169 lines
6.3 KiB
C
169 lines
6.3 KiB
C
//
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// Created by E_LJF on 25-6-7.
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//
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#ifndef ESHL_DRIVER_H
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#define ESHL_DRIVER_H
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#include "main.h"
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#define ESHL_COMP hcomp2 //电调使用的比较器
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#define ESHL_Current_ADC hadc //MOS电流计使用的ADC
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#define ESHL_US_TIM htim6 //电调us定时器
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#define ESHL_A_TIM htim3 //电调A相定时器
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#define ESHL_A_TIM_CH TIM_CHANNEL_1 //电调A相定时器通道
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#define ESHL_B_TIM htim2 //电调B相定时器
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#define ESHL_B_TIM_CH TIM_CHANNEL_2 //电调B相定时器通道
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#define ESHL_C_TIM htim2 //电调C相定时器
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#define ESHL_C_TIM_CH TIM_CHANNEL_1 //电调A相定时器通道
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#define SENSE_L (!(hcomp2.Instance->CSR & 0x4000))
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#define SENSE_H ((hcomp2.Instance->CSR & 0x4000)) //比较器输出值,通过寄存器获得
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//电调A相上管配置
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#define ESHL_AU_ENABLE(pwm) __HAL_TIM_SetCompare(&ESHL_A_TIM,ESHL_A_TIM_CH,pwm)
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#define ESHL_AU_DISABLE() __HAL_TIM_SetCompare(&ESHL_A_TIM,ESHL_A_TIM_CH,0)
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//电调A相下管配置
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#define ESHL_AD_DISABLE() HAL_GPIO_WritePin(BLDC_AD_GPIO_Port,BLDC_AD_Pin,GPIO_PIN_RESET)
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#define ESHL_AD_ENABLE() HAL_GPIO_WritePin(BLDC_AD_GPIO_Port,BLDC_AD_Pin,GPIO_PIN_SET)
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//电调B相上管配置
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#define ESHL_BU_ENABLE(pwm) __HAL_TIM_SetCompare(&ESHL_B_TIM,ESHL_B_TIM_CH,pwm)
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#define ESHL_BU_DISABLE() __HAL_TIM_SetCompare(&ESHL_B_TIM,ESHL_B_TIM_CH,0)
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//电调B相下管配置
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#define ESHL_BD_DISABLE() HAL_GPIO_WritePin(BLDC_BD_GPIO_Port,BLDC_BD_Pin,GPIO_PIN_RESET)
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#define ESHL_BD_ENABLE() HAL_GPIO_WritePin(BLDC_BD_GPIO_Port,BLDC_BD_Pin,GPIO_PIN_SET)
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//电调C相上管配置
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#define ESHL_CU_ENABLE(pwm) __HAL_TIM_SetCompare(&ESHL_C_TIM,ESHL_C_TIM_CH,pwm)
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#define ESHL_CU_DISABLE() __HAL_TIM_SetCompare(&ESHL_C_TIM,ESHL_C_TIM_CH,0)
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//电调C相下管配置
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#define ESHL_CD_DISABLE() HAL_GPIO_WritePin(BLDC_CD_GPIO_Port,BLDC_CD_Pin,GPIO_PIN_RESET)
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#define ESHL_CD_ENABLE() HAL_GPIO_WritePin(BLDC_CD_GPIO_Port,BLDC_CD_Pin,GPIO_PIN_SET)
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#define ESHL_DEFALT_ADDR 0xEC00 //电调默认地址
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#define ESHL_ADDR_FLASH_ADD 0x0800F800 //用于存放电调地址的STM32内部Flash地址
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#define ESHL_START_PWM 130 //电调启动PWM值
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#define ESHL_RUN_PWM_STEP 10 //电调pwm步进值
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#define ESHL_RUN_MAX_PWM 991 //电调运行最大PWM值
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#define ESHL_RUN_MIN_PWM 80 //电调运行最低PWM值
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#define ESHL_BREAK_MOD 0 //电调刹车方式选择,0为滑动刹车,1为三相短路刹车
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#define ESHL_BREAK_PWM 100 //电调短路刹车时用的PWM值,默认100
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#define ESHL_BREAK_OK_SAME_BMEF_NUM 500 //电机停转阈值,刹车时过零事件相同的次数超过此值视为电机停转
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#define ESHL_VBAT_CHACK_EN 1 //是否开启电调运行电压检测标志0为关闭,1为开启,(注:目前的策略是电池电压过低直接停转,请慎重考虑是否开启)
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#define ESHL_VBAT_LIMIT 0.1f //电调电池电压限制阈值(V float),当前电池电压与电池额定电压差值小于此值时,视为电池电压过低
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//注:ADC值计算公式为 ADC = 目标电流(A)*0.0005(采样电阻阻值Ω)*50(电流计放大倍数)*4096(12位ADC精度)/3.3(单片机参考电压)
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// 即 ADC = 目标电流(A)*31.30
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#define ESHL_MOS_TestPWM 20 //MOS管测试时使用的PWM值
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#define ESHL_MOS_Current_Test_num 50 //MOS电流单路测试次数
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#define ESHL_MOS_Current_ADC_MAX 8 //MOS电流阈值,超过此值视为电流不正常
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#define ESHL_RotoCurrent_ADC_MAX 45 //电调转子定位电流阈值，超过此值视为电流不正常
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#define ESHL_OPEN_LOOP_Transition_Period_ADC_MAX 125 //电调开环过渡期电流阈值，超过此值视为电流不正常
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#define ESHL_RUN_Current_Limit_ADC_DEFALT 1158 //电调运行电流限制ADC值,默认1158
