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Типа запустилось, но все равно есть проблемы с расчетом угла

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Razvalyaev 2025-11-16 00:13:13 +03:00
parent 8041598cc5
commit 115be84ccd
10 changed files with 86 additions and 70 deletions
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2
MATLAB/MCU_STM32_Matlab/Drivers/STM32_SIMULINK/stm32_matlab_tim.c
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@ -250,7 +250,7 @@ void CC_PWM_Ch3_Simulation(TIM_TypeDef *TIMx, struct TIM_Sim *TIMS)
}
void CC_PWM_Ch4_Simulation(TIM_TypeDef *TIMx, struct TIM_Sim *TIMS)
{ // определяет режим канала
switch (TIMx->CCMR1 & TIM_CCMR1_OC2M)
switch (TIMx->CCMR2 & TIM_CCMR1_OC2M)
{
case ((TIM_OCMODE_ACTIVE) << (TIM_OCMODE_SECOND_SHIFT)): // ACTIVE mode
if (abs(TIMx->CNT - TIMx->CCR4) < 2*TIMS->tx_step)

16
MATLAB/MCU_STM32_Matlab/stm32_matlab_conf.c
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@ -43,8 +43,10 @@ void deInitialize_MCU(void)
memset(&MCU_CORTEX_MEM, 0, sizeof(MCU_CORTEX_MEM));
memset(&htim1, 0, sizeof(htim1));
ClearStruct(upp);
ClearStruct(htim1);
ClearStruct(htim2);
ClearStruct(htim3);
ClearStruct(htim8);
ClearStruct(htim11);
@ -107,7 +109,7 @@ struct TIM_Sim tim14s;
void Init_TIM_SIM(void)
{
#ifdef USE_TIM1
memset(&tim1s, 0, sizeof(tim1s));
memset(&tim1s, 0, sizeof(tim1s));
tim1s.tx_cnt = TIM1->CNT;
tim1s.tx_step = hmcu.sSimSampleTime * ABP2_TIMS_Value;
@ -121,7 +123,7 @@ void Init_TIM_SIM(void)
tim1s.Channels.OC4_PIN_SHIFT = 11;
#endif
#ifdef USE_TIM2
memset(&tim2s, 0, sizeof(tim2s));
memset(&tim2s, 0, sizeof(tim2s));
tim2s.tx_cnt = TIM2->CNT;
tim2s.tx_step = hmcu.sSimSampleTime * ABP1_TIMS_Value;
@ -135,7 +137,7 @@ void Init_TIM_SIM(void)
tim2s.Channels.OC4_PIN_SHIFT = 3;
#endif
#ifdef USE_TIM3
memset(&tim3s, 0, sizeof(tim3s));
memset(&tim3s, 0, sizeof(tim3s));
tim3s.tx_cnt = TIM3->CNT;
tim3s.tx_step = hmcu.sSimSampleTime * ABP1_TIMS_Value;
@ -149,7 +151,7 @@ void Init_TIM_SIM(void)
tim3s.Channels.OC4_PIN_SHIFT = 9;
#endif
#ifdef USE_TIM4
memset(&tim4s, 0, sizeof(tim4s));
memset(&tim4s, 0, sizeof(tim4s));
tim4s.tx_cnt = TIM4->CNT;
tim4s.tx_step = hmcu.sSimSampleTime * ABP1_TIMS_Value;
@ -163,7 +165,7 @@ void Init_TIM_SIM(void)
tim4s.Channels.OC4_PIN_SHIFT = 9;
#endif
#ifdef USE_TIM5
memset(&tim5s, 0, sizeof(tim5s));
memset(&tim5s, 0, sizeof(tim5s));
tim5s.tx_cnt = TIM5->CNT;
tim5s.tx_step = hmcu.sSimSampleTime * ABP1_TIMS_Value;
@ -177,7 +179,7 @@ void Init_TIM_SIM(void)
tim5s.Channels.OC4_PIN_SHIFT = 3;
#endif
#ifdef USE_TIM6
memset(&tim6s, 0, sizeof(tim6s));
memset(&tim6s, 0, sizeof(tim6s));
tim6s.tx_cnt = TIM6->CNT;
tim6s.tx_step = hmcu.sSimSampleTime * ABP1_TIMS_Value;

