目录
1、原理图、PCB、BOOM表
2、设计描述
2.1 前言
2.2 设计电路规范
3、代码
4、资料清单
资料下载地址：STM32无刷电机全套开发资料(源码、原理图、PCB工程及说明文档)
1、原理图、PCB、BOOM表
2、设计描述
2.1 前言
经过一个星期的画PCB，今天终于化了，整体看上去还比较满意，具体的性能基本满足需求
2.2 设计电路规范
1、线间距。
这里应该遵循3W规则，所谓3W就是为了减少线间串扰，应保证线间距足够大，当线中心不少于3倍线宽，则可 保持70%的电场不互相干扰。如要达到98%的电场不互相干扰，可使用10W的间距。——这是查阅华为PCB布线规则所得。
2、电源线过细。
这里我查阅了华为PCB教程得到了下面一个表格。这里线宽跟所能承受最大电流的关系表
3、电源环路。（用图说明）
3、代码
/*This file is part of AutoQuad ESC32.AutoQuad ESC32 is free software: you can redistribute it and/or modifyit under the terms of the GNU General Public License as published bythe Free Software Foundation, either version 3 of the License, or(at your option) any later version.AutoQuad ESC32 is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See theGNU General Public License for more details.You should have received a copy of the GNU General Public Licensealong with AutoQuad ESC32. If not, seeCopyright © 2011, 2012, 2013 Bill Nesbitt
*/#include "run.h"
#include "main.h"
#include "timer.h"
#include "adc.h"
#include "fet.h"
#include "pwm.h"
#include "cli.h"
#include "binary.h"
#include "config.h"
#include "misc.h"
#include "stm32f10x_exti.h"
#include "stm32f10x_pwr.h"
#include "stm32f10x_iwdg.h"
#include "stm32f10x_dbgmcu.h"
#include <math.h>uint32_t runMilis; //systick中断中自加.没有什么控制用途
static uint32_t oldIdleCounter; //上次main函数中,死循环次数.
float idlePercent; //空闲时间百分比(在main循环里,什么事情也不做.main死循环运行的时间)
float avgAmps, maxAmps; //平均电流, 最大电流
float avgVolts; //当前ADC采集转换后的电池电压(也就是12v)float rpm; //当前转速(1分钟多少转) 测量值 在runRpm函数中计算出来.在runThrotLim中还要继续使用.
float targetRpm; //目标转速 设定值(只在闭环 或 闭环推力模式下使用此变量)static float rpmI;
static float runRPMFactor;
static float maxCurrentSQRT; //最大电流 平方根 后
uint8_t disarmReason;//此变量没啥作用.只用于给上位机显示当前的 调试代码(或者说停止电机的原因)
uint8_t commandMode; //串口通讯的模式, cli是ascii模式, binary是二进制通讯模式
static uint8_t runArmCount;
volatile uint8_t runMode;//运行模式 (开环模式, RPM模式, 推力模式, 伺服模式)
static float maxThrust;//执行看门狗喂狗
void runFeedIWDG(void) {
#ifdef RUN_ENABLE_IWDGIWDG_ReloadCounter();
#endif
}// setup the hardware independent watchdog
// 初始化并开启独立看门狗
uint16_t runIWDGInit(int ms)
{
#ifndef RUN_ENABLE_IWDGreturn 0;
#elseuint16_t prevReloadVal;int reloadVal;IWDG_ReloadCounter();//喂狗DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE);//当在jtag调试的时候.停止看门狗// IWDG timeout equal to 10 ms (the timeout may varies due to LSI frequency dispersion)// Enable write access to IWDG_PR and IWDG_RLR registersIWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);//允许访问IWDG_PR和IWDG_RLR寄存器// IWDG counter clock: LSI/4IWDG_SetPrescaler(IWDG_Prescaler_4);// Set counter reload value to obtain 10ms IWDG TimeOut.// Counter Reload Value = 10ms/IWDG counter clock period// = 10ms / (RUN_LSI_FREQ/4)// = 0.01s / (RUN_LSI_FREQ/4)// = RUN_LSI_FREQ/(4 * 100)// = RUN_LSI_FREQ/400reloadVal = RUN_LSI_FREQ*ms/4000;if (reloadVal < 1)reloadVal = 1;else if (reloadVal > 0xfff)reloadVal = 0xfff;prevReloadVal = IWDG->RLR;IWDG_SetReload(reloadVal);// Reload IWDG counterIWDG_ReloadCounter();// Enable IWDG (the LSI oscillator will be enabled by hardware)IWDG_Enable();return (prevReloadVal*4000/RUN_LSI_FREQ);
