ST电机库学习记录——配置MC—WorkBench + CuBeMX配置MT6701磁位置传感器
选择板卡和驱动电机电机参数需要自行对照调节配置一览为了方便测试配置开环调试 串口波特率选择115200配置CuBeMX配置spi读取mt6701配置MISO和CLK配置FOC_L_CS引脚配置LED灯与电机控制引脚个人配置Keil5代码移植mian.c/.h中//-------------main.c--------------------- /* USER CODE BEGIN PFP */ MCI_State_t state; //电机状态机全局变量 float angle_f;//获取的实际角度 int16_t angle; float use_angle_f; /*串口重映射还需要修改对应函数 stm32_mc_common_it.c 中的 USART1_IRQHandler 函数 */ int fputc(int ch, FILE *f) { // 通过串口1发送一个字符 // 这里的 huart1 是你已经初始化好的串口句柄 HAL_UART_Transmit(huart1, (uint8_t *)ch, 1, HAL_MAX_DELAY); return ch; } //mt6701驱动 void mt6701_spi_read_L(unsigned char* buf, unsigned short len) { HAL_SPI_Receive(hspi1, buf, len, MT6701_Timeout); } // 14Bit角度信息存储在0x03[13:6]、0x04[5:0]两个寄存器中高位在前原始读数0~16383对应0-360° void mt6701_spi_get_L_angle(int16_t *angle, float *angle_f) { uint8_t temp[3]; SPI_L_CS_Enable(); mt6701_spi_read_L(temp, 3); //HAL_SPI_TransmitReceive(hspi2, tx, temp, 3, MT6701_Timeout); SPI_L_CS_Disable(); *angle ((int16_t)temp[0] 6) | (temp[1] 2); *angle_f (float)*angle * 360 / 16384.0f; } float getAngle_Without_track(void)//绝对角度角度制 { mt6701_spi_get_L_angle(angle, angle_f); return angle_f; } //闪灯小代码 void shan() { HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); HAL_Delay(300); HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); HAL_Delay(300); } /* USER CODE END PFP */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ //是否上电自动启动电机 // MC_StartMotor1(); state MC_GetSTMStateMotor1(); if(stateRUN) { //MC_ProgramSpeedRampMotor1(500, 500); //HAL_Delay (5000); } shan(); // 将控制模式设置为开环电压模式 // MCI_SetOpenLoopVoltageMode(Mci[M1]); // 设定电压为 10% 的满量程 // OL_UpdateVoltage(OpenLoop_ParamsM1, ((10 * 32767) / 100)); //触发保护自救 // if(state11) // { // MC_AcknowledgeFaultMotor1(); //清除报错 // MC_StartMotor1(); // } } /* USER CODE END 3 */ //-------------main.h--------------------- /* USER CODE BEGIN Includes */ #include stdio.h /* USER CODE END Includes */ /* USER CODE BEGIN Private defines */ #define SPI_L_CS_Enable() FOC_L_CS_GPIO_Port-BSRR(uint32_t)FOC_L_CS_Pin16U #define SPI_L_CS_Disable() FOC_L_CS_GPIO_Port-BSRRFOC_L_CS_Pin #define MT6701_Timeout 50 extern int16_t anglee; extern float angle_f;//获取的实际角度 void mt6701_spi_get_L_angle(int16_t *angle, float *angle_f); float getAngle_Without_track(void);//绝对角度(角度制) /* USER CODE END Private defines */stm32_mc_common_it.c//文件开头 /* USER CODE BEGIN Includes */ #include main.h extern UART_HandleTypeDef huart1; /* USER CODE END Includes */ //USART1_IRQHandler函数 /* USER CODE BEGIN USART1_IRQHandler 1 */ HAL_UART_IRQHandler(huart1); /* USER CODE END USART1_IRQHandler 1 */修改启动参数drive_parameters.h/* Phase 1 */ #define PHASE1_DURATION 50 /*milliseconds */ #define PHASE1_FINAL_SPEED_UNIT (0*SPEED_UNIT/U_RPM) #define PHASE1_FINAL_CURRENT_A 7 /* Phase 2 */ #define PHASE2_DURATION 300 /*milliseconds */ #define PHASE2_FINAL_SPEED_UNIT (1000*SPEED_UNIT/U_RPM) #define PHASE2_FINAL_CURRENT_A 7 /* Phase 3 */ #define PHASE3_DURATION 700 /*milliseconds */ #define PHASE3_FINAL_SPEED_UNIT (3333*SPEED_UNIT/U_RPM) #define PHASE3_FINAL_CURRENT_A 7 /* Phase 4 */ #define PHASE4_DURATION 0 /*milliseconds */ #define PHASE4_FINAL_SPEED_UNIT (3333*SPEED_UNIT/U_RPM) #define PHASE4_FINAL_CURRENT_A 5 /* Phase 5 */ #define PHASE5_DURATION 0 /* milliseconds */ #define PHASE5_FINAL_SPEED_UNIT (3333*SPEED_UNIT/U_RPM) #define PHASE5_FINAL_CURRENT_A 5补充任务mc_tasks.c/.hMC_RunMotorControlTasks//mc_tasks.h中 #include main.h //设定停止时间为2ms #define STOPPERMANENCY_MS ((uint16_t)2) //mc_tasks.c中 /* USER CODE BEGIN Private Variables */ extern UART_HandleTypeDef huart1; char g_debug_buf[512]; static uint16_t printCounter 0; const uint16_t PRINT_INTERVAL 50; // 次中频任务 int ctrluser 0; int ctrlkeep 0; // 电流基值 #define CURRENT_SCALE (ADC_REFERENCE_VOLTAGE / (RSHUNT * AMPLIFICATION_GAIN)) // 16.5A // 电压基值 (相电压峰值) #define VOLTAGE_SCALE (NOMINAL_BUS_VOLTAGE_V / 1.73205f) // 6.93V /* USER CODE END Private Variables */ /* USER CODE BEGIN MC_Scheduler 2 */ printCounter; if (printCounter PRINT_INTERVAL) { printCounter 0; // 读取故障 uint16_t occurredFaults MC_GetOccurredFaultsMotor1(); // 读取速度 int16_t speed_internal MC_GetMecSpeedAverageMotor1(); float_t speed_rpm MC_GetAverageMecSpeedMotor1_F(); // 读取状态 MCI_State_t state MC_GetSTMStateMotor1(); // 读取电流旋转坐标系 qd_t iqd MC_GetIqdMotor1(); qd_t vqd MC_GetVqdMotor1(); // 读取原始三相电流 Ia, Ib ab_t iab MC_GetIabMotor1(); float use_angle_f getAngle_Without_track(); // 换算为实际值 float iq (float)iqd.q * CURRENT_SCALE / 32767.0f; float id (float)iqd.d * CURRENT_SCALE / 32767.0f; float vq (float)vqd.q * VOLTAGE_SCALE / 32767.0f; float vd (float)vqd.d * VOLTAGE_SCALE / 32767.0f; // Ia, Ib 换算为实际安培值 float ia (float)iab.a * CURRENT_SCALE / 32767.0f; float ib (float)iab.b * CURRENT_SCALE / 32767.0f; // 格式化为 CSV 行VOFA FireWater 模式 int len sprintf(g_debug_buf, data: %d, %.2f, %d, %.3f, %.3f, %.2f, %.2f, %.3f, %.3f, %f, 0x%04X\n, speed_internal, // col1: 实际速度内部值 speed_rpm, // col2: 实际速度 (RPM) state, // col3: 状态 iq, // col4: 实际 Iq (A) id, // col5: 实际 Id (A) vq, // col6: Vq (V) vd, // col7: Vd (V) ia, // ★col8: A相电流 (A) ib, // ★col9: B相电流 (A) use_angle_f, // ★col10: occurredFaults // ★col11: 历史故障 (0x0000 表示无故障) ); if (len 0) { for (int i 0; i len; i) { while (!(USART1-ISR USART_ISR_TXE)) {} USART1-TDR g_debug_buf[i]; } } if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_11)SET) { ctrluser 1; } if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_12)SET) { ctrlkeep 1; } if(ctrluser 1) { if(ctrlkeep 0) { if(use_angle_f 40use_angle_f 50) { if(state!STOP) { if(stateRUN||stateSTART) { MC_StopMotor1(); } } } // else if(use_angle_f 310||use_angle_f 40) // { // MC_StartMotor1(); // MC_ProgramSpeedRampMotor1(-800, 500); // } else { MC_StartMotor1(); MC_ProgramSpeedRampMotor1(-600, 500); } } else if(ctrlkeep 1) { if(use_angle_f 290use_angle_f 300) { if(state!STOP) { if(stateRUN||stateSTART) { MC_StopMotor1(); } } } // else if(use_angle_f 50||use_angle_f 320) // { // MC_StartMotor1(); // MC_ProgramSpeedRampMotor1(-800, 500); // } else { MC_StartMotor1(); MC_ProgramSpeedRampMotor1(600, 500); } } } ctrluser 0; ctrlkeep 0; } /* USER CODE END MC_Scheduler 2 */硬件补丁如果因为硬件设计导致电源电压不稳定可以将STSPIN32G4_setVCC改为8V位于mc_tasks.c/*************************************************/ /* STSPIN32G4 driver component initialization */ /*************************************************/ STSPIN32G4_init(HdlSTSPING4); STSPIN32G4_reset(HdlSTSPING4); STSPIN32G4_setVCC(HdlSTSPING4, (STSPIN32G4_confVCC){.voltage _8V, .useNFAULT true, .useREADY false }); STSPIN32G4_setVDSP(HdlSTSPING4, (STSPIN32G4_confVDSP){.deglitchTime _4us, .useNFAULT true }); STSPIN32G4_clearFaults(HdlSTSPING4);