2
MATLAB/MCU_Wrapper/mcu_wrapper_conf.h
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@ -79,7 +79,7 @@
* @param _arr_ind_ Индекс выходного порта
* @param _val_ind_ Индекс элемента в выходном массиве
*/
#define WriteOutputArray(_var_, _arr_ind_, _val_ind_) __WriteOutputArray(Buffer, (float)_var_, _arr_ind_, _val_ind_)
#define WriteOutputArray(_var_, _arr_ind_, _val_ind_) __WriteOutputArray(Buffer, (float)(_var_), _arr_ind_, _val_ind_)
/** @brief Считывает значение из входного массива блока S-Function
* @param _var_ Значение, которое необходимо записать (будет преобразовано в float)

13
MATLAB/app_wrapper/app_io.c
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@ -6,7 +6,9 @@
#include "mcu_wrapper_conf.h"
#include "app_wrapper.h"
#define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 1 : 0
float dbg[16];
#define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 0 : 1
void Write_Thyristors(real_T* Buffer, int ind_port)
{
@ -75,11 +77,14 @@ void app_readInputs(const real_T* Buffer) {
void app_writeOutputBuffer(real_T* Buffer) {
// USER APP OUTPUT START
Write_Thyristors(Buffer, 0);
Write_PowerMonitor(Buffer, 1);
WriteOutputArray(TIM2->CNT, 2, 0);
WriteOutputArray(TIM2->CCR1, 2, 1);
int nn = 0;
WriteOutputArray(upp.hangle.htim->Instance->CNT, 2, nn++);
WriteOutputArray(upp.hangle.htim->Instance->CCR1, 2, nn++);
WriteOutputArray(upp.hangle.htim->Instance->CCR2, 2, nn++);
WriteOutputArray(upp.hangle.htim->Instance->CCR3, 2, nn++);
// USER APP OUTPUT END
}

BIN
MATLAB/thyristors.slx
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BIN
MATLAB/upp_r2023.slx
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1
UPP/Core/Configs/mylibs_config.h
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@ -126,6 +126,7 @@
#else
extern float dbg[16];
#define local_time() uwTick ///< Локальное время
//#define INCLUDE_GEN_OPTIMIZER ///< Подключить библиотеку для оптимизации параметров
#define INCLUDE_BIT_ACCESS_LIB ///< Подключить библиотеку с typedef с битовыми полями