#endif
}//esc32 非正常停止运行 进入初始化
void runDisarm(int reason) {fetSetDutyCycle(0); //fet占空比设置为0timerCancelAlarm2();state = ESC_STATE_DISARMED;pwmIsrAllOn();digitalHi(statusLed); // turn offdigitalLo(errorLed); // turn ondisarmReason = reason; // 设置停机原因.给上位机查看状态使用
}//手动运行
void runArm(void) {int i;fetSetDutyCycle(0);timerCancelAlarm2();digitalHi(errorLed);digitalLo(statusLed); // turn onif (runMode == SERVO_MODE) {state = ESC_STATE_RUNNING;}else {state = ESC_STATE_STOPPED;if (inputMode == ESC_INPUT_UART)runMode = OPEN_LOOP;fetSetBraking(0);}// extra beeps signifying run modefor (i = 0; i < runMode + 1; i++) {fetBeep(250, 600);timerDelay(10000);}// fetBeep(150, 800);
}//电机开始运行
void runStart(void) {// reset integral bevore new motor startuprunRpmPIDReset();//先复位I值if ((p[START_ALIGN_TIME] == 0) && (p[START_STEPS_NUM] == 0)) {state = ESC_STATE_STARTING; //设置为准备启动状态fetStartCommutation(0);//换向启动}else {motorStartSeqInit();//普通启动}
}//电机停止运行
void runStop(void) {runMode = OPEN_LOOP;fetSetDutyCycle(0);
}//设置运行的占空比 duty = 0~100
uint8_t runDuty(float duty) {uint8_t ret = 0;if (duty >= 0.0f || duty <= 100.0f) {runMode = OPEN_LOOP;fetSetBraking(0);fetSetDutyCycle((uint16_t)(fetPeriod*duty*0.01f));//最大周期 * 占空比(0~100) / 100ret = 1;}return ret;
}//pwm.c中断中调用 或 串口命令输入调用
void runNewInput(uint16_t setpoint) {static uint16_t lastPwm;static float filteredSetpoint = 0;// Lowpass Input if configured// TODO: Make lowpass independent from pwm update rateif (p[PWM_LOWPASS]) {filteredSetpoint = (p[PWM_LOWPASS] * filteredSetpoint + (float)setpoint) / (1.0f + p[PWM_LOWPASS]);setpoint = filteredSetpoint;}if (state == ESC_STATE_RUNNING && setpoint != lastPwm){if (runMode == OPEN_LOOP){//开环模式fetSetDutyCycle(fetPeriod * (int32_t)(setpoint-pwmLoValue) / (int32_t)(pwmHiValue - pwmLoValue));}else if (runMode == CLOSED_LOOP_RPM){//闭环转速模式float target = p[PWM_RPM_SCALE] * (setpoint-pwmLoValue) / (pwmHiValue - pwmLoValue);// limit to configured maximumtargetRpm = (target > p[PWM_RPM_SCALE]) ? p[PWM_RPM_SCALE] : target;}// THRUST Modeelse if (runMode == CLOSED_LOOP_THRUST){//闭环推力模式float targetThrust; // desired trustfloat target; // target(rpm)// Calculate targetThrust based on input and MAX_THRUSTtargetThrust = maxThrust * (setpoint-pwmLoValue) / (pwmHiValue - pwmLoValue);// Workaraound: Negative targetThrust will screw up sqrtf() and create MAX_RPM on throttle min. Dangerous!if (targetThrust > 0.0f) {// Calculate target(rpm) based on