835f2b
3 changed files with 9 additions and 246 deletions
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2.Firmware/ServoDrive-fw-ll/src/main.c
-236
View File
@@ -160,242 +160,6 @@ void SystemClock_Config(void)
LL_RCC_SetI2CClockSource(LL_RCC_I2C1_CLKSOURCE_HSI);
}
/**
* @brief ADC Initialization Function
* @param None
* @retval None
*/
// static void MX_ADC_Init(void)
// {
// /* USER CODE BEGIN ADC_Init 0 */
// /* USER CODE END ADC_Init 0 */
// LL_ADC_InitTypeDef ADC_InitStruct = {0};
// LL_ADC_REG_InitTypeDef ADC_REG_InitStruct = {0};
// LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
// /* Peripheral clock enable */
// LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_ADC1);
// LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
// /**ADC GPIO Configuration
// PA4 ------> ADC_IN4
// */
// GPIO_InitStruct.Pin = LL_GPIO_PIN_4;
// GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
// GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
// LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// /* ADC DMA Init */
// /* ADC Init */
// LL_DMA_SetDataTransferDirection(DMA1, LL_DMA_CHANNEL_1, LL_DMA_DIRECTION_PERIPH_TO_MEMORY);
// LL_DMA_SetChannelPriorityLevel(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PRIORITY_LOW);
// LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MODE_CIRCULAR);
// LL_DMA_SetPeriphIncMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PERIPH_NOINCREMENT);
// LL_DMA_SetMemoryIncMode(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MEMORY_INCREMENT);
// LL_DMA_SetPeriphSize(DMA1, LL_DMA_CHANNEL_1, LL_DMA_PDATAALIGN_HALFWORD);
// LL_DMA_SetMemorySize(DMA1, LL_DMA_CHANNEL_1, LL_DMA_MDATAALIGN_HALFWORD);
// LL_DMA_SetDataLength(DMA1,LL_DMA_CHANNEL_1,1);
// LL_DMA_SetMemoryAddress(DMA1,LL_DMA_CHANNEL_1,(uint32_t )&adcData);
// LL_DMA_SetPeriphAddress(DMA1,LL_DMA_CHANNEL_1,LL_ADC_DMA_GetRegAddr(ADC1,LL_ADC_DMA_REG_REGULAR_DATA));
// LL_DMA_EnableChannel(DMA1,LL_DMA_CHANNEL_1);
// /* ADC interrupt Init */
// // NVIC_SetPriority(ADC1_IRQn, 1);
// // NVIC_EnableIRQ(ADC1_IRQn);
// /* USER CODE BEGIN ADC_Init 1 */
// /* USER CODE END ADC_Init 1 */
// /** Configure Regular Channel
// */
// LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_4);
// /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
// */
// ADC_InitStruct.Clock = LL_ADC_CLOCK_ASYNC;
// ADC_InitStruct.Resolution = LL_ADC_RESOLUTION_12B;
// ADC_InitStruct.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
// ADC_InitStruct.LowPowerMode = LL_ADC_LP_MODE_NONE;
// LL_ADC_Init(ADC1, &ADC_InitStruct);
// ADC_REG_InitStruct.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE;
// ADC_REG_InitStruct.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
// ADC_REG_InitStruct.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
// ADC_REG_InitStruct.DMATransfer = LL_ADC_REG_DMA_TRANSFER_UNLIMITED;
// ADC_REG_InitStruct.Overrun = LL_ADC_REG_OVR_DATA_PRESERVED;
// LL_ADC_REG_Init(ADC1, &ADC_REG_InitStruct);
// LL_ADC_REG_SetSequencerScanDirection(ADC1, LL_ADC_REG_SEQ_SCAN_DIR_FORWARD);
// LL_ADC_SetSamplingTimeCommonChannels(ADC1, LL_ADC_SAMPLINGTIME_1CYCLE_5);
// /* USER CODE BEGIN ADC_Init 2 */
// LL_ADC_Enable(ADC1);
// // LL_ADC_StartCalibration(ADC1);
// // while( LL_ADC_IsCalibrationOnGoing(ADC1));
// LL_ADC_REG_StartConversion(ADC1);
// LL_ADC_REG_SetDMATransfer(ADC1,LL_ADC_REG_DMA_TRANSFER_UNLIMITED);
// /* USER CODE END ADC_Init 2 */
// }
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
// static void MX_TIM3_Init(void)
// {
// /* USER CODE BEGIN TIM3_Init 0 */
// /* USER CODE END TIM3_Init 0 */
// LL_TIM_InitTypeDef TIM_InitStruct = {0};
// LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
// LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
// /* Peripheral clock enable */
// LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
// /* USER CODE BEGIN TIM3_Init 1 */
// /* USER CODE END TIM3_Init 1 */
// TIM_InitStruct.Prescaler = 0;
// TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
// TIM_InitStruct.Autoreload = 999;
// TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
// LL_TIM_Init(TIM3, &TIM_InitStruct);
// LL_TIM_DisableARRPreload(TIM3);
// LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH1);
// TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
// TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
// TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
// TIM_OC_InitStruct.CompareValue = 0;
// TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
// LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH1, &TIM_OC_InitStruct);
// LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH1);
// LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH2);
// LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
// LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH2);
// LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
// LL_TIM_DisableMasterSlaveMode(TIM3);
// /* USER CODE BEGIN TIM3_Init 2 */
// /* USER CODE END TIM3_Init 2 */
// LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
// /**TIM3 GPIO Configuration
// PA6 ------> TIM3_CH1
// PA7 ------> TIM3_CH2
// */
// GPIO_InitStruct.Pin = LL_GPIO_PIN_6;
// GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
// GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
// GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
// GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
// GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
// LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
// GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
// GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
// GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
// GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
// GPIO_InitStruct.Alternate = LL_GPIO_AF_1;
// LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// }
// /**
// * @brief TIM14 Initialization Function
// * @param None
// * @retval None
// */
// static void MX_TIM14_Init(void)
// {
// /* USER CODE BEGIN TIM14_Init 0 */
// /* USER CODE END TIM14_Init 0 */
// LL_TIM_InitTypeDef TIM_InitStruct = {0};
// /* Peripheral clock enable */
// LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM14);
// /* TIM14 interrupt Init */
// NVIC_SetPriority(TIM14_IRQn, 3);
// NVIC_EnableIRQ(TIM14_IRQn);
// /* USER CODE BEGIN TIM14_Init 1 */
// /* USER CODE END TIM14_Init 1 */
// TIM_InitStruct.Prescaler = 47;
// TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
// TIM_InitStruct.Autoreload = 4999;
// TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
// LL_TIM_Init(TIM14, &TIM_InitStruct);
// LL_TIM_DisableARRPreload(TIM14);
// /* USER CODE BEGIN TIM14_Init 2 */
// /* USER CODE END TIM14_Init 2 */
// }
/**
* Enable DMA controller clock
*/
// static void MX_DMA_Init(void)
// {
// /* Init with LL driver */
// /* DMA controller clock enable */
// LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_DMA1);
// /* DMA interrupt init */
// /* DMA1_Channel1_IRQn interrupt configuration */
// // NVIC_SetPriority(DMA1_Channel1_IRQn, 0);
// // NVIC_EnableIRQ(DMA1_Channel1_IRQn);
// }
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
// static void MX_GPIO_Init(void)
// {
// LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
// /* GPIO Ports Clock Enable */
// LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
// /**/
// LL_GPIO_ResetOutputPin(GPIOA, LL_GPIO_PIN_1);
// /**/
// GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
// GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
// GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
// GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
// GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
// LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
// }
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
2.Firmware/ServoDrive-fw-ll/src/motor.cpp
+5 -6
View File
@@ -1,6 +1,5 @@
#include "motor.h"
//#include "tim.h"
#include"stm32f0xx_ll_tim.h"
#include "tim.h"
float Motor::CalcDceOutput(float _inputPos, float _inputVel)
{
@@ -34,14 +33,14 @@ void Motor::SetPwm(int16_t _pwm)
{
// __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, 0);
// __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, _pwm > 1000 ? 1000 : _pwm);
LL_TIM_OC_SetCompareCH2(TIM3,0);
LL_TIM_OC_SetCompareCH1(TIM3,_pwm > 1000 ? 1000 : _pwm);
LL_TIM_OC_SetCompareCH1(TIM3,0);
LL_TIM_OC_SetCompareCH2(TIM3,_pwm > 1000 ? 1000 : _pwm);
} else
{
// __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, 0);
// __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, _pwm < -1000 ? 1000 : -_pwm);
LL_TIM_OC_SetCompareCH2(TIM3,_pwm < -1000 ? 1000 : -_pwm);
LL_TIM_OC_SetCompareCH1(TIM3,0);
LL_TIM_OC_SetCompareCH1(TIM3,_pwm < -1000 ? 1000 : -_pwm);
LL_TIM_OC_SetCompareCH2(TIM3,0);
}
} else
{
2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c
+4 -4
View File
@@ -42,13 +42,12 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
extern I2C_HandleTypeDef hi2c1;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
extern void TIM14_PeriodElapsedCallback();
extern void i2c1_callback();
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -177,6 +176,7 @@ void TIM14_IRQHandler(void)
/* USER CODE BEGIN TIM14_IRQn 0 */
TIM14_PeriodElapsedCallback();
LL_TIM_ClearFlag_UPDATE(TIM14);
/* USER CODE END TIM14_IRQn 0 */
/* USER CODE BEGIN TIM14_IRQn 1 */
@@ -186,7 +186,7 @@ void TIM14_IRQHandler(void)
/**
* @brief This function handles I2C1 event global interrupt / I2C1 wake-up interrupt through EXTI line 23.
*/
extern I2C_HandleTypeDef hi2c1;
void I2C1_IRQHandler(void)
{
/* USER CODE BEGIN I2C1_IRQn 0 */