116
UPP/Core/UPP/pwm_thyristors.c
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@ -9,7 +9,7 @@
#include "angle_control.h"
#include "tim.h"
static HAL_StatusTypeDef __PWM_SetOutputState(PWM_Handle_t *hpwm, UPP_Phase_t Phase, uint32_t state);
static HAL_StatusTypeDef __PWM_SetOutputState(PWM_Channel_t *hCh, uint32_t state);
/**
* @brief Инициализация ШИМ тиристоров.
@ -65,6 +65,7 @@ HAL_StatusTypeDef PWM_Init(PWM_Handle_t *hpwm)
HAL_TIM_PWM_Start(&hpwm2, PWM_CHANNEL_5);
HAL_TIM_PWM_Start(&hpwm2, PWM_CHANNEL_6);
HAL_TIM_Base_Start_IT(&hpwm1);
return HAL_OK;
}
@ -79,25 +80,25 @@ HAL_StatusTypeDef PWM_Start(PWM_Handle_t *hpwm, UPP_Phase_t Phase)
{
if(assert_upp(hpwm))
return HAL_ERROR;
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return HAL_ERROR;
// Если канал дурацкий - возвращаем ошибку
if(Phase >= 3)
{
return HAL_ERROR;
}
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return HAL_ERROR;
switch(hpwm->Phase[Phase]->State)
{
case PWM_THYR_DISABLED:
case PWM_THYR_TIM_START:
case PWM_THYR_TIM_ACTIVE:
case PWM_THYR_TIM_DONE:
return HAL_BUSY;
case PWM_THYR_DISABLED:
case PWM_THYR_TIM_WAIT_ZERO:
// переходим в состояние старта ШИМ
// Запуск только если таймер в режиме ожидания
case PWM_THYR_TIM_WAIT:
hpwm->Phase[Phase]->State = PWM_THYR_TIM_START;
return HAL_OK;
@ -118,22 +119,22 @@ HAL_StatusTypeDef PWM_Stop(PWM_Handle_t *hpwm, UPP_Phase_t Phase, uint8_t force_
{
if(assert_upp(hpwm))
return HAL_ERROR;
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return HAL_ERROR;
// Если канал дурацкий - возвращаем ошибку
if(Phase >= 3)
{
return HAL_ERROR;
}
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return HAL_ERROR;
hpwm->Phase[Phase]->State = PWM_THYR_TIM_WAIT_ZERO;
hpwm->Phase[Phase]->State = PWM_THYR_DISABLED;
if(force_stop)
{
__PWM_SetOutputState(hpwm, Phase, PWM_DISABLE);
__PWM_SetOutputState(hpwm->Phase[Phase], PWM_DISABLE);
}
return HAL_ERROR;
return HAL_OK;
}
/**
* @brief Хендл ШИМ тиристоров.
@ -144,45 +145,47 @@ HAL_StatusTypeDef PWM_Handle(PWM_Handle_t *hpwm)
{
if(assert_upp(hpwm))
return HAL_ERROR;
for(int phase = 0; phase < 3; phase++)
uint8_t phase = 0;
PWM_Channel_t *hPhase = NULL;
for(int ch = 0; ch < 6; ch++)
{
if(!read_bit(hpwm->Config.PhaseMask.all, phase))
hPhase = &hpwm->AllPhases[ch];
if (hPhase->htim == NULL)
continue;
if (hpwm->Phase[phase] == NULL || hpwm->Phase[phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
continue;
switch(hpwm->Phase[phase]->State)
switch (hPhase->State)
{
case PWM_THYR_DISABLED:
__PWM_SetOutputState(hpwm, phase, PWM_DISABLE);
__PWM_SetOutputState(hPhase, PWM_DISABLE);
break;
case PWM_THYR_TIM_WAIT_ZERO:
__PWM_SetOutputState(hpwm, phase, PWM_DISABLE);
case PWM_THYR_TIM_WAIT:
__PWM_SetOutputState(hPhase, PWM_DISABLE);
break;
case PWM_THYR_TIM_START:
__PWM_SetOutputState(hpwm, phase, PWM_ENABLE);
hpwm->Phase[phase]->PulseCnt = hpwm->Config.PulseNumber;
hpwm->Phase[phase]->State = PWM_THYR_TIM_ACTIVE;
__PWM_SetOutputState(hPhase, PWM_ENABLE);
hPhase->PulseCnt = hpwm->Config.PulseNumber;
hPhase->State = PWM_THYR_TIM_ACTIVE;
break;
case PWM_THYR_TIM_ACTIVE:
hpwm->Phase[phase]->PulseCnt--;
if(hpwm->Phase[phase]->PulseCnt <= 0)
hPhase->PulseCnt--;
if (hPhase->PulseCnt <= 0)
{
hpwm->Phase[phase]->PulseCnt = 0;
hpwm->Phase[phase]->State = PWM_THYR_TIM_DONE;
hPhase->PulseCnt = 0;
hPhase->State = PWM_THYR_TIM_DONE;
}
break;
case PWM_THYR_TIM_DONE:
hpwm->Phase[phase]->State = PWM_THYR_TIM_WAIT_ZERO;
hPhase->State = PWM_THYR_TIM_WAIT;
break;
default:
__PWM_SetOutputState(hpwm, phase, PWM_DISABLE);
__PWM_SetOutputState(hPhase, PWM_DISABLE);
break;
}
}
@ -203,7 +206,8 @@ HAL_StatusTypeDef PWM_SetHalfWave(PWM_Handle_t *hpwm, UPP_Phase_t Phase, UPP_Hal
// Сбрасываем текущий канал
__PWM_SetOutputState(hpwm, Phase, PWM_DISABLE);
PWM_Stop(hpwm, Phase, 1);
// Если канал дурацкий - выставляем заглушку
if(Phase >= 3)
{
@ -213,12 +217,14 @@ HAL_StatusTypeDef PWM_SetHalfWave(PWM_Handle_t *hpwm, UPP_Phase_t Phase, UPP_Hal
// Выставляем канал
switch(halfwave)
{
case UPP_WAVE_POSITIVE:
case UPP_WAVE_POSITIVE:
hpwm->Phase[Phase] = &hpwm->AllPhases[Phase];
hpwm->Phase[Phase]->State = PWM_THYR_TIM_WAIT;
return HAL_OK;
case UPP_WAVE_NEGATIVE:
hpwm->Phase[Phase] = &hpwm->AllPhases[Phase+3];
hpwm->Phase[Phase]->State = PWM_THYR_TIM_WAIT;
return HAL_OK;
default:
@ -234,31 +240,33 @@ HAL_StatusTypeDef PWM_SetHalfWave(PWM_Handle_t *hpwm, UPP_Phase_t Phase, UPP_Hal
* @param state Какое состояние установить
* @return HAL Status.
*/
static HAL_StatusTypeDef __PWM_SetOutputState(PWM_Handle_t *hpwm, UPP_Phase_t Phase, uint32_t state)
static HAL_StatusTypeDef __PWM_SetOutputState(PWM_Channel_t *hCh, uint32_t state)
{
if(hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
if(hCh == NULL)
return HAL_ERROR;
if (hCh->htim == NULL)
return HAL_ERROR;
uint32_t ch_mode = state;
switch(hpwm->Phase[Phase]->ChMask)
switch(hCh->ChMask)
{
case TIM_CHANNEL_1:
hpwm->Phase[Phase]->htim->Instance->CCMR1 &= ~TIM_OCMODE_PWM2;
hpwm->Phase[Phase]->htim->Instance->CCMR1 |= ch_mode;
hCh->htim->Instance->CCMR1 &= ~TIM_OCMODE_PWM2;
hCh->htim->Instance->CCMR1 |= ch_mode;
break;
case TIM_CHANNEL_2:
hpwm->Phase[Phase]->htim->Instance->CCMR1 &= ~(TIM_OCMODE_PWM2 << 8);
hpwm->Phase[Phase]->htim->Instance->CCMR1 |= (ch_mode << 8);
hCh->htim->Instance->CCMR1 &= ~(TIM_OCMODE_PWM2 << 8);
hCh->htim->Instance->CCMR1 |= (ch_mode << 8);
break;
case TIM_CHANNEL_3:
hpwm->Phase[Phase]->htim->Instance->CCMR2 &= ~TIM_OCMODE_PWM2;
hpwm->Phase[Phase]->htim->Instance->CCMR2 |= ch_mode;
hCh->htim->Instance->CCMR2 &= ~TIM_OCMODE_PWM2;
hCh->htim->Instance->CCMR2 |= ch_mode;
break;
case TIM_CHANNEL_4:
hpwm->Phase[Phase]->htim->Instance->CCMR2 &= ~(TIM_OCMODE_PWM2 << 8);
hpwm->Phase[Phase]->htim->Instance->CCMR2 |= (ch_mode << 8);
hCh->htim->Instance->CCMR2 &= ~(TIM_OCMODE_PWM2 << 8);
hCh->htim->Instance->CCMR2 |= (ch_mode << 8);
break;
default:
break;
@ -278,14 +286,14 @@ UPP_HalfWave_t PWM_GetHalfWave(PWM_Handle_t *hpwm, UPP_Phase_t Phase)
{
if(assert_upp(hpwm))
return UPP_WAVE_UNKNOWED;
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return UPP_WAVE_UNKNOWED;
// Если канал дурацкий - возвращаем UNKNOWED
if(Phase >= 3)
if (Phase >= 3)
{
return UPP_WAVE_UNKNOWED;
}
if (hpwm->Phase[Phase] == NULL || hpwm->Phase[Phase] == &hpwm->AllPhases[PHASE_UNKNOWN])
return UPP_WAVE_UNKNOWED;
// Выставляем канал
if(hpwm->Phase[Phase] == &hpwm->AllPhases[Phase])