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#define ESHL_MOTOR_TIMEOUT 250 //电机换向超时时间(ms),超过此值视为换向失败
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#define ESHL_RUNING_CURRENT_VBAT_CHACK_TIMOUT 30 //电调运行时电流和电池电压检测时间间隔(ms)
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#define ESHL_OPEN_LOOP_RESTART_MAX_NUM 5 //电调开环启动最大重试次数,超过此值视为无法开环启动
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// ↑↑↑(注:必须大于或等于2,乱填数据后果自负)↑↑↑
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typedef enum ESHL_BAT_ENUM {
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ESHL_BAT_3S, //3S锂电池
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ESHL_BAT_4S, //4S锂电池
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ESHL_BAT_5S, //5S锂电池
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ESHL_BAT_6S, //6S锂电池
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}ESHL_BAT_ENUM_T;//电调电池枚举
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typedef enum ESHL_BEEP_ENUM
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{
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ESHL_BEEP_SHORT,
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ESHL_BEEP_LONG,
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// ESHL_BEEP_DOU,
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// ESHL_BEEP_RAI,
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// ESHL_BEEP_MI,
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// ESHL_BEEP_FA,
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// ESHL_BEEP_SOU,
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// ESHL_BEEP_LA,
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// ESHL_BEEP_SI,
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// ESHL_BEEP_DOUi,
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}ESHL_BEEP_ENUM_T;//电调声音枚举
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typedef enum ESHL_STATE_ENUM {
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ESHL_STATE_OFF = 0, //电调关闭
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EShl_STATE_READY, //电调初始化完成,具备启动条件
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ESHL_STATE_START, //启动电机
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ESHL_STATE_OPEN_LOOP_START, //电调开环启动中
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ESHL_STATE_OPEN_LOOP_START_FAIL, //电调开环启动失败
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ESHL_STATE_OPEN_LOOP_START_ERROR, //电调开环启动重试超过最大次数,无法开环启动
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ESHL_STATE_RUN_CLOCKWISE, //顺时针方向运动中
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ESHL_STATE_RUN_COUNTER_CLOCKWISE, //逆时针方向运动中
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ESHL_STATE_MOTOR_RUNING_STOP, //电机运行时停转
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ESHL_STATE_BRAKE, //刹车中
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ESHL_STATE_BRAKE_OK, //刹车完毕
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ESHL_STATE_MOS_ERROR, //MOS异常
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ESHL_STATE_CURRENT_ERROR, //电流异常
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ESHL_STATE_BATTERY_VOLTAGE_ERROR, //电池电压异常
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ESHL_STATE_SET_ADDR, //电调设置地址中
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ESHL_STATE_SET_ADDR_OK, //电调地址设置成功
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ESHL_STATE_SET_HOST_TIMEOUT, //主机离线
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}ESHL_STATE_ENUM_T;//电调状态枚举
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typedef enum ESHL_DIRECTION_ENUM {
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ESHL_CLOCKWISE = 0, //电调顺时针运动标记
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ESHL_COUNTER_CLOCKWISE = 1, //电调逆时针运动标记
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}ESHL_DIRECTION_ENUM_T;
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void delay_us(TIM_HandleTypeDef *usTIMER,uint16_t us);
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void ESHL_ESC_Init();
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void ESHL_Start(ESHL_DIRECTION_ENUM_T direction);
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void ESHL_Beep(ESHL_BEEP_ENUM_T beep);
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void ESHL_SET_PWM(uint16_t pwm);
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uint8_t MOS_SelfTest();
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void ESHL_RuningChack();
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void ESHL_RuningCurrentVBATChack();
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void ESHL_ChangeRuningCurrentLimit(uint16_t current);
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void ESHL_SetState(ESHL_STATE_ENUM_T state);
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ESHL_STATE_ENUM_T ESHL_GetState();
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void ESHL_Break();
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uint16_t ESHL_GetAddr();
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void ESHL_SetAddr(uint16_t addr);
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void ESHL_SetDirection(ESHL_DIRECTION_ENUM_T direction);
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ESHL_DIRECTION_ENUM_T ESHL_GetDirection();
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// void ESHL_OFF();
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void ESHL_CloseMOSComp();
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#endif //ESHL_DRIVER_H
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