targetThrusttarget = ((sqrtf(p[THR1TERM] * p[THR1TERM] + 4.0f * p[THR2TERM] * targetThrust) - p[THR1TERM] ) / ( 2.0f * p[THR2TERM] ));}// targetThrust is negative (pwm_in < pwmLoValue)else {target = 0.0f;}// upper limit for targetRpm is configured maximum PWM_RPM_SCALE (which is MAX_RPM)targetRpm = (target > p[PWM_RPM_SCALE]) ? p[PWM_RPM_SCALE] : target;}else if (runMode == SERVO_MODE){//伺服模式下fetSetAngleFromPwm(setpoint);}lastPwm = setpoint;}else if ((state == ESC_STATE_NOCOMM || state == ESC_STATE_STARTING) && setpoint <= pwmLoValue){fetSetDutyCycle(0);state = ESC_STATE_RUNNING;}else if (state == ESC_STATE_DISARMED && setpoint > pwmMinValue && setpoint <= pwmLoValue){runArmCount++;if (runArmCount > RUN_ARM_COUNT)runArm();}else {runArmCount = 0;}if (state == ESC_STATE_STOPPED && setpoint >= pwmMinStart) {//电机开始运行runStart();}
}//电调运行看门狗. 主要是判断电调的当前一些状态.做出停机等处理
static void runWatchDog(void)
{register uint32_t t, d, p;//__asm volatile ("cpsid i");//CPSID_I();__disable_irq();t = timerMicros; //当前的系统tick时间d = detectedCrossing;p = pwmValidMicros; //在PWM输入模式下.把timerMicros的时间赋值给此变量//__asm volatile ("cpsie i");//CPSIE_I();__enable_irq();if (state == ESC_STATE_STARTING && fetGoodDetects > fetStartDetects) //这里要检测到fetStartDetects好的检测,才允许切换电机状态{//是启动状态.切换到 运行状态state = ESC_STATE_RUNNING;digitalHi(statusLed); // turn off}else if (state >= ESC_STATE_STOPPED){//运行模式状态下.会一直在这里检测状态.如果状态不对出错.会调用runDisarm函数停止// running or startingd = (t >= d) ? (t - d) : (TIMER_MASK - d + t);// timeout if PWM signal disappearsif (inputMode == ESC_INPUT_PWM){//PWM模式 判断PWM输入是否超时p = (t >= p) ? (t - p) : (TIMER_MASK - p + t);if (p > PWM_TIMEOUT)runDisarm(REASON_PWM_TIMEOUT);//pwm输入超时}if (state >= ESC_STATE_STARTING && d > ADC_CROSSING_TIMEOUT){if (fetDutyCycle > 0) {runDisarm(REASON_CROSSING_TIMEOUT);//错误停止}else{runArm();//手动运行起来pwmIsrRunOn();//PWM开启输入比较}}else if (state >= ESC_STATE_STARTING && fetBadDetects > fetDisarmDetects) //运行状态中 检测到错误的个数后.进入这个判断{//在运行过程中,出现错误.停止运行if (fetDutyCycle > 0)runDisarm(REASON_BAD_DETECTS);//错误停止}else if (state == ESC_STATE_STOPPED){//停止模式adcAmpsOffset = adcAvgAmps; // record current amperage offset}}else if (state == ESC_STATE_DISARMED && !(runMilis % 100)){//停止模式下adcAmpsOffset = adcAvgAmps; // record current amperage offsetdigitalTogg(errorLed);}
}void runRpmPIDReset(void) {rpmI = 0.0f;
}//这个应该是计算PID
//rpm:测量的转速值
//target:目标的转速值
static int32_t runRpmPID(float rpm, float target) {float error;float ff, rpmP;float iTerm = rpmI;float output;// feed forwardff = ((target*target* p[FF1TERM] + target*p[FF2TERM]) / avgVolts) * fetPeriod;error = (target - rpm);//计算出偏差if (error > 1000.0f)error = 1000.0f;if (error > 0.0f) {rpmP = error * p[PTERM]; //PrpmI += error * p[ITERM]; //I}else {rpmP = error * p[PTERM] * p[PNFAC];rpmI += error * p[ITERM] * p[INFAC];}if (fetBrakingEnabled){//开启了制动模式if (rpm < 300.0f) {fetSetBraking(0);}else if (error <= -100.0f) {fetSetBraking(1);}else if (fetBraking && error > -25.0f){fetSetBraking(0);}}output = ff + (rpmP + rpmI) * (1.0f / 1500.0f) * fetPeriod;// don't allow integral to continue to rise if at max outputif (output >= fetPeriod)rpmI = iTerm;return output;