2
UPP/Core/UPP/pwm_thyristors.h
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@ -46,7 +46,7 @@ do { _hpwm_->Config.Frequency = _freq_; \
*/
typedef enum {
PWM_THYR_DISABLED = 0, ///< Канал отключен
PWM_THYR_TIM_WAIT_ZERO, ///< Таймер ждет пересечения нуля
PWM_THYR_TIM_WAIT, ///< Таймер ждет команды
PWM_THYR_TIM_START, ///< Запуск таймера для ШИМ
PWM_THYR_TIM_ACTIVE, ///< Таймер активен и формирует ШИМ
PWM_THYR_TIM_DONE ///< Таймер закончил свою работу в полупериоде

4
UPP/Core/UPP/upp_main.c
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@ -60,7 +60,7 @@ void UPP_ADC_Handle(void)
// Меняем полуволну тиристора
UPP_HalfWave_t curr_halfwave = ZC_GetHalfWave(&upp.pm.zc, phase);
PWM_SetHalfWave(&upp.hpwm, phase, curr_halfwave);
Angle_Start(&upp.hangle, phase, alpha_dbg, upp.hpwm.Config.Frequency);
Angle_Start(&upp.hangle, phase, alpha_dbg, 100);
}
}
}
@ -76,10 +76,10 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef* htim)
UPP_Angle_Handle();
}
}
void UPP_Angle_Handle(void)
{
UPP_Phase_t phase = Angle_Handle(&upp.hangle);
Angle_Reset(&upp.hangle, phase);
switch(phase)
{
case UPP_PHASE_A: