проект запущен шим идет, нужно запустить с пид регулятором вывести все измерения в структуру

2026-05-23 19:07:50 +03:00
parent b85718ccf2
commit 223841301e
16 changed files with 2066 additions and 1319 deletions
--- a/B-G474E-DPOW1_Keil/Core/Inc/app_config.h
+++ b/B-G474E-DPOW1_Keil/Core/Inc/app_config.h
@@ -4,76 +4,84 @@
 #include <stdint.h>

 /*
- * B-G474E-DPOW1 quick configuration.
- *
- * SAFETY:
- *  - The project configures the buck half-bridge on PB12/PB13.
- *  - Keep DCDC_POWER_STAGE_ENABLE at 0 until VIN, load and oscilloscope
- *    probes are ready. With 0 the firmware prints ADC values and prepares
- *    HRTIM, but does not enable HRTIM outputs.
- *  - If VIN comes from USB-C/USB-PD through JP1, set
- *    DCDC_CONNECT_USBPD_INPUT to 1 only after checking the board jumpers.
- */
+## B-G474E-DPOW1 build-time defaults
+
+These macros are now **boot defaults**. Runtime values live in
+`g_dcdc_config` and can be edited while the firmware is running.
+
+### Safety
+
+- `DCDC_POWER_STAGE_ENABLE = 0` keeps the real closed-loop power stage off.
+- `DCDC_PWM_TEST_ENABLE = 1` starts the current HRTIM analyzer test.
+- `DCDC_CONNECT_USBPD_INPUT = 0` keeps the USB-PD-to-VIN switch off.
+*/
 #define DCDC_POWER_STAGE_ENABLE     0U
+#define DCDC_PWM_TEST_ENABLE        1U
+#define DCDC_GPIO_PIN_TEST_ENABLE   0U
 #define DCDC_CONNECT_USBPD_INPUT    0U

 /*
- * Clock startup.
- * 0 = safest rescue mode: run directly from HSI16, no PLL switch.
- * 1 = normal performance mode: HSI16 -> PLL -> 170 MHz.
- *
- * If the debugger hangs inside SystemClock_Config(), keep this at 0 until
- * the board is recovered and ST-LINK connects reliably.
- */
+## Clock startup
+
+- `0`: rescue mode, direct HSI16, no PLL switch.
+- `1`: normal mode, HSI16 -> PLL -> 170 MHz.
+*/
 #define CLOCK_USE_PLL_170MHZ        1U

 #define SYSCLK_HZ                   170000000UL
 #define HSI16_HZ                    16000000UL
 #define USART3_BAUDRATE             115200UL
-#define DEBUG_ATTACH_DELAY_LOOPS    8000000UL

 /*
- * HRTIM Timer C drives the onboard buck leg:
- *   PB12 = BUCKBOOST_P1_DRIVE = HRTIM1_CHC1, high-side buck MOSFET
- *   PB13 = BUCKBOOST_N1_DRIVE = HRTIM1_CHC2, low-side buck MOSFET
- *
- * fHRCK = fHRTIM * 32. The firmware calculates the actual period from
- * SystemCoreClock, so rescue HSI16 mode still works.
- */
+## HRTIM Timer C defaults
+
+- `PB12`: `HRTIM1_CHC1`
+- `PB13`: `HRTIM1_CHC2`
+- `fHRCK = fHRTIM * 32`
+
+Live edits:
+
+- `g_dcdc_config.pwm.frequency_hz`
+- `g_dcdc_config.pwm.test_duty_permille`
+- `g_dcdc_config.pwm.deadtime_rising_ticks`
+- `g_dcdc_config.pwm.deadtime_falling_ticks`
+*/
 #define DCDC_HRTIM_PERIOD_TICKS     27200U
 #define DCDC_PWM_FREQUENCY_HZ       200000UL
+#define DCDC_PWM_TEST_DUTY_PERMILLE 100U
+#define DCDC_PWM_TEST_DEADTIME_ENABLE 1U
+#define DCDC_PWM_TEST_DEADTIME_TICKS 34U
+#define DCDC_GPIO_PIN_TEST_HALF_PERIOD_MS 1U
 #define DCDC_MIN_DUTY_TICKS         0U
 #define DCDC_MAX_DUTY_TICKS         24000U
 #define DCDC_START_DUTY_TICKS       400U

 /*
- * Dead-time values are expressed in HRTIM dead-time ticks.
- * They are intentionally conservative starter values; verify PB12/PB13
- * with an oscilloscope before enabling the power stage.
- */
+## Closed-loop dead-time defaults
+
+These are used when the real power stage mode is enabled. The current analyzer
+test uses `g_dcdc_config.pwm.deadtime_*_ticks`.
+*/
 #define DCDC_DEADTIME_RISING_TICKS  110U
 #define DCDC_DEADTIME_FALLING_TICKS 350U