}//计算出电机转速,根据当前转速计算出PID输出值,设置占空比
static uint8_t runRpm(void)
{if (state > ESC_STATE_STARTING){//电机处于运行状态 计算出当前转速rpm// rpm = rpm * 0.90f + (runRPMFactor / (float)crossingPeriod) * 0.10f;// rpm -= (rpm - (runRPMFactor / (float)crossingPeriod)) * 0.25f;// rpm = (rpm + (runRPMFactor / (float)crossingPeriod)) * 0.5f;// rpm = (rpm + ((32768.0f * runRPMFactor) / (float)adcCrossingPeriod)) * 0.5f; // increased resolution, fixed filter hererpm = p[RPM_MEAS_LP] * rpm + ((32768.0f * runRPMFactor) / (float)adcCrossingPeriod) * (1.0f - p[RPM_MEAS_LP]); // increased resolution, variable filter here// run closed loop controlif (runMode == CLOSED_LOOP_RPM){//运行在闭环模式下fetSetDutyCycle(runRpmPID(rpm, targetRpm));return 1;}// run closed loop control also for THRUST modeelse if (runMode == CLOSED_LOOP_THRUST){//运行在闭环推力模式fetSetDutyCycle(runRpmPID(rpm, targetRpm));return 1;}else{return 0;}}else{//电机在停止状态下rpm = 0.0f;return 0;}
}static void runSetupPVD(void) {EXTI_InitTypeDef EXTI_InitStructure;NVIC_InitTypeDef NVIC_InitStructure;// Configure EXTI Line16(PVD Output) to generate an interrupt on rising and falling edgesEXTI_ClearITPendingBit(EXTI_Line16);EXTI_InitStructure.EXTI_Line = EXTI_Line16;EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;EXTI_InitStructure.EXTI_LineCmd = ENABLE;EXTI_Init(&EXTI_InitStructure);// Enable the PVD InterruptNVIC_InitStructure.NVIC_IRQChannel = PVD_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure);// Configure the PVD Level to 2.2VPWR_PVDLevelConfig(PWR_PVDLevel_2V2);//配置pvd电压等级.当电压小于2.2V的时候产生中断// Enable the PVD OutputPWR_PVDCmd(ENABLE);
}void runInit(void) {runSetupPVD();runSetConstants();runMode = p[STARTUP_MODE];//启动 运行模式//系统tickcount时钟SysTick_Config(SystemCoreClock / 1000); // 1msNVIC_SetPriority(SysTick_IRQn, 2); // lower priority// setup hardware watchdogrunIWDGInit(20);
}#define RUN_CURRENT_ITERM 1.0f
#define RUN_CURRENT_PTERM 10.0f
#define RUN_MAX_DUTY_INCREASE 1.0ffloat currentIState;//根据PID计算出PWM占空比的值
static int32_t runCurrentPID(int32_t duty) {float error;float pTerm, iTerm;error = avgAmps - p[MAX_CURRENT];currentIState += error;if (currentIState < 0.0f)currentIState = 0.0f;iTerm = currentIState * RUN_CURRENT_ITERM;pTerm = error * RUN_CURRENT_PTERM;if (pTerm < 0.0f)pTerm = 0.0f;duty = duty - iTerm - pTerm;if (duty < 0)duty = 0;return duty;
}//计算得到实际的占空比fetActualDutyCycle
//参数duty:实际上就是fetDutyCycle传递进来的.想要运行的周期
static void runThrotLim(int32_t duty)
{float maxVolts; //最大的电压int32_t maxDuty;//最大的周期// only if a limit is setif (p[MAX_CURRENT] > 0.0f){//如果实际的占空比和设置的占空比不一样.那么会实时改变CPU的PWM寄存器.// if current limiter is calibrated - best performance 使用电流限制器校准.性能最好if (p[CL1TERM] != 0.0f){maxVolts = p[CL1TERM] + p[CL2TERM]*rpm + p[CL3TERM]*p[MAX_CURRENT] + p[CL4TERM]*rpm*maxCurrentSQRT + p[CL5TERM]*maxCurrentSQRT;maxDuty = maxVolts * (fetPeriod / avgVolts);if (duty > maxDuty)fetActualDutyCycle = maxDuty;elsefetActualDutyCycle = duty;}// otherwise, use PID - less accurate, lower performance 使用PID来计算.不大准确.性能低else{fetActualDutyCycle += fetPeriod * (RUN_MAX_DUTY_INCREASE * 0.01f);if (fetActualDutyCycle > duty)fetActualDutyCycle = duty;fetActualDutyCycle = runCurrentPID(fetActualDutyCycle);//用PID来计算出当前要运行的占空比}}else {fetActualDutyCycle = duty;}//设置到CPU寄存器里.算出来的实际PWM占空比_fetSetDutyCycle(fetActualDutyCycle);
}//系统tickcount中断
void SysTick_Handler(void) {// reload the hardware watchdogrunFeedIWDG();avgVolts = adcAvgVolts * ADC_TO_VOLTS; //转换后的电池电压(一般是12V) = ADC采集电压原始值 * 电压算法avgAmps = (adcAvgAmps - adcAmpsOffset) * adcToAmps; //平均电流 = (当前电流 - 停止时候的电流) * 转换公式maxAmps = (adcMaxAmps - adcAmpsOffset) * adcToAmps; //最大电流 = (最大电流 - 停止时候的电流) * 转换公式if (runMode == SERVO_MODE){//伺服模式fetUpdateServo();}else{runWatchDog();//检测电调的状态.做出相应的停机处理runRpm(); //计算RPM,计算PID,设置运行PWM占空比runThrotLim(fetDutyCycle);//计算得到实际PWM占空比.如果有偏差.那么在这里会实时改变PWM的占空比值}//计算空闲时间百分比 通过串口发送给上位机 没什么用途idlePercent = 100.0f * (idleCounter-oldIdleCounter) * minCycles / totalCycles;
// 空闲时间百分比 = 100 * (本次循环次数 - 上次循环次数) * 最小周期 / 总共周期oldIdleCounter = idleCounter;totalCycles = 0;//处理串口数据 和串口交互使用的if (commandMode == CLI_MODE)cliCheck(); //ascii模式elsebinaryCheck(); //二进制模式runMilis++;
}//低电压中断
void PVD_IRQHandler(void) {// voltage dropping too lowif (EXTI_GetITStatus(EXTI_Line16) != RESET) {// shut everything downrunDisarm(REASON_LOW_VOLTAGE);// turn on both LEDsdigitalLo(statusLed);digitalLo(errorLed);EXTI_ClearITPendingBit(EXTI_Line16);}
}void runSetConstants(void) {int32_t startupMode = (int)p[STARTUP_MODE];float maxCurrent = p[MAX_CURRENT];//运行模式if (startupMode < 0 || startupMode >= NUM_RUN_MODES)startupMode = 0;if (maxCurrent > RUN_MAX_MAX_CURRENT)maxCurrent = RUN_MAX_MAX_CURRENT;else if (maxCurrent < RUN_MIN_MAX_CURRENT)maxCurrent = RUN_MIN_MAX_CURRENT;runRPMFactor = (1e6f * (float)TIMER_MULT * 120.0f) / (p[MOTOR_POLES] * 6.0f);maxCurrentSQRT = sqrtf(maxCurrent);p[MOTOR_POLES] = (int)p[MOTOR_POLES];p[STARTUP_MODE] = startupMode;p[MAX_CURRENT] = maxCurrent;// Calculate MAX_THRUST from PWM_RPM_SCALE (which is MAX_RPM) and THRxTERMs// Based on "thrust = rpm * a1 + rpm^2 * a2"maxThrust = p[PWM_RPM_SCALE] * p[THR1TERM] + p[PWM_RPM_SCALE] * p[PWM_RPM_SCALE] * p[THR2TERM];
}
4、资料清单