 /*
- * ADC measurement pins on B-G474E-DPOW1:
- *   PA1 = BUCKBOOST_VIN       (ADC1_IN2)
- *   PA2 = BUCKBOOST_I_IN_AVG  (ADC1_IN3)
- *   PA3 = BUCKBOOST_VOUT      (ADC1_IN4)
- *
- * ST X-CUBE-DPower reference values for this board use:
- *   Vout_Scaling = 0.198795180  -> ADC pin voltage = VOUT * 0.198795180
- *   Iin_Scaling  = 0.721543408  -> ADC pin voltage = IIN  * 0.721543408 V/A
- *
- * VIN uses the same divider value by default here. If your hardware revision
- * or solder bridge setup differs, adjust DCDC_VIN_SCALE_PPM after measuring.
- */
+## ADC measurement defaults
+
+- `PA1 / ADC1_IN2`: `BUCKBOOST_VIN`
+- `PA2 / ADC1_IN3`: `BUCKBOOST_I_IN_AVG`
+- `PA3 / ADC1_IN4`: `BUCKBOOST_VOUT`
+
+Scaling starts from ST X-CUBE-DPower board values and can be adjusted after
+multimeter comparison.
+*/
 #define ADC_REFERENCE_MV            3300U
 #define ADC_FULL_SCALE_COUNTS       4095U
 #define DCDC_VOUT_SCALE_PPM         198795UL
 #define DCDC_VIN_SCALE_PPM          198795UL
 #define DCDC_IIN_UV_PER_MA          721UL

-/* Starter setpoints and protection thresholds. */
+/* ## Starter setpoints and protection thresholds */
 #define DCDC_TARGET_VOUT_MV         3300U
 #define DCDC_MIN_VIN_MV             4500U
 #define DCDC_MAX_VOUT_MV            3800U
@@ -81,10 +89,14 @@
 #define DCDC_HARD_INPUT_CURRENT_MA  450U

 /*
- * Simple voltage loop gains for the starter firmware.
- * Duty command = feed-forward + proportional + integral - current limiting.
- * Tune these gently with a current-limited supply and a scope.
- */
+## Starter loop gains
+
+Duty command:
+
+`feed-forward + proportional + integral - current-limit correction`
+
+Tune with a current-limited supply and an oscilloscope.
+*/
 #define DCDC_KP_TICKS_PER_100MV     90
 #define DCDC_KI_TICKS_PER_100MV     3
 #define DCDC_CURRENT_LIMIT_KP       60
--- a/B-G474E-DPOW1_Keil/Core/Inc/dcdc.h
+++ b/B-G474E-DPOW1_Keil/Core/Inc/dcdc.h
@@ -4,6 +4,63 @@
 #include <stdbool.h>
 #include <stdint.h>

+/*
+## Runtime configuration model
+
+`g_dcdc_config` is intentionally a global `volatile` structure so it can be
+edited from Keil **Watch**, **Memory**, or a future UART command parser while
+the firmware is running.
+
+Typical live edits during the current HRTIM test:
+
+- `g_dcdc_config.mode = DCDC_MODE_PWM_TEST`
+- `g_dcdc_config.pwm.frequency_hz = 200000`
+- `g_dcdc_config.pwm.test_duty_permille = 100`
+- `g_dcdc_config.pwm.deadtime_rising_ticks = 34`
+- `g_dcdc_config.pwm.deadtime_falling_ticks = 34`
+*/
+typedef enum
+{
+    DCDC_MODE_MONITOR = 0,
+    DCDC_MODE_PWM_TEST,
+    DCDC_MODE_CLOSED_LOOP
+} DCDC_Mode;
+
+typedef struct
+{
+    uint32_t frequency_hz;
+    uint32_t test_duty_permille;
+    uint32_t max_duty_permille;
+    uint32_t deadtime_enable;
+    uint32_t deadtime_rising_ticks;
+    uint32_t deadtime_falling_ticks;
+} DCDC_PwmRuntimeConfig;
+
+typedef struct
+{
+    uint32_t target_vout_mv;
+    uint32_t min_vin_mv;
+    uint32_t max_vout_mv;
+    uint32_t current_limit_ma;
+    uint32_t hard_current_ma;
+} DCDC_LimitsRuntimeConfig;
+
+typedef struct
+{
+    int32_t kp_ticks_per_100mv;
+    int32_t ki_ticks_per_100mv;
+    int32_t current_limit_kp;
+} DCDC_LoopRuntimeConfig;
+
+typedef struct
+{
+    uint32_t mode;
+    uint32_t connect_usbpd_input;
+    DCDC_PwmRuntimeConfig pwm;
+    DCDC_LimitsRuntimeConfig limits;
+    DCDC_LoopRuntimeConfig loop;
+} DCDC_RuntimeConfig;
+
 typedef struct
 {
    uint16_t vin_raw;
@@ -18,6 +75,7 @@ typedef enum
 {
    DCDC_STATE_STOPPED = 0,
    DCDC_STATE_READY,
+    DCDC_STATE_PWM_TEST,
    DCDC_STATE_RUNNING,
    DCDC_STATE_FAULT
 } DCDC_State;
@@ -31,17 +89,24 @@ typedef enum
    DCDC_FAULT_HRTIM
 } DCDC_Fault;

+extern volatile DCDC_RuntimeConfig g_dcdc_config;
+
 void DCDC_Init(void);
 void DCDC_Start(void);
+void DCDC_StartPwmTest(void);
 void DCDC_Stop(void);
+void DCDC_Service1ms(void);
+void DCDC_ApplyRuntimeConfig(void);
 void DCDC_ControlStep(void);
 void DCDC_ReadMeasurements(DCDC_Measurements *out);

+DCDC_Mode DCDC_GetMode(void);
 DCDC_State DCDC_GetState(void);
 DCDC_Fault DCDC_GetFault(void);
 bool DCDC_IsHrtimReady(void);
 uint32_t DCDC_GetDutyTicks(void);
 uint32_t DCDC_GetPeriodTicks(void);
+const char *DCDC_ModeText(DCDC_Mode mode);
 const char *DCDC_StateText(DCDC_State state);
 const char *DCDC_FaultText(DCDC_Fault fault);