From 656be4eb18a07a98ef391360a7a22cce8deb330f Mon Sep 17 00:00:00 2001 From: fll2023 <13418675812@163.com> Date: Fri, 12 Apr 2024 11:21:22 +0800 Subject: [PATCH] release SolarA2 1.0.1.2 --- README.md | 2 +- .../board_sample/dimming/dimming_sample.c | 92 -- .../board_sample/dimming/dimming_sample.h | 34 - application/board_sample/key/key_sample.c | 112 --- application/board_sample/key/key_sample.h | 34 - .../board_sample/key/matrixkey_sample.c | 108 --- .../board_sample/key/matrixkey_sample.h | 34 - application/board_sample/led/led_sample.c | 85 -- application/board_sample/led/led_sample.h | 34 - .../board_sample/pulses/pulses_sample.c | 80 -- .../board_sample/pulses/pulses_sample.h | 34 - .../softserial/softserial_sample.c | 132 --- .../softserial/softserial_sample.h | 37 - .../capm/capm_hall_sample/readme.rd | 18 - .../cfd/sample_cfd_check_error/readme.rd | 21 - .../cmm/sample_cmm_check_error/readme.rd | 20 - .../iocmg/iolist_sample/readme.rd | 14 - .../drivers_sample/qdm/sample_qdm_m/readme.rd | 24 - .../qdm/sample_qdm_mt/readme.rd | 24 - .../common/inc/mcs_carrier_process.h | 96 -- .../mcs_65demo/common/inc/mcs_config_motor.h | 55 -- .../mcs_65demo/common/inc/mcs_sys_status.h | 188 ---- .../common/src/mcs_carrier_process.c | 134 --- .../mcs_65demo/common/src/mcs_config_motor.c | 48 - .../mcs_65demo/inc/mcs_65demo.h | 54 -- .../mcs_65demo/inc/mcs_65demo_system_init.h | 62 -- .../mcs_65demo/inc/mcs_config_65demo.h | 77 -- .../middleware_sample/mcs_65demo/readme.txt | 5 - .../mcs_65demo/src/mcs_65demo.c | 894 ------------------ .../common/inc/mcs_carrier_process.h | 96 -- .../mcs_65ldemo/common/inc/mcs_config_motor.h | 55 -- .../mcs_65ldemo/common/inc/mcs_sys_status.h | 188 ---- .../common/src/mcs_carrier_process.c | 134 --- .../mcs_65ldemo/common/src/mcs_config_motor.c | 48 - .../mcs_65ldemo/inc/mcs_61h48.h | 42 - .../mcs_65ldemo/inc/mcs_config_61h48.h | 60 -- .../mcs_65ldemo/src/mcs_61h48.c | 765 --------------- .../inc/mcs_config.h | 76 -- .../inc/mcs_motor.h | 52 - .../pmsm_sensorless_1shunt_foc/readme.txt | 4 - .../src/mcs_motor.c | 48 - .../inc/mcs_config.h | 77 -- .../inc/mcs_motor.h | 52 - .../pmsm_sensorless_2shunt_foc/readme.txt | 4 - .../src/mcs_motor.c | 48 - board/key/inc/matrixkey.h | 103 -- board/key/src/matrixkey.c | 223 ----- build/build_check.py | 641 ------------- ...6\210\267\346\211\213\345\206\214 V02.pdf" | Bin 2158290 -> 0 bytes drivers/gpt/common/inc/gpt.h | 93 -- middleware/control_library/mcs_assert.h | 59 -- middleware/control_library/mcs_curr_ctrl.c | 77 -- middleware/control_library/mcs_curr_ctrl.h | 79 -- middleware/control_library/mcs_filter.c | 77 -- middleware/control_library/mcs_filter.h | 75 -- middleware/control_library/mcs_fosmo.c | 106 --- middleware/control_library/mcs_fosmo.h | 86 -- middleware/control_library/mcs_fw_ctrl.c | 89 -- middleware/control_library/mcs_fw_ctrl.h | 43 - middleware/control_library/mcs_if_ctrl.c | 96 -- middleware/control_library/mcs_if_ctrl.h | 86 -- middleware/control_library/mcs_math.c | 288 ------ middleware/control_library/mcs_math.h | 74 -- middleware/control_library/mcs_math_const.h | 57 -- middleware/control_library/mcs_mtr_param.h | 53 -- middleware/control_library/mcs_pid_ctrl.c | 160 ---- middleware/control_library/mcs_pid_ctrl.h | 82 -- middleware/control_library/mcs_pll.c | 75 -- middleware/control_library/mcs_pll.h | 72 -- middleware/control_library/mcs_r1_svpwm.c | 246 ----- middleware/control_library/mcs_r1_svpwm.h | 78 -- middleware/control_library/mcs_ramp_mgmt.c | 77 -- middleware/control_library/mcs_ramp_mgmt.h | 69 -- middleware/control_library/mcs_smo_4th.c | 165 ---- middleware/control_library/mcs_smo_4th.h | 61 -- middleware/control_library/mcs_spd_ctrl.c | 73 -- middleware/control_library/mcs_spd_ctrl.h | 73 -- middleware/control_library/mcs_startup.c | 76 -- middleware/control_library/mcs_startup.h | 82 -- middleware/control_library/mcs_svpwm.c | 202 ---- middleware/control_library/mcs_svpwm.h | 117 --- middleware/control_library/mcs_typedef.h | 64 -- middleware/control_library/pfc_curr_ctrl.c | 49 - middleware/control_library/pfc_curr_ctrl.h | 75 -- middleware/control_library/pfc_volt_ctrl.c | 73 -- middleware/control_library/pfc_volt_ctrl.h | 72 -- middleware/hisilicon/loaderboot/BUILD.gn | 131 --- middleware/hisilicon/loaderboot/build.py | 143 --- middleware/hisilicon/loaderboot/build/.gn | 19 - .../loaderboot/build/config/BUILDCONFIG.gn | 22 - .../loaderboot/build/toolchain/BUILD.gn | 28 - .../loaderboot/build/toolchain/config.gni | 131 --- .../hisilicon/loaderboot/include/loaderboot.h | 79 -- .../hisilicon/loaderboot/include/utils.h | 108 --- middleware/hisilicon/loaderboot/loader.bin | Bin 4928 -> 0 bytes .../loaderboot/scripts/loaderboot.lds | 101 -- .../source/drivers_adapt/inc/crc_adapt.h | 39 - .../source/drivers_adapt/inc/flash_adapt.h | 36 - .../source/drivers_adapt/inc/timer_adapt.h | 28 - .../source/drivers_adapt/inc/uart_adapt.h | 58 -- .../source/drivers_adapt/src/crc_adapt.c | 98 -- .../source/drivers_adapt/src/flash_adapt.c | 101 -- .../source/drivers_adapt/src/timer_adapt.c | 59 -- .../source/drivers_adapt/src/uart_adapt.c | 353 ------- .../source/fake_drivers/crg/common/inc/crg.h | 54 -- .../source/fake_drivers/crg/inc/crg_ip.h | 62 -- .../source/fake_drivers/crg/src/crg.c | 50 - .../loaderboot/source/loader/inc/cmd.h | 60 -- .../loaderboot/source/loader/inc/handshake.h | 29 - .../loaderboot/source/loader/inc/serial_dw.h | 134 --- .../loaderboot/source/loader/inc/transfer.h | 148 --- .../loaderboot/source/loader/src/cmd.c | 359 ------- .../loaderboot/source/loader/src/handshake.c | 71 -- .../loaderboot/source/loader/src/loadertype.c | 47 - .../loaderboot/source/loader/src/reset.c | 40 - .../source/loader/src/stack_protect.c | 54 -- .../loaderboot/source/loader/src/uart_rcv.c | 383 -------- .../loaderboot/source/loader/src/uart_xmit.c | 159 ---- middleware/hisilicon/loaderboot/source/main.c | 61 -- .../hisilicon/loaderboot/startup/riscv_init.S | 198 ---- middleware/thirdparty/.keep | 0 middleware/thirdparty/sysroot/.keep | 0 middleware/thirdparty/sysroot/include/.keep | 0 middleware/thirdparty/sysroot/lib/.keep | 0 124 files changed, 1 insertion(+), 12189 deletions(-) delete mode 100644 application/board_sample/dimming/dimming_sample.c delete mode 100644 application/board_sample/dimming/dimming_sample.h delete mode 100644 application/board_sample/key/key_sample.c delete mode 100644 application/board_sample/key/key_sample.h delete mode 100644 application/board_sample/key/matrixkey_sample.c delete mode 100644 application/board_sample/key/matrixkey_sample.h delete mode 100644 application/board_sample/led/led_sample.c delete mode 100644 application/board_sample/led/led_sample.h delete mode 100644 application/board_sample/pulses/pulses_sample.c delete mode 100644 application/board_sample/pulses/pulses_sample.h delete mode 100644 application/board_sample/softserial/softserial_sample.c delete mode 100644 application/board_sample/softserial/softserial_sample.h delete mode 100644 application/drivers_sample/capm/capm_hall_sample/readme.rd delete mode 100644 application/drivers_sample/cfd/sample_cfd_check_error/readme.rd delete mode 100644 application/drivers_sample/cmm/sample_cmm_check_error/readme.rd delete mode 100644 application/drivers_sample/iocmg/iolist_sample/readme.rd delete mode 100644 application/drivers_sample/qdm/sample_qdm_m/readme.rd delete mode 100644 application/drivers_sample/qdm/sample_qdm_mt/readme.rd delete mode 100644 application/middleware_sample/mcs_65demo/common/inc/mcs_carrier_process.h delete mode 100644 application/middleware_sample/mcs_65demo/common/inc/mcs_config_motor.h delete mode 100644 application/middleware_sample/mcs_65demo/common/inc/mcs_sys_status.h delete mode 100644 application/middleware_sample/mcs_65demo/common/src/mcs_carrier_process.c delete mode 100644 application/middleware_sample/mcs_65demo/common/src/mcs_config_motor.c delete mode 100644 application/middleware_sample/mcs_65demo/inc/mcs_65demo.h delete mode 100644 application/middleware_sample/mcs_65demo/inc/mcs_65demo_system_init.h delete mode 100644 application/middleware_sample/mcs_65demo/inc/mcs_config_65demo.h delete mode 100644 application/middleware_sample/mcs_65demo/readme.txt delete mode 100644 application/middleware_sample/mcs_65demo/src/mcs_65demo.c delete mode 100644 application/middleware_sample/mcs_65ldemo/common/inc/mcs_carrier_process.h delete mode 100644 application/middleware_sample/mcs_65ldemo/common/inc/mcs_config_motor.h delete mode 100644 application/middleware_sample/mcs_65ldemo/common/inc/mcs_sys_status.h delete mode 100644 application/middleware_sample/mcs_65ldemo/common/src/mcs_carrier_process.c delete mode 100644 application/middleware_sample/mcs_65ldemo/common/src/mcs_config_motor.c delete mode 100644 application/middleware_sample/mcs_65ldemo/inc/mcs_61h48.h delete mode 100644 application/middleware_sample/mcs_65ldemo/inc/mcs_config_61h48.h delete mode 100644 application/middleware_sample/mcs_65ldemo/src/mcs_61h48.c delete mode 100644 application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_config.h delete mode 100644 application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_motor.h delete mode 100644 application/middleware_sample/pmsm_sensorless_1shunt_foc/readme.txt delete mode 100644 application/middleware_sample/pmsm_sensorless_1shunt_foc/src/mcs_motor.c delete mode 100644 application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_config.h delete mode 100644 application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_motor.h delete mode 100644 application/middleware_sample/pmsm_sensorless_2shunt_foc/readme.txt delete mode 100644 application/middleware_sample/pmsm_sensorless_2shunt_foc/src/mcs_motor.c delete mode 100644 board/key/inc/matrixkey.h delete mode 100644 board/key/src/matrixkey.c delete mode 100644 build/build_check.py delete mode 100644 "document/hardware/3065H\351\200\232\347\224\250\347\224\237\346\200\201\346\235\277\347\224\250\346\210\267\346\211\213\345\206\214 V02.pdf" delete mode 100644 drivers/gpt/common/inc/gpt.h delete mode 100644 middleware/control_library/mcs_assert.h delete mode 100644 middleware/control_library/mcs_curr_ctrl.c delete mode 100644 middleware/control_library/mcs_curr_ctrl.h delete mode 100644 middleware/control_library/mcs_filter.c delete mode 100644 middleware/control_library/mcs_filter.h delete mode 100644 middleware/control_library/mcs_fosmo.c delete mode 100644 middleware/control_library/mcs_fosmo.h delete mode 100644 middleware/control_library/mcs_fw_ctrl.c delete mode 100644 middleware/control_library/mcs_fw_ctrl.h delete mode 100644 middleware/control_library/mcs_if_ctrl.c delete mode 100644 middleware/control_library/mcs_if_ctrl.h delete mode 100644 middleware/control_library/mcs_math.c 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middleware/hisilicon/loaderboot/source/loader/src/uart_xmit.c delete mode 100644 middleware/hisilicon/loaderboot/source/main.c delete mode 100644 middleware/hisilicon/loaderboot/startup/riscv_init.S delete mode 100644 middleware/thirdparty/.keep delete mode 100644 middleware/thirdparty/sysroot/.keep delete mode 100644 middleware/thirdparty/sysroot/include/.keep delete mode 100644 middleware/thirdparty/sysroot/lib/.keep diff --git a/README.md b/README.md index 2781c47..e827e70 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -Solarec 1.0.0.6 +SolarA2 1.0.1.2 # 目录整体结构 **表 1** 目录整体结构说明 diff --git a/application/board_sample/dimming/dimming_sample.c b/application/board_sample/dimming/dimming_sample.c deleted file mode 100644 index 2ea43b2..0000000 --- a/application/board_sample/dimming/dimming_sample.c +++ /dev/null @@ -1,92 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file dimming_sample.c - * @author MCU Application Team - * @brief Dimming sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Dimming sample functions - */ - -/* Includes ------------------------------------------------------------------ */ -#include "dimming_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_DIMMING_SAMPLE_BAUDRATE 115200 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; /**< Timer handle */ -static GPT_Handle g_gpt1; /**< Gpt handle */ - -static void TIMER1_Init(void); -static void GPT1_Init(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief GPT initialization function, it is automatically generated by the code generation tool. - */ -static void GPT1_Init(void) -{ - g_gpt1.baseAddress = GPT1; - g_gpt1.duty = 0; - g_gpt1.period = BOARD_DIM_TABLE_MAX_VALUE; - g_gpt1.pwmKeep = BASE_CFG_SET; - HAL_GPT_Init(&g_gpt1); -} - -/** - * @brief Using gpt dimming example. - * @return int Execution result. - */ -int BOARD_DIMMING_Sample(void) -{ - DBG_UartPrintInit(BOARD_DIMMING_SAMPLE_BAUDRATE); - IRQ_Enable(); - IRQ_Init(); - - TIMER1_Init(); - GPT1_Init(); - - BOARD_DIM_Init(&g_gpt1, &g_timer1, 0, 1000); /* 1000 : 1000ms. */ - - while (1) { - BOARD_DIM_SetDuty(0, 255); /* 255 : dimming level. */ - BASE_FUNC_DELAY_S(5); /* 5 : 5 second. */ - BOARD_DIM_SetDuty(0, 0); - BASE_FUNC_DELAY_S(5); /* 5 : 5 second. */ - } - - return 0; -} \ No newline at end of file diff --git a/application/board_sample/dimming/dimming_sample.h b/application/board_sample/dimming/dimming_sample.h deleted file mode 100644 index cd24455..0000000 --- a/application/board_sample/dimming/dimming_sample.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file dimming_sample.h - * @author MCU Application Team - * @brief Include the header file of the dimming_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_DIMMING_SAMPLE_H -#define McuMagicTag_DIMMING_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "dimming.h" -#include "debug.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_DIMMING_Sample(void); - -#endif /* McuMagicTag_DIMMING_SAMPLE_H */ \ No newline at end of file diff --git a/application/board_sample/key/key_sample.c b/application/board_sample/key/key_sample.c deleted file mode 100644 index 2dcde50..0000000 --- a/application/board_sample/key/key_sample.c +++ /dev/null @@ -1,112 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file key_sample.c - * @author MCU Application Team - * @brief Key sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Key sample functions - */ - -/* Includes ------------------------------------------------------------------ */ -#include "key_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_KEY_SAMPLE_BAUDRATE 115200 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; /**< Timer handle */ - -static void TIMER1_Init(void); -void Key0LongPress(void); -void Key0ShortPress(void); -void Key1LongPress(void); -void Key1ShortPress(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief Pin 0 long press binding functions. - */ -void Key0LongPress() -{ - DBG_PRINTF("pin0 long\r\n"); -} - -/** - * @brief Pin 0 short press binding functions. - */ -void Key0ShortPress() -{ - DBG_PRINTF("pin0 short\r\n"); -} - -/** - * @brief Pin 1 long press binding functions. - */ -void Key1LongPress() -{ - DBG_PRINTF("pin1 long\r\n"); -} - -/** - * @brief Pin 1 short press binding functions. - */ -void Key1ShortPress() -{ - DBG_PRINTF("pin1 short\r\n"); -} - -/** - * @brief Key press detection example. - * @return int Execution result. - */ -int BOARD_KEY_Sample(void) -{ - DBG_UartPrintInit(BOARD_KEY_SAMPLE_BAUDRATE); - IRQ_Enable(); - IRQ_Init(); - TIMER1_Init(); - - BOARD_KEY_Init(&g_timer1, 100, 1000); /* 100 : 100ms, 1000 : 1000ms */ - - BOARD_KEY_Register(GPIO3, GPIO_PIN_0, Key0LongPress, Key0ShortPress); - BOARD_KEY_Register(GPIO3, GPIO_PIN_1, Key1LongPress, Key1ShortPress); - - HAL_TIMER_Start(&g_timer1); - - while (1) { - } - return 0; -} \ No newline at end of file diff --git a/application/board_sample/key/key_sample.h b/application/board_sample/key/key_sample.h deleted file mode 100644 index 7b97491..0000000 --- a/application/board_sample/key/key_sample.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file key_sample.h - * @author MCU Application Team - * @brief Include the header file of the key_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_KEY_SAMPLE_H -#define McuMagicTag_KEY_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "key.h" -#include "debug.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_KEY_Sample(void); - -#endif /* McuMagicTag_KEY_SAMPLE_H */ \ No newline at end of file diff --git a/application/board_sample/key/matrixkey_sample.c b/application/board_sample/key/matrixkey_sample.c deleted file mode 100644 index 07f4450..0000000 --- a/application/board_sample/key/matrixkey_sample.c +++ /dev/null @@ -1,108 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file matrixkey_sample.c - * @author MCU Application Team - * @brief Matrix key sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Matrix key sample functions - */ - -/* Includes ------------------------------------------------------------------ */ -#include "matrixkey_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_MATRIXKEY_SAMPLE_BAUDRATE 115200 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; /**< Timer handle */ - -static void TIMER1_Init(void); -void MKey0Func(void); -void MKey1Func(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief Key 0 binding function. - */ -void MKey0Func() -{ - DBG_PRINTF("key0 press\r\n"); -} - -/** - * @brief Key 1 binding function. - */ -void MKey1Func() -{ - DBG_PRINTF("key1 press\r\n"); -} - -/** - * @brief Matrix keys sample. - * @return int Execution result. - */ -int BOARD_MATRIXKEY_Sample(void) -{ - DBG_UartPrintInit(BOARD_MATRIXKEY_SAMPLE_BAUDRATE); - DBG_PRINTF("get in main! \r\n"); - IRQ_Enable(); - IRQ_Init(); - TIMER1_Init(); - - BOARD_MKEY_Init(&g_timer1, 100); /* 100 : 100ms. */ - - BOARD_MKEY_ConfigOutputPin(GPIO1, GPIO_PIN_0, 0); /* 0 : index value. */ - BOARD_MKEY_ConfigOutputPin(GPIO1, GPIO_PIN_1, 1); /* 1 : index value. */ - BOARD_MKEY_ConfigOutputPin(GPIO1, GPIO_PIN_2, 2); /* 2 : index value. */ - BOARD_MKEY_ConfigOutputPin(GPIO1, GPIO_PIN_3, 3); /* 3 : index value. */ - - BOARD_MKEY_ConfigInputPin(GPIO3, GPIO_PIN_0, 0); /* 0 : index value. */ - BOARD_MKEY_ConfigInputPin(GPIO3, GPIO_PIN_1, 1); /* 1 : index value. */ - BOARD_MKEY_ConfigInputPin(GPIO0, GPIO_PIN_2, 2); /* 2 : index value. */ - BOARD_MKEY_ConfigInputPin(GPIO0, GPIO_PIN_3, 3); /* 3 : index value. */ - - BOARD_MKEY_RegisterKeyFun(0, MKey0Func); - BOARD_MKEY_RegisterKeyFun(1, MKey1Func); - - HAL_TIMER_Start(&g_timer1); - while (1) { -#if (BOARD_MKEY_SCHEME_NUMBER == BOARD_MKEY_SCHEME_NUMBER_TWO) - BOARD_MKEY_SCAN_KEY(); -#endif - } - - return 0; -} \ No newline at end of file diff --git a/application/board_sample/key/matrixkey_sample.h b/application/board_sample/key/matrixkey_sample.h deleted file mode 100644 index b91edae..0000000 --- a/application/board_sample/key/matrixkey_sample.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file matrixkey_sample.h - * @author MCU Application Team - * @brief Include the header file of the matrixkey_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_MATRIXKEY_SAMPLE_H -#define McuMagicTag_MATRIXKEY_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "matrixkey.h" -#include "debug.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_MATRIXKEY_Sample(void); - -#endif /* McuMagicTag_MATRIXKEY_SAMPLE_H */ \ No newline at end of file diff --git a/application/board_sample/led/led_sample.c b/application/board_sample/led/led_sample.c deleted file mode 100644 index 48bd9db..0000000 --- a/application/board_sample/led/led_sample.c +++ /dev/null @@ -1,85 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file led_sample.c - * @author MCU Application Team - * @brief Led sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Led sample functions - */ - -/* Includes ------------------------------------------------------------------ */ -#include "led_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_LED_SAMPLE_BAUDRATE 115200 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; /**< Timer handle */ - -static void TIMER1_Init(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief LED digit tube display example. - * @return int Execution result. - */ -int BOARD_LED_Sample(void) -{ - DBG_UartPrintInit(BOARD_LED_SAMPLE_BAUDRATE); - IRQ_Enable(); - IRQ_Init(); - TIMER1_Init(); - - BOARD_LED_PinConfig(GPIO0, GPIO_PIN_0, 0); /* 0 : index value. */ - BOARD_LED_PinConfig(GPIO1, GPIO_PIN_1, 1); /* 1 : index value. */ - BOARD_LED_PinConfig(GPIO2, GPIO_PIN_2, 2); /* 2 : index value. */ - BOARD_LED_PinConfig(GPIO3, GPIO_PIN_3, 3); /* 3 : index value. */ - BOARD_LED_PinConfig(GPIO4, GPIO_PIN_4, 4); /* 4 : index value. */ - BOARD_LED_PinConfig(GPIO5, GPIO_PIN_5, 5); /* 5 : index value. */ - BOARD_LED_PinConfig(GPIO6, GPIO_PIN_6, 6); /* 6 : index value. */ - BOARD_LED_PinConfig(GPIO7, GPIO_PIN_7, 7); /* 7 : index value. */ - - BOARD_LED_SegmentConfig(GPIO2, GPIO_PIN_4, 0); /* 0 : index value. */ - BOARD_LED_SegmentConfig(GPIO4, GPIO_PIN_3, 1); /* 1 : index value. */ - BOARD_LED_SegmentConfig(GPIO5, GPIO_PIN_3, 2); /* 2 : index value. */ - BOARD_LED_SegmentConfig(GPIO7, GPIO_PIN_3, 3); /* 3 : index value. */ - BOARD_LED_PolarityConfig(BOARD_LED_CATHODE); - - BOARD_LED_ShowString("1111", 3000, &g_timer1); /* 3000 : 3000ms. */ - while (1) { - } - return 0; -} \ No newline at end of file diff --git a/application/board_sample/led/led_sample.h b/application/board_sample/led/led_sample.h deleted file mode 100644 index d804421..0000000 --- a/application/board_sample/led/led_sample.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file led_sample.h - * @author MCU Application Team - * @brief Include the header file of the led_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_LED_SAMPLE_H -#define McuMagicTag_LED_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "led.h" -#include "debug.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_LED_Sample(void); - -#endif /* McuMagicTag_LED_SAMPLE_H */ \ No newline at end of file diff --git a/application/board_sample/pulses/pulses_sample.c b/application/board_sample/pulses/pulses_sample.c deleted file mode 100644 index bc3beae..0000000 --- a/application/board_sample/pulses/pulses_sample.c +++ /dev/null @@ -1,80 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file pulses_sample.c - * @author MCU Application Team - * @brief Pulses sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Pulses sample functions - */ - -/* Includes ------------------------------------------------------------------ */ -#include "pulses_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_PULSES_SAMPLE_BAUDRATE 115200 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; /**< Timer handle */ - -static void TIMER1_Init(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_ONTSHOT; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief Pulse generation example. - * @return int Execution result. - */ -int BOARD_PULSES_Sample(void) -{ - DBG_UartPrintInit(BOARD_PULSES_SAMPLE_BAUDRATE); - DBG_PRINTF("get in main! \r\n"); - IRQ_Enable(); - IRQ_Init(); - TIMER1_Init(); - - BOARD_PULSES_Init(GPIO0, GPIO_PIN_0, &g_timer1, 1, 0.8, 1); /* 0.8 : dutu cycle. */ - - BOARD_PULSES_Start(1); - BASE_FUNC_DELAY_S(5); /* 5 : 5 second. */ - BOARD_PULSES_Stop(1); - BASE_FUNC_DELAY_S(5); /* 5 : 5 second. */ - BOARD_PULSES_Start(1); - BASE_FUNC_DELAY_S(5); /* 5 : 5 second. */ - BOARD_PULSES_Stop(1); - while (1) { - } - - return 0; -} \ No newline at end of file diff --git a/application/board_sample/pulses/pulses_sample.h b/application/board_sample/pulses/pulses_sample.h deleted file mode 100644 index 0d553af..0000000 --- a/application/board_sample/pulses/pulses_sample.h +++ /dev/null @@ -1,34 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file pulses_sample.h - * @author MCU Application Team - * @brief Include the header file of the pulses_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_PULSES_SAMPLE_H -#define McuMagicTag_PULSES_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "pulses.h" -#include "debug.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_PULSES_Sample(void); - -#endif /* McuMagicTag_PULSES_SAMPLE_H */ \ No newline at end of file diff --git a/application/board_sample/softserial/softserial_sample.c b/application/board_sample/softserial/softserial_sample.c deleted file mode 100644 index 291797e..0000000 --- a/application/board_sample/softserial/softserial_sample.c +++ /dev/null @@ -1,132 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file softserial_sample.c - * @author MCU Application Team - * @brief Softserial sample code - * @details This file provides firmware functions to manage the following - * functionalities of the common function sample. - * + Softserial sample functions. - */ - -/* Includes ------------------------------------------------------------------ */ -#include "softserial_sample.h" - -/* Private macro ------------------------------------------------------------- */ -#define BOARD_SOFTSERIAL_SAMPLE_BAUDRATE 1200 -#define BOARD_SOFTSERIAL_SAMPLE_DATALENGTH 8 - -/* Private variables --------------------------------------------------------- */ -static TIMER_Handle g_timer1; -static TIMER_Handle g_timer2; -static GPIO_Handle g_gpio0; -static GPIO_Handle g_gpio1; - -static void TIMER1_Init(void); -static void TIMER2_Init(void); -static void GPIO0_Init(void); -static void GPIO1_Init(void); - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER1_Init(void) -{ - g_timer1.baseAddress = TIMER1; - g_timer1.load = 1; /* Set timer value immediately */ - g_timer1.bgLoad = 1; - g_timer1.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer1.prescaler = 0; /* don't frequency division */ - g_timer1.interruptEn = 1; /* trigger interrupt enable */ - g_timer1.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer1.irqNum = IRQ_TIMER1; - IRQ_SetPriority(g_timer1.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer1.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer1); -} - -/** - * @brief Timer initialization function, it is automatically generated by the code generation tool. - */ -static void TIMER2_Init(void) -{ - g_timer2.baseAddress = TIMER2; - g_timer2.load = 1; /* Set timer value immediately */ - g_timer2.bgLoad = 1; - g_timer2.mode = TIMER_MODE_RUN_PERIODIC; /* Run in period mode */ - g_timer2.prescaler = 0; /* don't frequency division */ - g_timer2.interruptEn = 1; /* trigger interrupt enable */ - g_timer2.size = 1; /* 1 for 32bit, 0 for 16bit */ - g_timer2.irqNum = IRQ_TIMER2; - IRQ_SetPriority(g_timer2.irqNum, 1); /* set timer0 interrupt priority to 1, 1~7 */ - IRQ_EnableN(g_timer2.irqNum); /* timer interrupt enable */ - HAL_TIMER_Init(&g_timer2); -} - -/** - * @brief GPIO initialization function, it is automatically generated by the code generation tool. - */ -static void GPIO0_Init(void) -{ - g_gpio0.baseAddress = GPIO0; - g_gpio0.dir = GPIO_OUTPUT_MODE; - g_gpio0.value = GPIO_HIGH_LEVEL; - g_gpio0.interruptMode = GPIO_INT_TYPE_NONE; - g_gpio0.pins = GPIO_PIN_0; - HAL_GPIO_Init(&g_gpio0); -} - -/** - * @brief GPIO initialization function, it is automatically generated by the code generation tool. - */ -static void GPIO1_Init(void) -{ - g_gpio1.baseAddress = GPIO3; - g_gpio1.dir = GPIO_OUTPUT_MODE; - g_gpio1.value = GPIO_HIGH_LEVEL; - g_gpio1.interruptMode = GPIO_INT_TYPE_NONE; - g_gpio1.pins = GPIO_PIN_0; - HAL_GPIO_Init(&g_gpio1); -} - -/** - * @brief Soft serial port loopback example. - * @return int Execution result. - */ -int BOARD_SOFTSERIAL_Sample(void) -{ - IRQ_Enable(); - IRQ_Init(); - - TIMER1_Init(); - GPIO0_Init(); - TIMER2_Init(); - GPIO1_Init(); - - BOARD_SOFTSERIAL_TxInit(&g_gpio0, &g_timer1, BOARD_SOFTSERIAL_SAMPLE_BAUDRATE, BOARD_SOFTSERIAL_SAMPLE_DATALENGTH, - BOARD_SOFTSERIAL_PARITY_NONE, BOARD_SOFTSERIAL_STOPBITS_ONE); - BOARD_SOFTSERIAL_RxInit(&g_gpio1, &g_timer2, BOARD_SOFTSERIAL_SAMPLE_BAUDRATE, BOARD_SOFTSERIAL_SAMPLE_DATALENGTH, - BOARD_SOFTSERIAL_PARITY_NONE, BOARD_SOFTSERIAL_STOPBITS_ONE); - - unsigned char tmp; - while (1) { - if (BOARD_SOFTSERIAL_GetChar(&tmp) == BOARD_SOFTSERIAL_OK) { - BOARD_SOFTSERIAL_PrintCh(tmp); - } - } - return BASE_STATUS_OK; -} \ No newline at end of file diff --git a/application/board_sample/softserial/softserial_sample.h b/application/board_sample/softserial/softserial_sample.h deleted file mode 100644 index bc318d6..0000000 --- a/application/board_sample/softserial/softserial_sample.h +++ /dev/null @@ -1,37 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file softserial_sample.h - * @author MCU Application Team - * @brief Include the header file of the softserial_sample.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_SOFTSERIAL_SAMPLE_H -#define McuMagicTag_SOFTSERIAL_SAMPLE_H - -/* Includes ------------------------------------------------------------------ */ -#include "baseinc.h" -#include "debug.h" -#include "timer.h" -#include "gpio.h" -#include "softserial.h" - -/* Exported global functions ------------------------------------------------- */ -int BOARD_SOFTSERIAL_Sample(void); - -#endif /* McuMagicTag_SOFTSERIAL_SAMPLE_H */ \ No newline at end of file diff --git a/application/drivers_sample/capm/capm_hall_sample/readme.rd b/application/drivers_sample/capm/capm_hall_sample/readme.rd deleted file mode 100644 index 0638673..0000000 --- a/application/drivers_sample/capm/capm_hall_sample/readme.rd +++ /dev/null @@ -1,18 +0,0 @@ -# CAPM读取电机HALL位置传感器 -## 关键字: CAPM, HALL传感器 - -**【功能描述】** -+ 使用三个CAPM捕获三个HALL传感器的电平信息 - -**【示例配置】** -+ 捕获模式：可通过“g_capmAConfig.capMode”进行配置，默认为连续捕获CAPM_CONTINUECAP - -+ 预分频：对CAPM输入信号进行预分频，可通过”g_capmAConfig.preScale“进行配置，默认为不分频 - -+ 捕获寄存器配置：可通过”g_capmAConfig.capRegConfig“进行配置，默认为上升沿捕获，每次复位 - -**【示例效果】** -+ 在IOCMG_15、IOCMG_18和IOCMG_19输入HALL传感器的输入信号。在串口打印的数据中的每一位表示当前时刻的对应的HALL传感器的电平状态。 - -**【注意事项】** -+ 需要转动电机才能进行CAPM捕获霍尔传感器信号 diff --git a/application/drivers_sample/cfd/sample_cfd_check_error/readme.rd b/application/drivers_sample/cfd/sample_cfd_check_error/readme.rd deleted file mode 100644 index 80ba155..0000000 --- a/application/drivers_sample/cfd/sample_cfd_check_error/readme.rd +++ /dev/null @@ -1,21 +0,0 @@ -# 验证CFD的时钟失效保护功能 -## 关键字: CFD, 时钟失效, 中断 - -**【功能描述】** -+ 监测目标时钟（HOSC或TCXO）是否失效，每隔5s分别注入时钟失效中断和解除时钟失效中断，用于验证CFD的时钟失效保护功能。 - -**【示例配置】** -+ CFD参考时钟源：参考时钟源固定为内部低速时钟CLK_LOSC，默认为不分频。 - -+ CFD目标时钟源：目标时钟源固定为HOSC或TCXO，分频比固定为2048。 - -+ CFD上限值： 上限值可通过“g_cfd.upperBound”配置。 - -+ CFD中断类型：中断类型可通过“g_cfd.interruptType”进行配置，默认为时钟失效中断。 - -**【示例效果】** -+ Debug串口首先每隔1s打印出监测目标时钟频率的CFDCNTLOCK锁存值，在注入时钟失效中断后每隔1s分别打印时钟失效回调函数中的log, 5s后解除时钟失效中断后再每隔1s打印CFDCNTLOCK锁存值，循环往复。 - -**【注意事项】** -+ 时钟失效中断触发硬件系统事件2会自动关闭APT并将主时钟切换为LOSC进行保护，用户可在中断服务函数中进行时钟恢复或者复位等安全操作； -+ 每次中断触发后自行判断计数值是否在门限内，非门限内则判定为异常时钟；该模块目标时钟分配比固化为2048分频，参考时钟不分频。 diff --git a/application/drivers_sample/cmm/sample_cmm_check_error/readme.rd b/application/drivers_sample/cmm/sample_cmm_check_error/readme.rd deleted file mode 100644 index 1d4198c..0000000 --- a/application/drivers_sample/cmm/sample_cmm_check_error/readme.rd +++ /dev/null @@ -1,20 +0,0 @@ -# 验证CMM时钟频率监测功能，同时验证CMM频率错误中断功能 -## 关键字: CMM, 时钟频率监测, 中断 - -**【功能描述】** -+ 用于检查目标时钟（LOSC/HOSC/TCXO/HS_CLK/LS_CLK）频率是否发生错误。每隔5s分别注入频率错误中断，用于验证CMM的频率中断处理函数。 - -**【示例配置】** -+ CMM参考时钟源：参考时钟源可通过“g_cmm.refClockSource”配置，默认为内部低速时钟CMM_REF_CLK_LOSC，分频比可通过“g_cmm.refFreqDivision”配置，默认为不分频CMM_REF_FREQ_DIV_0。 - -+ CMM目标时钟源：目标时钟源可通过“g_cmm.targetClockSource”配置，默认为内部低速时钟CMM_TARGET_CLK_LOSC，分频比可通过“g_cmm.targetFreqDivision”配置，默认为8192分频CMM_TARGET_FREQ_DIV_8192。 - -+ CMM上下限值： 上限值可通过“g_cmm.upperBound”配置，下限值可通过“g_cmm.lowerBound”配置。 - -+ CMM中断类型：中断类型可通过“g_cmm.interruptType”进行配置，默认为频率错误中断。 - -**【示例效果】** -+ Debug串口首先每隔1s打印出监测目标时钟频率的CMCNTLOCK锁存值，在注入频率错误中断后每隔1s分别打印频率错误回调函数中的log, 5s后解除频率错误中断后再每隔1s打印CMCNTLOCK锁存值，循环往复。 - -**【注意事项】** -+ 上下限值的范围可反应系统对目标时钟偏差的冗余度，可自行设计门限值和时钟分频比，门限值具体计算方法请参照芯片技术指南。 diff --git a/application/drivers_sample/iocmg/iolist_sample/readme.rd b/application/drivers_sample/iocmg/iolist_sample/readme.rd deleted file mode 100644 index 1793dd8..0000000 --- a/application/drivers_sample/iocmg/iolist_sample/readme.rd +++ /dev/null @@ -1,14 +0,0 @@ -# 使用HAL_IOCMG_Init API完成IO端口的相关功能配置 -## 关键字: IOCMG，iomap映射 - -**【功能描述】** -+ 通过HAL_IOCMG_Init API初始化iolist配置表格。 - -**【示例配置】** -+ g_ioListTable数组的初始化：该数组中的每个元素值表示一个IO端口的结构体IOCMG_Handle，而每个结构体表示某一个IO端口的所有配置信息（包括端口映射地址值pinTypedef，上下拉pullMode，施密特状态schmidtMode、管脚驱动能力levelShiftRate、电平转换速率driveRate） - -**【示例效果】** -+ Debug串口打印配置前的iolist数据，然后打印初始化后的寄存器中的数据，判断配置的数据和预期的是否相同，同时调用HAL_IOCMG_SetXXX API接口和HAL_IOCMG_GetXXX API分别配置和获取IOCMG寄存器的数据是否符合预期。 - -**【注意事项】** -+ PIN NUMBER和function mode均已编码定义，在iomap中，若配置数据与定义的数据不符则配置失败返回对应的错误，已定义的pin number和function mode可在iomap.h中直接调用。 \ No newline at end of file diff --git a/application/drivers_sample/qdm/sample_qdm_m/readme.rd b/application/drivers_sample/qdm/sample_qdm_m/readme.rd deleted file mode 100644 index b961490..0000000 --- a/application/drivers_sample/qdm/sample_qdm_m/readme.rd +++ /dev/null @@ -1,24 +0,0 @@ -# M法测量电机实时转速 -## 关键字: QDM, 电机，M法 - -**【功能描述】** -+ 通过获取电机编码器QDM的相关信息，使用M法进行计算电机实时转速 - -**【示例配置】** -+ QDM控制配置：输入模式inputMode，极性选择polarity，正交分解resolution、触发锁存模式trgLockMode，A/B相互换swap，PTU单元周期模式ptuMode - -+ 输入滤波配置：可通过“g_qdmHandle.inputFilter”对A/B/Z相滤波等级进行配置，默认均为0 - -+ PPU电机位置处理单元配置：位置计数模式pcntMode，位置计数复位模式pcntRstMode，位置计数初始化模式pcntIdxInitMode，位置计数器最大值posMax，位置计数初始化值posInit - -+ TSU时间戳单元配置：TSU计数器最大值qcMax，TSU预分频tsuPrescaler - -+ PTU周期触发单元配置：PTU周期大小period - -+ 其他配置：捕获事件预分频cevtPrescaler，编码器线数motorLineNum，中断使能interruptEn，子模块使能subModeEn - -**【示例效果】** -+ 串口打印出电机实时的转速值大小 - -**【注意事项】** -+ 需要转动电机才能进行测量实时转速 diff --git a/application/drivers_sample/qdm/sample_qdm_mt/readme.rd b/application/drivers_sample/qdm/sample_qdm_mt/readme.rd deleted file mode 100644 index 5bfb9f9..0000000 --- a/application/drivers_sample/qdm/sample_qdm_mt/readme.rd +++ /dev/null @@ -1,24 +0,0 @@ -# MT法测量电机实时转速 -## 关键字: QDM, 电机，MT法 - -**【功能描述】** -+ 通过获取电机编码器QDM的相关信息，使用MT法进行计算电机实时转速 - -**【示例配置】** -+ QDM控制配置：输入模式inputMode，极性选择polarity，正交分解resolution、触发锁存模式trgLockMode，A/B相互换swap，PTU单元周期模式ptuMode - -+ 输入滤波配置：可通过“g_qdmHandle.inputFilter”对A/B/Z相滤波等级进行配置，默认均为0 - -+ PPU电机位置处理单元配置：位置计数模式pcntMode，位置计数复位模式pcntRstMode，位置计数初始化模式pcntIdxInitMode，位置计数器最大值posMax，位置计数初始化值posInit - -+ TSU时间戳单元配置：TSU计数器最大值qcMax，TSU预分频tsuPrescaler - -+ PTU周期触发单元配置：PTU周期大小period - -+ 其他配置：捕获事件预分频cevtPrescaler，编码器线数motorLineNum，中断使能interruptEn，子模块使能subModeEn - -**【示例效果】** -+ 串口打印出电机实时的转速值大小 - -**【注意事项】** -+ 需要转动电机才能进行测量实时转速 diff --git a/application/middleware_sample/mcs_65demo/common/inc/mcs_carrier_process.h b/application/middleware_sample/mcs_65demo/common/inc/mcs_carrier_process.h deleted file mode 100644 index 4f4b9f9..0000000 --- a/application/middleware_sample/mcs_65demo/common/inc/mcs_carrier_process.h +++ /dev/null @@ -1,96 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_carrier_process.h - * @author MCU Algorithm Team - * @brief This file provides functions declaration for carrier interrupt processing function. - */ -#ifndef McuMagicTag_MCS_CARRIER_PROCESS_H -#define McuMagicTag_MCS_CARRIER_PROCESS_H - -#include "mcs_sys_status.h" -#include "mcs_mtr_param.h" -#include "mcs_fsm.h" -#include "mcs_svpwm.h" -#include "mcs_curr_ctrl.h" -#include "mcs_if_ctrl.h" -#include "mcs_ramp_mgmt.h" -#include "mcs_spd_ctrl.h" -#include "mcs_fosmo.h" -#include "mcs_pll.h" -#include "mcs_startup.h" -#include "mcs_r1_svpwm.h" - -typedef void (*MCS_ReadCurrUvwCb)(UvwAxis *CurrUvw); -typedef void (*MCS_SetPwmDutyCb)(UvwAxis *dutyUvwLeft, UvwAxis *dutyUvwRight); -typedef void (*MCS_SetADCTriggerTimeCb)(unsigned short cntCmpSOCA, unsigned short cntCmpSOCB); - -/** - * @brief Sampling mode. - */ -typedef enum { - THREE_RESISTORS = 0, - SINGLE_RESISTOR = 1 -} SampleMode; - -/** - * @brief Motor control data structure - */ -typedef struct { - float spdCmdHz; /**< External input speed command value */ - short axisAngle; /**< Angle of the synchronous coordinate system, used for coordinate transformation */ - float spdRefHz; /**< Command value after speed ramp management */ - float currCtrlPeriod; /**< current loop control period */ - unsigned short aptMaxcntCmp; /**< Apt Maximum Comparison Count */ - - unsigned short sysTickCnt; /**< System Timer Tick Count */ - unsigned short capChargeTickNum; /**< Bootstrap Capacitor Charge Tick Count */ - volatile unsigned int msTickCnt; /**< Millisecond-level counter, which can be used in 1-ms and 5-ms tasks. */ - unsigned short msTickNum; /**< Number of ticks corresponding to 1 ms */ - - SysStatusReg statusReg; /**< System status */ - volatile FsmState stateMachine; /**< Motor Control State Machine */ - - SampleMode sampleMode; /**< sample mode */ - MtrParamHandle mtrParam; /**< Motor parameters */ - FoSmoHandle smo; /**< SMO observer handle */ - IfHandle ifCtrl; /**< I/F control handle */ - SvpwmHandle sv; /**< SVPWM Handle */ - R1SvpwmHandle r1Sv; /**< Single-resistance phase-shifted SVPWM handld */ - RmgHandle spdRmg; /**< Ramp management struct for the speed controller input reference */ - SpdCtrlHandle spdCtrl; /**< Speed loop Control Handle */ - CurrCtrlHandle currCtrl; /**< Current loop control handle */ - StartupHandle startup; /**< Startup Switch Handle */ - - DqAxis currRefDq; /**< Command value of the dq axis current */ - UvwAxis currUvw; /**< Three-phase current sampling value */ - AlbeAxis currAlbe; /**< αβ-axis current feedback value */ - DqAxis currDq; /**< Current feedback value of the dq axis */ - DqAxis vdq; /**< Current loop output dq voltage */ - AlbeAxis vab; /**< Current loop output voltage αβ */ - UvwAxis dutyUvw; /**< UVW three-phase duty cycle */ - UvwAxis dutyUvwLeft; /**< Single Resistor UVW Three-Phase Left Duty Cycle */ - UvwAxis dutyUvwRight; /**< Single Resistor UVW Three-Phase Right Duty Cycle*/ - - MCS_ReadCurrUvwCb readCurrUvwCb; /**< Read current callback function */ - MCS_SetPwmDutyCb setPwmDutyCb; /**< Set the duty cycle callback function. */ - MCS_SetADCTriggerTimeCb setADCTriggerTimeCb; /**< Sets the ADC trigger point callback function. */ -} MtrCtrlHandle; - -void MCS_CarrierProcess(MtrCtrlHandle *mtrCtrl); - -#endif \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/common/inc/mcs_config_motor.h b/application/middleware_sample/mcs_65demo/common/inc/mcs_config_motor.h deleted file mode 100644 index a3de7f9..0000000 --- a/application/middleware_sample/mcs_65demo/common/inc/mcs_config_motor.h +++ /dev/null @@ -1,55 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_motor.h - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#ifndef McuMagicTag_MCS_CONFIG_MOTOR_H -#define McuMagicTag_MCS_CONFIG_MOTOR_H - -#include "mcs_mtr_param.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -typedef struct { - /* electromechanical parameters */ - unsigned int mtrNp; /**< numbers of pole pairs */ - float mtrRs; /**< resistor of stator */ - float mtrLd; /**< inductance of D-axis */ - float mtrLq; /**< inductance of Q-axis */ - float mtrPsif; /**< permanent magnet flux */ - float mtrJ; /**< rotor inertia */ - float maxElecSpd; /**< max elec speed */ - float maxCurr; /**< max current */ - /* Encoder parameters */ - unsigned int mtrPPMR; /**< pulse per mechanical round */ - unsigned int zShift; /**< pulse Z shift */ -} MotorConfig; - -typedef struct { - float currPiKp; /**< current loop kp */ - float currPiKi; /**< current loop ki */ - float currPiLimitPu; /**< current loop limit per unit value */ - float spdPiKp; /**< speed loop kp */ - float spdPiKi; /**< speed loop ki */ - float spdPiLimit; /**< speed loop limit */ -} PiCtrlParam; - -void MtrParamInit(MtrParamHandle *handle, const MotorConfig *motorTable); - -#endif diff --git a/application/middleware_sample/mcs_65demo/common/inc/mcs_sys_status.h b/application/middleware_sample/mcs_65demo/common/inc/mcs_sys_status.h deleted file mode 100644 index 5503700..0000000 --- a/application/middleware_sample/mcs_65demo/common/inc/mcs_sys_status.h +++ /dev/null @@ -1,188 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_sys_status.h - * @author MCU Algorithm Team - * @brief This file provides functions declaration of system status. - */ - -/* Define to prevent recursive inclusion ------------------------------------------------------- */ -#ifndef McuMagicTag_MCS_SYS_STATUS_H -#define McuMagicTag_MCS_SYS_STATUS_H - -/* Includes ------------------------------------------------------------------------------------ */ -#include "typedefs.h" -#include "mcs_assert.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -/** - * @brief System status define - */ -typedef union { - unsigned short all; - struct { - unsigned short cmdStart : 1; /**< Indicates that a start system command has been received. */ - unsigned short cmdStop : 1; /**< Indicates that a stop system command has been received. */ - unsigned short isRunning : 1; /**< Indicates that the system is running (enable signal) */ - unsigned short sysError : 1; /**< Indicates that the system reports an error. */ - unsigned short poweron : 1; /**< Indicates that the power-on initialization phase is complete. */ - unsigned short capcharge : 1; /**< Indicates that the bootstrap capacitor charging phase is complete. */ - unsigned short adczero : 1; /**< The current sampling point is reset to zero after power-on. */ - } Bit; -} SysStatusReg; - -/** - * @brief Get status of Bit cmdStart. - * @param sysStatus System status register handle. - * @retval Status of Bit cmdStart. - */ -static inline bool SysGetCmdStart(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.cmdStart == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit cmdStart. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStartSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStart = 1; -} - -/** - * @brief Clear Bit cmdStart. - * @param handle System status register handle. - * @retval None. - */ -static inline void SysCmdStartClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStart = 0; -} - -/** - * @brief Get status of Bit cmdStop. - * @param sysStatus System status register handle. - * @retval Status of Bit cmdStart. - */ -static inline bool SysGetCmdStop(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.cmdStop == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit cmdStop. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStopSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStop = 1; -} - -/** - * @brief Clear Bit cmdStop. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStopClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStop = 0; -} - -/** - * @brief Get status of Bit isRunning. - * @param sysStatus System status register handle. - * @retval Status of Bit isRunning. - */ -static inline bool SysIsRunning(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.isRunning == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit isRuning. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysRunningSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.isRunning = 1; -} - -/** - * @brief Clear Bit isRuning. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysRunningClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.isRunning = 0; -} - -/** - * @brief Get status of Bit sysError. - * @param sysStatus System status register handle. - * @retval Status of Bit sysError. - */ -static inline bool SysIsError(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.sysError == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit sysError. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysErrorSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.sysError = 1; -} - -/** - * @brief Clear Bit sysError. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysErrorClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.sysError = 0; -} - -#endif diff --git a/application/middleware_sample/mcs_65demo/common/src/mcs_carrier_process.c b/application/middleware_sample/mcs_65demo/common/src/mcs_carrier_process.c deleted file mode 100644 index be8184a..0000000 --- a/application/middleware_sample/mcs_65demo/common/src/mcs_carrier_process.c +++ /dev/null @@ -1,134 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_carrier_process.c - * @author MCU Algorithm Team - * @brief This file provides carrier interrupt application for motor control. - */ - -#include "mcs_carrier_process.h" -#include "mcs_math.h" -#include "typedefs.h" -#include "mcs_assert.h" - -/** - * @brief Synchronous rotation coordinate system angle. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_SyncCoorAngle(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - /* Synchronous rotation coordinate system angle. */ - switch (mtrCtrl->stateMachine) { - case FSM_STARTUP: - /* Current ramp angle is 0. */ - if (mtrCtrl->startup.stage == STARTUP_STAGE_CURR) { - mtrCtrl->axisAngle = 0; - } else if (mtrCtrl->startup.stage == STARTUP_STAGE_SPD) { /* IF control phase angle self-addition. */ - mtrCtrl->axisAngle = IF_CurrAngleCalc(&mtrCtrl->ifCtrl, mtrCtrl->spdRefHz); - } else if (mtrCtrl->startup.stage == STARTUP_STAGE_SWITCH) { /* Switch Angle */ - mtrCtrl->axisAngle = mtrCtrl->smo.elecAngle; - } - break; - - case FSM_RUN: - mtrCtrl->axisAngle = mtrCtrl->smo.elecAngle; - break; - - default: - mtrCtrl->axisAngle = 0; - break; - } -} - -/** - * @brief PWM waveform setting and sampling point setting for a single resistors and three resistors. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_PwmAdcSet(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - SampleMode sampleMode = mtrCtrl->sampleMode; - /* Set the duty cycle according to the sampling mode. */ - if (sampleMode == THREE_RESISTORS) { - SVPWM_Exec(&mtrCtrl->sv, &mtrCtrl->vab, &mtrCtrl->dutyUvw); - mtrCtrl->setPwmDutyCb(&mtrCtrl->dutyUvw, &mtrCtrl->dutyUvw); - } else if (sampleMode == SINGLE_RESISTOR) { - R1SVPWM_Exec(&mtrCtrl->r1Sv, &mtrCtrl->vab, &mtrCtrl->dutyUvwLeft, &mtrCtrl->dutyUvwRight); - mtrCtrl->setPwmDutyCb(&mtrCtrl->dutyUvwLeft, &mtrCtrl->dutyUvwRight); - /* The ADC sampling point position needs to be set based on the phase shift of a single resistors. */ - mtrCtrl->setADCTriggerTimeCb(mtrCtrl->r1Sv.samplePoint[0] * mtrCtrl->aptMaxcntCmp, \ - mtrCtrl->r1Sv.samplePoint[1] * mtrCtrl->aptMaxcntCmp); - } -} - -/** - * @brief Carrier interrupt function. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -void MCS_CarrierProcess(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - UvwAxis *currUvw = &mtrCtrl->currUvw; - AlbeAxis *currAlbe = &mtrCtrl->currAlbe; - AlbeAxis *vab = &mtrCtrl->vab; - SampleMode sampleMode = mtrCtrl->sampleMode; - - if (sampleMode > SINGLE_RESISTOR || mtrCtrl->setADCTriggerTimeCb == NULL) { - return; - } - - if (mtrCtrl->setPwmDutyCb == NULL || mtrCtrl->readCurrUvwCb == NULL) { - return; - } - /* Read the three-phase current value. */ - mtrCtrl->readCurrUvwCb(currUvw); - /* Clark Calc */ - ClarkeCalc(currUvw, currAlbe); - - /* Smo observation */ - FOSMO_Exec(&mtrCtrl->smo, currAlbe, vab, mtrCtrl->spdRefHz); - /* Synchronization angle */ - MCS_SyncCoorAngle(mtrCtrl); - - /* Park transformation */ - ParkCalc(currAlbe, mtrCtrl->axisAngle, &mtrCtrl->currDq); - - /* statemachine */ - switch (mtrCtrl->stateMachine) { - case FSM_STARTUP: - case FSM_RUN: - CURRCTRL_Exec(&mtrCtrl->currCtrl, &mtrCtrl->vdq); - InvParkCalc(&mtrCtrl->vdq, mtrCtrl->axisAngle, vab); - MCS_PwmAdcSet(mtrCtrl); - break; - - case FSM_CAP_CHARGE: - case FSM_CLEAR: - case FSM_IDLE: - break; - - default: - vab->alpha = 0.0f; - vab->beta = 0.0f; - MCS_PwmAdcSet(mtrCtrl); - break; - } -} \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/common/src/mcs_config_motor.c b/application/middleware_sample/mcs_65demo/common/src/mcs_config_motor.c deleted file mode 100644 index 504968a..0000000 --- a/application/middleware_sample/mcs_65demo/common/src/mcs_config_motor.c +++ /dev/null @@ -1,48 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_motor.c - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#include "mcs_config_motor.h" -#include "mcs_assert.h" - -/** - * @brief Initialzer of motor parameters. - * @param mtrParamHandle Motor parameters handle. - * @param motorTable Motor parameters table handle. - * @retval None. - */ -void MtrParamInit(MtrParamHandle *mtrParamHandle, const MotorConfig *motorTable) -{ - MCS_ASSERT_PARAM(mtrParamHandle != NULL); - MCS_ASSERT_PARAM(motorTable != NULL); - /* Initialzer of motor parameters */ - mtrParamHandle->mtrRs = motorTable->mtrRs; /* resistor of stator */ - mtrParamHandle->mtrLd = motorTable->mtrLd; /* inductance of D-axis */ - mtrParamHandle->mtrLq = motorTable->mtrLq; /* inductance of Q-axis */ - /* Average inductance, mtrLs = (mtrLd + mtrLq) * 0.5f */ - mtrParamHandle->mtrLs = (motorTable->mtrLd + motorTable->mtrLq) * 0.5f; - mtrParamHandle->mtrPsif= motorTable->mtrPsif; /* permanent magnet flux */ - mtrParamHandle->mtrNp = motorTable->mtrNp; /* numbers of pole pairs */ - mtrParamHandle->mtrJ = motorTable->mtrJ; /* rotor inertia */ - mtrParamHandle->maxElecSpd = motorTable->maxElecSpd; /* max elec speed */ - mtrParamHandle->maxCurr = motorTable->maxCurr; /* max current */ - mtrParamHandle->maxTrq = 0.0f; -} \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/inc/mcs_65demo.h b/application/middleware_sample/mcs_65demo/inc/mcs_65demo.h deleted file mode 100644 index bd63331..0000000 --- a/application/middleware_sample/mcs_65demo/inc/mcs_65demo.h +++ /dev/null @@ -1,54 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_65demo.h - * @author MCU Algorithm Team - * @brief This file provides motor sample functions declaration for AD105HDMA board. - */ -#ifndef McuMagicTag_MCS_65DEMO_H -#define McuMagicTag_MCS_65DEMO_H - -#include "mcs_65demo_system_init.h" -#include "main.h" - -/** - * @brief phase sequence. - */ -typedef enum { - PHASE_U = 0, - PHASE_V, - PHASE_W, - PHASE_MAX_NUM -} MCS_PhaseEnum; - -/** - * @brief Motor number enum - */ -typedef enum { - MOTOR_NO0, - MOTOR_NO1, - MOTOR_MAX_NUM -} MOTOR_ENUM; - -int Main65Demo(void); - -void Timer1ITCallBack(void *param); -void APT3EventCallback(void *para); -void APT0EventCallback(void *para); -void APT3TimerCallback(void *para); - -#endif \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/inc/mcs_65demo_system_init.h b/application/middleware_sample/mcs_65demo/inc/mcs_65demo_system_init.h deleted file mode 100644 index 95a32ea..0000000 --- a/application/middleware_sample/mcs_65demo/inc/mcs_65demo_system_init.h +++ /dev/null @@ -1,62 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_65demo_system_init.h - * @author MCU Algorithm Team - * @brief This file provides motor sample param declaration for AD105HDMA board. - */ -#ifndef McuMagicTag_MCS_65DEMO_SYSTEM_INIT_H -#define McuMagicTag_MCS_65DEMO_SYSTEM_INIT_H - -#include "gpio.h" -#include "apt.h" -#include "apt_ip.h" -#include "adc.h" -#include "pga.h" -#include "timer.h" - -extern ADC_Handle g_adc0; -extern ADC_Handle g_adc2; -extern APT_Handle g_apt0; -extern APT_OutCtrlProtect g_protectApt0; -extern APT_Handle g_apt1; -extern APT_OutCtrlProtect g_protectApt1; -extern APT_Handle g_apt2; -extern APT_OutCtrlProtect g_protectApt2; -extern APT_Handle g_apt3; -extern APT_OutCtrlProtect g_protectApt3; -extern APT_Handle g_apt4; -extern APT_OutCtrlProtect g_protectApt4; -extern APT_Handle g_apt5; -extern APT_OutCtrlProtect g_protectApt5; -extern GPIO_Handle g_gpio0; -extern GPIO_Handle g_gpio2; -extern TIMER_Handle g_timer1; - -#define APT_SYNC_IN_SRC APT_SYNCIN_SRC_APT3_SYNCOUT - -#define APT_U_CP APT3_BASE /* Base address of U phase APT module */ -#define APT_V_CP APT4_BASE /* Base address of V phase APT module */ -#define APT_W_CP APT5_BASE /* Base address of W phase APT module */ - -#define APT_U_FAN APT0_BASE /* Base address of U phase APT module */ -#define APT_V_FAN APT1_BASE /* Base address of V phase APT module */ -#define APT_W_FAN APT2_BASE /* Base address of W phase APT module */ - -void SystemInit(void); - -#endif /* McuMagicTag_MCS_65DEMO_SYSTEM_INIT_H */ diff --git a/application/middleware_sample/mcs_65demo/inc/mcs_config_65demo.h b/application/middleware_sample/mcs_65demo/inc/mcs_config_65demo.h deleted file mode 100644 index 1a8fbe5..0000000 --- a/application/middleware_sample/mcs_65demo/inc/mcs_config_65demo.h +++ /dev/null @@ -1,77 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_65demo.h - * @author MCU Algorithm Team - * @brief This file provides config macros for 65demo app. - */ -#ifndef McuMagicTag_MCS_CONFIG_65DEMO_H -#define McuMagicTag_MCS_CONFIG_65DEMO_H - -#include "debug.h" -#include "typedefs.h" - -#define SYSTICK_PERIOD_US 500u /* systick period */ - -#define INV_CAP_CHARGE_MS 3u -#define INV_VOLTAGE_BUS 24.0f /* Bus voltage, V */ - -#define CTRL_CURR_PERIOD 0.0001f /* carrier ISR period */ -#define CTRL_SYSTICK_PERIOD 0.0005f /* systick control period */ - -/** Duty of sample window, the real time is 0.06*50us = 3us. */ -#define SAMPLE_WINDOW_DUTY 0.06f - -/** Duty of sample point shift as flip point, the real time is 0.008*50us = 0.4us. */ -#define SAMPLE_POINT_SHIFT 0.008f - -/* SMO */ -#define SPEED_FILTER_CUTOFF_FREQUENCY 40.0f -#define FOSMO_GAIN 10.0f -#define FILTER_ANGLE_COMPENSATION 4826 - -/* User Command */ -#define CTRL_IF_CURR_AMP_A 1.0f /* IF control current amplitude */ -/* 0.008055 Sampling resistance20 Ohm Sampling resistance 100mOhm 0.001611f */ -#define ADC_CURR_COFFI_CP 0.001611f -#define USER_TARGET_SPD_HZ (100.0f) /* Parentheses are used to enter negative instructions */ -#define USER_SWITCH_SPDBEGIN_HZ 70.0f /* Start of handover interval */ -#define USER_SWITCH_SPDEND_HZ 73.0f /* End of handover period */ - -#define USER_SPD_SLOPE 15.0f /* slope of velocity change */ -#define USER_CURR_SLOPE (CTRL_IF_CURR_AMP_A * 0.5f) /* Current change slope */ - -/* FAN ----------------------------------------------------------------------------------------- */ -#define CTRL_IF_CURR_AMP_A_FAN 1.0f /* IF control current amplitude */ - -/* 0.008055 Sampling resistance20 Ohm Sampling resistance 100mOhm 0.001611f */ -#define ADC_CURR_COFFI_FAN 0.001611f - -#define USER_TARGET_SPD_HZ_FAN (100.0f) /* Parentheses are used to enter negative instructions */ -#define USER_SWITCH_SPDBEGIN_HZ_FAN 70.0f /* Start of handover interval, Positive number only */ -#define USER_SWITCH_SPDEND_HZ_FAN 73.0f /* End of handover period, Positive number only */ - -#define USER_SPD_SLOPE_FAN 15.0f /* slope of velocity change */ -#define USER_CURR_SLOPE_FAN CTRL_IF_CURR_AMP_A_FAN /* Current change slope */ - -/* Service Definition */ -#define PTC_RELAY_DELAY 2 -#define MOTOR_START_DELAY 10 -#define IPM_90DEGRESS_V 2.9f /* IPM voltage at 90°C */ -#define IPM_VOLT_COEFFI 0.0008056f /* 3.3 / 4096 */ - -#endif \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/readme.txt b/application/middleware_sample/mcs_65demo/readme.txt deleted file mode 100644 index 00987d1..0000000 --- a/application/middleware_sample/mcs_65demo/readme.txt +++ /dev/null @@ -1,5 +0,0 @@ -ʾơmcs_65demo -˵AD105HDMA VER.A˫FOCӦ -Ҫ󡿣õԴΪʾõ24Vѹ˫ѡڽ42JSF630AS-1000 -IDE÷chipConfigеsampleĿѡMotorcontrolsystemʾȻɴ뼴 -עAD105HDMA VER.A屾Ϊѹ壬Ҫij24Vѹ \ No newline at end of file diff --git a/application/middleware_sample/mcs_65demo/src/mcs_65demo.c b/application/middleware_sample/mcs_65demo/src/mcs_65demo.c deleted file mode 100644 index 951922a..0000000 --- a/application/middleware_sample/mcs_65demo/src/mcs_65demo.c +++ /dev/null @@ -1,894 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_65demo.c - * @author MCU Algorithm Team - * @brief This file provides motor application for AD105HDMA board. - * @details Dual FOC application based on the AD105HDMA VER.A board - * 1) Both motor model is JMC 42JSF630AS-1000. - * 2) Select the Motorcontrolsystem example in the sample column of chipConfig and click Generate Code. - * 3) The AD105HDMA VER.A board is a high-voltage board, its power supply must be changed to 24V. - */ -#include "mcs_65demo.h" -#include "mcs_config_65demo.h" -#include "mcs_math_const.h" -#include "mcs_math.h" -#include "mcs_config_motor.h" -#include "mcs_carrier_process.h" - -#define MICROSECOND_NUM_PER_MILLISECOND 1000 -#define ANGLE_RANGE_ABS 65536 -#define ANGLE_360_F 65536.0f /* 0 - 65536 indicates 0 to 360. */ -#define APT_FULL_DUTY 1.0f - -/* Motor parameters. */ -static MotorConfig g_MotorParam[MOTOR_MAX_NUM] = { - {4, 0.5f, 0.000295f, 0.000295f, 0.0f, 0.0f, 200.0f, 4.0f, 4000, 410}, /* Wildfire 24V */ - {4, 0.5f, 0.000295f, 0.000295f, 0.0f, 0.0f, 200.0f, 4.0f, 4000, 410} /* Wildfire 24V */ -}; - -/* Motor PI param. */ -static PiCtrlParam g_motorPiParam[MOTOR_MAX_NUM] = { - /* currKp，ki, limitPu, spdKp, ki, limit */ - {0.7414f, 0.1256f, 1.0f, 0.0105f, 0.000003f, 1.0f}, /* Wildfire 24V */ - {0.7414f, 0.1256f, 1.0f, 0.0105f, 0.000003f, 1.0f} /* Wildfire 24V */ -}; - -static void *g_aptCp[PHASE_MAX_NUM] = {APT_U_CP, APT_V_CP, APT_W_CP}; -static void *g_aptFan[PHASE_MAX_NUM] = {APT_U_FAN, APT_V_FAN, APT_W_FAN}; - -/* Motor control handle for compressor */ -static MtrCtrlHandle g_mc; - -/* Motor control handle for fan */ -static MtrCtrlHandle g_fan; - -/** - * @brief Initialzer of system tick. - * @param mtrCtrl Motor control struct handle. - * @retval None. - */ -static void TimerTickInit(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - mtrCtrl->sysTickCnt = 0; - mtrCtrl->msTickNum = MICROSECOND_NUM_PER_MILLISECOND / SYSTICK_PERIOD_US; - mtrCtrl->capChargeTickNum = (INV_CAP_CHARGE_MS * MICROSECOND_NUM_PER_MILLISECOND / SYSTICK_PERIOD_US); -} - -/** - * @brief Initialzer of Current controller. - * @param currHandle Current control handle. - * @param mtrCtrl Motor control handle. - * @param piCtrlTable Dual loop control parameters. - * @retval None. - */ -static void CurrCtrlInit(CurrCtrlHandle *currHandle, MtrCtrlHandle *mtrCtrl, const PiCtrlParam *piCtrlTable) -{ - MCS_ASSERT_PARAM(currHandle != NULL); - MCS_ASSERT_PARAM(mtrCtrl != NULL); - MCS_ASSERT_PARAM(piCtrlTable != NULL); - currHandle->currRef = &mtrCtrl->currRefDq; - currHandle->currFdbk = &mtrCtrl->currDq; - /* Initialization current feedforward value */ - currHandle->currFf.d = 0.0f; - currHandle->currFf.q = 0.0f; - - PID_Reset(&currHandle->dAxisPi); /* clear d-axis PI param */ - - PID_Reset(&currHandle->qAxisPi); /* clear q-axis PI param */ - - currHandle->outLimit = 0.0f; - currHandle->mtrParam = &(mtrCtrl->mtrParam); - currHandle->ctrlPeriod = mtrCtrl->currCtrlPeriod; - - currHandle->dAxisPi.kp = piCtrlTable->currPiKp; - currHandle->dAxisPi.ki = piCtrlTable->currPiKi; - currHandle->qAxisPi.kp = piCtrlTable->currPiKp; - currHandle->qAxisPi.ki = piCtrlTable->currPiKi; - currHandle->outLimit = INV_VOLTAGE_BUS * ONE_DIV_SQRT3 * piCtrlTable->currPiLimitPu; /* output voltage limit */ - currHandle->dAxisPi.upperLimit = currHandle->outLimit; - currHandle->dAxisPi.lowerLimit = -currHandle->outLimit; - currHandle->qAxisPi.upperLimit = currHandle->outLimit; - currHandle->qAxisPi.lowerLimit = -currHandle->outLimit; -} - -/** - * @brief Initialzer of speed control struct handle. - * @param spdHandle Speed control struct handle. - * @param piCtrlTable PI controller parameter table. - * @retval None. - */ -static void SpdCtrlInit(SpdCtrlHandle *spdHandle, const PiCtrlParam *piCtrlTable) -{ - MCS_ASSERT_PARAM(spdHandle != NULL); - MCS_ASSERT_PARAM(piCtrlTable != NULL); - PID_Reset(&spdHandle->spdPi); /* reset speed loop PI */ - - spdHandle->trqLimit = 0.0f; - spdHandle->mtrParam = NULL; - spdHandle->ctrlPeriod = CTRL_SYSTICK_PERIOD; - /* Initialize the PI parameter of the speed loop. */ - spdHandle->spdPi.kp = piCtrlTable->spdPiKp; - spdHandle->spdPi.ki = piCtrlTable->spdPiKi; - spdHandle->trqLimit = piCtrlTable->spdPiLimit; - spdHandle->spdPi.upperLimit = spdHandle->trqLimit; - spdHandle->spdPi.lowerLimit = -spdHandle->trqLimit; -} - -/** - * @brief Initialzer of Pll struct handle. - * @param pllHandle pll struct handle. - * @retval None. - */ -static void PLL_Init(PllHandle *pllHandle) -{ - MCS_ASSERT_PARAM(pllHandle != NULL); - float we = 300.0f; /* PLL bandwidth (unit: Hz) */ - /* Reset PLL PID. */ - PID_Reset(&pllHandle->pi); - /* Initializing PLL Parameters. */ - pllHandle->ctrlPeriod = CTRL_CURR_PERIOD; - pllHandle->pi.kp = 1.414f * we; /* sqrt(2) * we */ - pllHandle->pi.ki = we * we * CTRL_CURR_PERIOD; - pllHandle->pi.upperLimit = 5000.0f; /* The upper limit value of the pid comp output. */ - pllHandle->pi.lowerLimit = -pllHandle->pi.upperLimit; - pllHandle->minAmp = 0.1f; /* Minimum value of the input value in case of the divergence of the PLL. */ - pllHandle->freq = 0.0f; - pllHandle->ratio = ANGLE_360_F * CTRL_CURR_PERIOD; - pllHandle->angle = 0; -} - -/** - * @brief Initialzer of Smo control struct handle. - * @param smoHandle Position SMO struct handle. - * @param mtrParam Motor parameter handle. - * @retval None. - */ -static void SmoInit(FoSmoHandle *smoHandle, MtrParamHandle *mtrParam) -{ - MCS_ASSERT_PARAM(smoHandle != NULL); - MCS_ASSERT_PARAM(mtrParam != NULL); - smoHandle->mtrParam = mtrParam; - smoHandle->ctrlPeriod = CTRL_CURR_PERIOD; - - smoHandle->a1 = 1.0f - (smoHandle->ctrlPeriod * smoHandle->mtrParam->mtrRs / smoHandle->mtrParam->mtrLd); - smoHandle->a2 = smoHandle->ctrlPeriod / smoHandle->mtrParam->mtrLd; - - smoHandle->kSmo = FOSMO_GAIN; - smoHandle->lambda = 2.0f; /* SMO coefficient of cut-off frequency is 2.0. */ - /* smo angle filcompAngle */ - smoHandle->filCompAngle = FILTER_ANGLE_COMPENSATION; - FOSMO_Clear(smoHandle); - - smoHandle->emfLpfMinFreq = 2.0f; /* The minimum cutoff frequency of the back EMF filter is 2.0. */ - PLL_Init(&smoHandle->pll); - - /* low pass filter cutoff frequency for speed estimation is 40Hz */ - FoLowPassFilterInit(&smoHandle->spdFilter, smoHandle->ctrlPeriod, SPEED_FILTER_CUTOFF_FREQUENCY); -} - -/** - * @brief Init motor control task. - * @retval None. - */ -static void TSK_InitCp(void) -{ - IfCtrlInit ifInitParam; - - g_mc.stateMachine = FSM_IDLE; - g_mc.spdCmdHz = USER_TARGET_SPD_HZ; - g_mc.aptMaxcntCmp = g_apt3.waveform.timerPeriod; - g_mc.sampleMode = SINGLE_RESISTOR; - - ifInitParam.currSlope = USER_CURR_SLOPE; - ifInitParam.anglePeriod = CTRL_CURR_PERIOD; - ifInitParam.targetAmp = CTRL_IF_CURR_AMP_A; - ifInitParam.stepAmpPeriod = CTRL_SYSTICK_PERIOD; - - IF_Init(&g_mc.ifCtrl, &ifInitParam); - - RMG_Init(&g_mc.spdRmg, CTRL_SYSTICK_PERIOD, USER_SPD_SLOPE); /* Init speed slope */ - - MtrParamInit(&g_mc.mtrParam, &g_MotorParam[MOTOR_NO0]); - - TimerTickInit(&g_mc); - - SVPWM_Init(&g_mc.sv, INV_VOLTAGE_BUS * ONE_DIV_SQRT3); - - R1SVPWM_Init(&g_mc.r1Sv, INV_VOLTAGE_BUS * ONE_DIV_SQRT3, SAMPLE_POINT_SHIFT, SAMPLE_WINDOW_DUTY); - - g_mc.currCtrlPeriod = CTRL_CURR_PERIOD; /* Init current controller */ - CurrCtrlInit(&g_mc.currCtrl, &g_mc, &g_motorPiParam[MOTOR_NO0]); - - SpdCtrlInit(&g_mc.spdCtrl, &g_motorPiParam[MOTOR_NO0]); /* Init speed controller */ - - SmoInit(&g_mc.smo, &g_mc.mtrParam); /* Init the SMO observer */ - - STARTUP_Init(&g_mc.startup, USER_SWITCH_SPDBEGIN_HZ, USER_SWITCH_SPDEND_HZ); -} - -/** - * @brief Init motor control task. - * @retval None. - */ -static void TSK_InitFan(void) -{ - IfCtrlInit ifInitParam; - - g_fan.stateMachine = FSM_IDLE; - g_fan.spdCmdHz = USER_TARGET_SPD_HZ_FAN; - g_fan.aptMaxcntCmp = g_apt0.waveform.timerPeriod; - g_fan.sampleMode = SINGLE_RESISTOR; - - ifInitParam.anglePeriod = CTRL_CURR_PERIOD; - ifInitParam.currSlope = USER_CURR_SLOPE_FAN; - ifInitParam.stepAmpPeriod = CTRL_SYSTICK_PERIOD; - ifInitParam.targetAmp = CTRL_IF_CURR_AMP_A_FAN; - IF_Init(&g_fan.ifCtrl, &ifInitParam); - - RMG_Init(&g_fan.spdRmg, CTRL_SYSTICK_PERIOD, USER_SPD_SLOPE_FAN); /* Init speed slope */ - - MtrParamInit(&g_fan.mtrParam, &g_MotorParam[MOTOR_NO1]); - - TimerTickInit(&g_fan); - - R1SVPWM_Init(&g_fan.r1Sv, INV_VOLTAGE_BUS * ONE_DIV_SQRT3, SAMPLE_POINT_SHIFT, SAMPLE_WINDOW_DUTY); - - g_fan.currCtrlPeriod = CTRL_CURR_PERIOD; /* Init current controller */ - - CurrCtrlInit(&g_fan.currCtrl, &g_fan, &g_motorPiParam[MOTOR_NO1]); - - SpdCtrlInit(&g_fan.spdCtrl, &g_motorPiParam[MOTOR_NO1]); /* Init speed controller */ - - SmoInit(&g_fan.smo, &g_fan.mtrParam); /* Init the SMO observer */ - - STARTUP_Init(&g_fan.startup, USER_SWITCH_SPDBEGIN_HZ_FAN, USER_SWITCH_SPDEND_HZ_FAN); -} - -/** - * @brief Clear historical values of all controller before start-up. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void ClearBeforeStartup(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - /* The initial angle is 0. */ - mtrCtrl->axisAngle = 0; - - mtrCtrl->spdRefHz = 0.0f; - /* The initial dq-axis reference current is 0. */ - mtrCtrl->currRefDq.d = 0.0f; - mtrCtrl->currRefDq.q = 0.0f; - - mtrCtrl->vdq.d = 0.0f; - mtrCtrl->vdq.q = 0.0f; - /* Clear Duty Cycle Value. The initial duty cycle is 0.5. */ - mtrCtrl->dutyUvwLeft.u = 0.5f; - mtrCtrl->dutyUvwLeft.v = 0.5f; - mtrCtrl->dutyUvwLeft.w = 0.5f; - mtrCtrl->dutyUvwRight.u = 0.5f; - mtrCtrl->dutyUvwRight.v = 0.5f; - mtrCtrl->dutyUvwRight.w = 0.5f; - - RMG_Clear(&mtrCtrl->spdRmg); /* Clear the history value of speed slope control */ - CURRCTRL_Clear(&mtrCtrl->currCtrl); - IF_Clear(&mtrCtrl->ifCtrl); - SPDCTRL_Clear(&mtrCtrl->spdCtrl); - FOSMO_Clear(&mtrCtrl->smo); - STARTUP_Clear(&mtrCtrl->startup); - R1SVPWM_Clear(&mtrCtrl->r1Sv); -} - -/** - * @brief To set the comparison value of the IGBT single-resistance ADC sampling trigger position. - * @param aptx The APT register struct handle. - * @param cntCmpA A Count compare reference of time-base counter. - * @param cntCmpB B Count compare reference of time-base counter. - * @param maxCntCmp Maximum Comparison Value - * @retval None. - */ -static void MCS_SetAdcCompareR1(APT_RegStruct *aptx, unsigned short cntCmpA, - unsigned short cntCmpB, unsigned short maxCntCmp) -{ - MCS_ASSERT_PARAM(aptx != NULL); - MCS_ASSERT_PARAM(maxCntCmp != 0); - unsigned short tmp; - /* Sets the A Count compare reference of time-base counter. */ - tmp = (cntCmpA >= maxCntCmp) ? (maxCntCmp - 1) : cntCmpA; - DCL_APT_SetCounterCompare(aptx, APT_COMPARE_REFERENCE_A, tmp); - /* Sets the B Count compare reference of time-base counter. */ - tmp = (cntCmpB >= maxCntCmp) ? (maxCntCmp - 1) : cntCmpB; - DCL_APT_SetCounterCompare(aptx, APT_COMPARE_REFERENCE_B, tmp); -} - -/** - * @brief Open the three-phase lower pipe. - * @param aptAddr Three-phase APT address pointer. - * @param maxDutyCnt Max duty count. - * @retval None. - */ -static void AptTurnOnLowSidePwm(void **aptAddr, unsigned int maxDutyCnt) -{ - MCS_ASSERT_PARAM(aptAddr != NULL); - MCS_ASSERT_PARAM(maxDutyCnt != 0); - unsigned int dutyCnt; - dutyCnt = maxDutyCnt * APT_FULL_DUTY; - /* Open the three-phase lower pipe */ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->TC_REFC.BIT.rg_cnt_refch = dutyCnt; - aptx->TC_REFD.BIT.rg_cnt_refdh = dutyCnt; - } -} - -/** - * @brief Enable three-phase pwm output. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void MotorPwmOutputEnable(void **aptAddr) -{ - MCS_ASSERT_PARAM(aptAddr != NULL); - /* Enable three-phase pwm output */ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->PG_OUT_FRC.BIT.rg_pga_frc_en = BASE_CFG_UNSET; - aptx->PG_OUT_FRC.BIT.rg_pgb_frc_en = BASE_CFG_UNSET; - } -} - -/** - * @brief Disable three-phase pwm output. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void MotorPwmOutputDisable(void **aptAddr) -{ - MCS_ASSERT_PARAM(aptAddr != NULL); - /* Disable three-phase pwm output. */ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->PG_OUT_FRC.BIT.rg_pga_frc_en = BASE_CFG_SET; - aptx->PG_OUT_FRC.BIT.rg_pgb_frc_en = BASE_CFG_SET; - DCL_APT_ForcePWMOutputLow(aptx); - } -} - -/** - * @brief Smo IF angle difference calculation. - * @param smoElecAngle Smo electrical angle. - * @param ifCtrlAngle IF control angle. - * @retval signed short angle difference. - */ -static signed short SmoIfAngleDiffCalc(signed short smoElecAngle, signed short ifCtrlAngle) -{ - /* Smo IF angle difference calculation */ - signed int tmpS32 = (signed int)(smoElecAngle - ifCtrlAngle); - if (tmpS32 > INT16_MAX) { - tmpS32 -= ANGLE_RANGE_ABS; - } - if (tmpS32 < INT16_MIN) { - tmpS32 += ANGLE_RANGE_ABS; - } - return (signed short)(tmpS32); -} - -/** - * @brief Construct a new mcs startupswitch object. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_StartupSwitch(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - StartupHandle *startup = &mtrCtrl->startup; - DqAxis *currRefDq = &mtrCtrl->currRefDq; - float iftargetAmp = mtrCtrl->ifCtrl.targetAmp; - float spdRefHz = mtrCtrl->spdRefHz; - - switch (startup->stage) { - case STARTUP_STAGE_CURR: - if (mtrCtrl->ifCtrl.curAmp >= iftargetAmp) { - /* Stage change */ - currRefDq->q = iftargetAmp; - startup->stage = STARTUP_STAGE_SPD; - } else { - /* current amplitude increase */ - currRefDq->q = IF_CurrAmpCalc(&mtrCtrl->ifCtrl); - spdRefHz = 0.0f; - } - break; - case STARTUP_STAGE_SPD: - /* current frequency increase */ - if (Abs(spdRefHz) >= startup->spdBegin) { - /* Stage change */ - startup->stage = STARTUP_STAGE_SWITCH; - TrigVal localTrigVal; - TrigCalc(&localTrigVal, SmoIfAngleDiffCalc(mtrCtrl->smo.elecAngle, mtrCtrl->ifCtrl.angle)); - currRefDq->d = iftargetAmp * localTrigVal.sin; - mtrCtrl->startup.initCurr = currRefDq->d; - currRefDq->q = iftargetAmp; - mtrCtrl->spdCtrl.spdPi.integral = iftargetAmp * localTrigVal.cos; - } else { - /* Speed rmg */ - spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - } - break; - - case STARTUP_STAGE_SWITCH: - /* Switch from IF to SMO */ - spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - currRefDq->d = STARTUP_CurrCal(&mtrCtrl->startup, spdRefHz); - SPDCTRL_Exec(&mtrCtrl->spdCtrl, spdRefHz, mtrCtrl->smo.spdEstHz, &mtrCtrl->currRefDq); - if (spdRefHz >= startup->spdEnd) { - /* Stage change */ - currRefDq->d = 0.0f; - mtrCtrl->stateMachine = FSM_RUN; - } - break; - - default: - break; - } - - mtrCtrl->spdRefHz = spdRefHz; -} - -/** - * @brief Pre-processing of motor status. - * @param statusReg System status. - * @param stateMachine Motor Control Status. - * @retval None. - */ -static void MotorStatePerProc(SysStatusReg *statusReg, volatile FsmState *stateMachine) -{ - MCS_ASSERT_PARAM(statusReg != NULL); - MCS_ASSERT_PARAM(stateMachine != NULL); - /* Get system status */ - if (SysIsError(statusReg)) { - *stateMachine = FSM_FAULT; - } - if (SysGetCmdStop(statusReg)) { - SysCmdStopClr(statusReg); - *stateMachine = FSM_STOP; - } -} - -/** - * @brief System timer tick task. - * @param mtrCtrl The motor control handle. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void TSK_SystickIsr(MtrCtrlHandle *mtrCtrl, void **aptAddr) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - MCS_ASSERT_PARAM(aptAddr != NULL); - SysStatusReg *statusReg = &mtrCtrl->statusReg; - volatile FsmState *stateMachine = &mtrCtrl->stateMachine; - mtrCtrl->msTickCnt++; - /* Pre-processing of motor status. */ - MotorStatePerProc(statusReg, stateMachine); - /* statemachine */ - switch (*stateMachine) { - case FSM_IDLE: - if (SysGetCmdStart(statusReg)) { - SysRunningSet(statusReg); - SysCmdStartClr(statusReg); - mtrCtrl->sysTickCnt = 0; - *stateMachine = FSM_CAP_CHARGE; - /* Preparation for charging the bootstrap capacitor. */ - AptTurnOnLowSidePwm(aptAddr, mtrCtrl->aptMaxcntCmp); - /* Out put pwm */ - MotorPwmOutputEnable(aptAddr); - } - break; - - case FSM_CAP_CHARGE: - /* Bootstrap Capacitor Charging Timing */ - mtrCtrl->sysTickCnt++; - if (mtrCtrl->sysTickCnt == mtrCtrl->capChargeTickNum) { - *stateMachine = FSM_CLEAR; - } - break; - - case FSM_CLEAR: - ClearBeforeStartup(mtrCtrl); - *stateMachine = FSM_STARTUP; - break; - - case FSM_STARTUP: - MCS_StartupSwitch(mtrCtrl); - break; - - case FSM_RUN: - /* Speed ramp control */ - mtrCtrl->spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - /* speed loop control */ - SPDCTRL_Exec(&mtrCtrl->spdCtrl, mtrCtrl->spdRefHz, mtrCtrl->smo.spdEstHz, &mtrCtrl->currRefDq); - break; - - case FSM_STOP: - MotorPwmOutputDisable(aptAddr); - SysRunningClr(statusReg); - *stateMachine = FSM_IDLE; - break; - - case FSM_FAULT: /* Overcurrent state */ - if (SysIsError(statusReg) == false) { - *stateMachine = FSM_IDLE; - } - break; - default: - break; - } -} - -/** - * @brief Read the ADC current sampling value of the compressor. - * @param CurrUvw Three-phase current. - * @retval None. - */ -static void ReadCurrUvwCp(UvwAxis *CurrUvw) -{ - MCS_ASSERT_PARAM(CurrUvw != NULL); - float iBusSocA, iBusSocB; - - /* Zero sampling value of hardware circuit is 2104.0f. */ - iBusSocA = (float)(HAL_ADC_GetConvResult(&g_adc2, ADC_SOC_NUM8) - 2104.0f) * ADC_CURR_COFFI_CP; - iBusSocB = (float)(HAL_ADC_GetConvResult(&g_adc2, ADC_SOC_NUM9) - 2104.0f) * ADC_CURR_COFFI_CP; - R1CurrReconstruct(g_mc.r1Sv.voltIndexLast, iBusSocA, iBusSocB, CurrUvw); -} - -/** - * @brief Setting the APT Output Duty Cycle. - * @param aptx APT register base address. - * @param leftDuty Left duty cycle. - * @param rightDuty Right duty cycle. - * @retval None. - */ -static void SetPwmDuty(APT_Handle *aptx, float leftDuty, float rightDuty) -{ - MCS_ASSERT_PARAM(aptx != NULL); - MCS_ASSERT_PARAM(leftDuty < 0); - MCS_ASSERT_PARAM(rightDuty < 0); - unsigned short maxPeriodCnt = aptx->waveform.timerPeriod; - unsigned short cntCmpLeftEdge = (unsigned short)(leftDuty * maxPeriodCnt); - unsigned short cntCmpRightEdge = (unsigned short)(rightDuty * maxPeriodCnt); - /* avoid overflowing */ - cntCmpLeftEdge = (cntCmpLeftEdge > maxPeriodCnt) ? maxPeriodCnt : cntCmpLeftEdge; - cntCmpRightEdge = (cntCmpRightEdge > maxPeriodCnt) ? maxPeriodCnt : cntCmpRightEdge; - HAL_APT_SetPWMDuty(aptx, cntCmpLeftEdge, cntCmpRightEdge); -} - -/** - * @brief Compressor Duty Cycle Setting. - * @param dutyUvwLeft Three-phase left duty cycle. - * @param dutyUvwRight Three-phase right duty cycle. - * @retval None. - */ -static void SetPwmDutyCp(UvwAxis *dutyUvwLeft, UvwAxis *dutyUvwRight) -{ - MCS_ASSERT_PARAM(dutyUvwLeft != NULL); - MCS_ASSERT_PARAM(dutyUvwRight != NULL); - /* Setting the Three-Phase Duty Cycle */ - SetPwmDuty(&g_apt3, dutyUvwLeft->u, dutyUvwRight->u); - SetPwmDuty(&g_apt4, dutyUvwLeft->v, dutyUvwRight->v); - SetPwmDuty(&g_apt5, dutyUvwLeft->w, dutyUvwRight->w); -} - -/** - * @brief To set the ADC sampling trigger comparison value. - * @param cntCmpSOCA Soca Compare Count Value. - * @param cntCmpSOCB Socb Compare Count Value. - * @retval None. - */ -static void SetADCTriggerTimeCp(unsigned short cntCmpSOCA, unsigned short cntCmpSOCB) -{ - MCS_SetAdcCompareR1(g_aptCp[PHASE_U], cntCmpSOCA, cntCmpSOCB, g_mc.aptMaxcntCmp); -} - -/** - * @brief Obtaining the Three-Phase Current of the Fan. - * @param CurrUvw Three-phase current data return pointer. - * @retval None. - */ -static void ReadCurrUvwFan(UvwAxis *CurrUvw) -{ - MCS_ASSERT_PARAM(CurrUvw != NULL); - float iBusSocA, iBusSocB; - - /* Zero sampling value of hardware circuit is 2076.0f. */ - iBusSocA = (float)(HAL_ADC_GetConvResult(&g_adc0, ADC_SOC_NUM0) - 2076.0f) * ADC_CURR_COFFI_FAN; - iBusSocB = (float)(HAL_ADC_GetConvResult(&g_adc0, ADC_SOC_NUM1) - 2076.0f) * ADC_CURR_COFFI_FAN; - R1CurrReconstruct(g_fan.r1Sv.voltIndexLast, iBusSocA, iBusSocB, CurrUvw); -} - -/** - * @brief Fan Duty Cycle Setting. - * @param dutyUvwLeft Three-phase left duty cycle. - * @param dutyUvwRight Three-phase right duty cycle. - * @retval None. - */ -static void SetPwmDutyFan(UvwAxis *dutyUvwLeft, UvwAxis *dutyUvwRight) -{ - MCS_ASSERT_PARAM(dutyUvwLeft != NULL); - MCS_ASSERT_PARAM(dutyUvwRight != NULL); - /* Setting the Three-Phase Duty Cycle */ - SetPwmDuty(&g_apt0, dutyUvwLeft->u, dutyUvwRight->u); - SetPwmDuty(&g_apt1, dutyUvwLeft->v, dutyUvwRight->v); - SetPwmDuty(&g_apt2, dutyUvwLeft->w, dutyUvwRight->w); -} - -/** - * @brief To set the ADC sampling trigger comparison value. - * @param cntCmpSOCA Soca Compare Count Value. - * @param cntCmpSOCB Socb Compare Count Value. - * @retval None. - */ -static void SetADCTriggerTimeFan(unsigned short cntCmpSOCA, unsigned short cntCmpSOCB) -{ - MCS_SetAdcCompareR1(g_aptFan[PHASE_U], cntCmpSOCA, cntCmpSOCB, g_fan.aptMaxcntCmp); -} - -/** - * @brief System timer ISR function. - * @param param The systick timer handle. - * @retval None. - */ -void Timer1ITCallBack(void *param) -{ - MCS_ASSERT_PARAM(param != NULL); - TIMER_Handle *timer = (TIMER_Handle *)param; - TIMER_ASSERT_PARAM(timer != NULL); - TIMER_ASSERT_PARAM(timer->baseAddress != NULL); - /* Clear timer interrupt. */ - HAL_TIMER_IrqClear(timer); - TSK_SystickIsr(&g_mc, g_aptCp); - TSK_SystickIsr(&g_fan, g_aptFan); -} - -/* global variables for variable trace */ -volatile float g_mc_u, g_mc_v, g_mc_w; -volatile float g_fan_u, g_fan_v, g_fan_w; -volatile int g_tracevalue_ref = 1; -/** - * @brief The carrier ISR wrapper function, entry for both compressor and fan. - * @param aptHandle The APT handle. - * @retval None. - */ -void APT3TimerCallback(void *aptHandle) -{ - MCS_ASSERT_PARAM(aptHandle != NULL); - /* the carrierprocess of comp */ - MCS_CarrierProcess(&g_mc); - g_mc_u = g_mc.currUvw.u; - g_mc_v = g_mc.currUvw.v; - g_mc_w = g_mc.currUvw.w; - - /* the carrierprocess of fan */ - MCS_CarrierProcess(&g_fan); - g_fan_u = g_fan.currUvw.u; - g_fan_v = g_fan.currUvw.v; - g_fan_w = g_fan.currUvw.w; - - int tmp = g_tracevalue_ref; - - BASE_FUNC_UNUSED(aptHandle); -} - -/** - * @brief Event interrupt callback function of APT module. - * @param para APT module handle. - * @retval None. - */ -void APT0EventCallback(void *para) -{ - MCS_ASSERT_PARAM(para != NULL); - APT_Handle *handle = (APT_Handle *)para; - /* The fan IPM overcurrent triggers and disables the three-phase PWM output. */ - MotorPwmOutputDisable(g_aptFan); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptFan[PHASE_U], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptFan[PHASE_V], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptFan[PHASE_W], APT_OC_COMBINE_EVENT_A1); - /* Status setting error */ - SysErrorSet(&g_fan.statusReg); - DBG_PRINTF("APT_EVT_IRQ_FAN\r\n"); - BASE_FUNC_UNUSED(handle); -} - -/** - * @brief Event interrupt callback function of APT module. - * @param para APT module handle. - * @retval None. - */ -void APT3EventCallback(void *para) -{ - MCS_ASSERT_PARAM(para != NULL); - APT_Handle *handle = (APT_Handle *)para; - /* The compressor IPM overcurrent triggers and disables the three-phase PWM output. */ - MotorPwmOutputDisable(g_aptCp); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_U], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_V], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_W], APT_OC_COMBINE_EVENT_A1); - /* Status setting error */ - SysErrorSet(&g_mc.statusReg); - DBG_PRINTF("APT_EVT_IRQ_CP\r\n"); - BASE_FUNC_UNUSED(handle); -} - -/** - * @brief Disable PWM output when IPM temperature too high. - * @retval None. - */ -static void OverTempProtProcess(void) -{ - float tempV; - - HAL_ADC_SoftTrigSample(&g_adc2, ADC_SOC_NUM7); - tempV = HAL_ADC_GetConvResult(&g_adc2, ADC_SOC_NUM7) * IPM_VOLT_COEFFI; - /* IPM voltage at 90°C */ - if (tempV >= IPM_90DEGRESS_V) { - MotorPwmOutputDisable(g_aptCp); - } -} - -/** - * @brief Init motor controller's data structure. - * @retval None. - */ -static void InitSoftware(void) -{ - /* Initializing Compressor and Fan Control Tasks */ - TSK_InitCp(); - TSK_InitFan(); - - /* MCU peripheral configuration function used for initial motor control */ - g_mc.readCurrUvwCb = ReadCurrUvwCp; - g_mc.setPwmDutyCb = SetPwmDutyCp; - g_mc.setADCTriggerTimeCb = SetADCTriggerTimeCp; - - g_fan.readCurrUvwCb = ReadCurrUvwFan; - g_fan.setPwmDutyCb = SetPwmDutyFan; - g_fan.setADCTriggerTimeCb = SetADCTriggerTimeFan; -} - -/** - * @brief Confit the master APT. - * @param aptx The master APT handle. - * @retval None. - */ -static void AptMasterSet(APT_Handle *aptx) -{ - MCS_ASSERT_PARAM(aptx != NULL); - /* Confit the master APT. */ - HAL_APT_MasterSyncInit(aptx, APT_SYNC_OUT_ON_CNTR_ZERO); -} - -/** - * @brief Config the slave APT. - * @param aptx The slave APT handle. - * @retval None. - */ -static void AptSalveSet(APT_Handle *aptx) -{ - MCS_ASSERT_PARAM(aptx != NULL); - APT_SlaveSyncIn slave; - /* Config the slave APT. */ - slave.divPhase = 0; - slave.cntPhase = 0; - slave.syncCntMode = APT_COUNT_MODE_AFTER_SYNC_UP; - slave.syncInSrc = APT_SYNC_IN_SRC; - slave.cntrSyncSrc = APT_CNTR_SYNC_SRC_SYNCIN; - HAL_APT_SlaveSyncInit(aptx, &slave); -} - -/** - * @brief Configuring Master and Slave APTs. - * @retval None. - */ -static void AptMasterSalveSet(void) -{ - /* Compressor fan APT master/slave synchronization */ - AptMasterSet(&g_apt3); - AptSalveSet(&g_apt4); - AptSalveSet(&g_apt5); - AptSalveSet(&g_apt0); - AptSalveSet(&g_apt1); - AptSalveSet(&g_apt2); -} - -/** - * @brief Switch motor running status. - * @param mtrCtrl The motor control handle. - * @param motorNum The motor ID number. - */ -static void GetExternalParam(MtrCtrlHandle *mtrCtrl, MOTOR_ENUM motorNum) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - BASE_FUNC_UNUSED(mtrCtrl->spdCmdHz); /* Externally controlled motor speed, Control motor speed */ - BASE_FUNC_UNUSED(motorNum); /* Current motor number */ -} - -/** - * @brief Initial configuration of the underlying driver. - * @retval None. - */ -__weak void SystemInit(void) -{ -} - -/** - * @brief User application main entry for 65demo board. - * @retval BSP_OK. - */ -int Main65Demo(void) -{ - unsigned int tickNum1Ms = 2; /* 1ms tick */ - static unsigned int tickCnt1Ms = 0; - - unsigned int tickNum500Ms = 1000; /* 500ms tick */ - static unsigned int tickCnt500Ms = 0; - - SystemInit(); - - HAL_TIMER_Start(&g_timer1); - - AptMasterSalveSet(); - /* Disable PWM output before startup. */ - MotorPwmOutputDisable(g_aptCp); - MotorPwmOutputDisable(g_aptFan); - - HAL_CRG_IpEnableSet(UART0_BASE, BASE_CFG_ENABLE); - DBG_UartPrintInit(BAUDRATE); - /* Software initialization. */ - InitSoftware(); - /* Start the PWM clock. */ - HAL_APT_StartModule(RUN_APT0 | RUN_APT1 | RUN_APT2 | RUN_APT3 | RUN_APT4 | RUN_APT5); - - BASE_FUNC_DELAY_S(PTC_RELAY_DELAY); - /* Open PTC relay */ - HAL_GPIO_SetValue(&g_gpio2, GPIO_PIN_0, GPIO_HIGH_LEVEL); - - BASE_FUNC_DELAY_S(MOTOR_START_DELAY); - /* Starting motor. */ - SysCmdStartSet(&g_mc.statusReg); - SysCmdStartSet(&g_fan.statusReg); - - while (1) { - if (g_mc.msTickCnt - tickCnt1Ms >= tickNum1Ms) { - GetExternalParam(&g_mc, MOTOR_NO0); - GetExternalParam(&g_fan, MOTOR_NO1); - tickCnt1Ms = g_mc.msTickCnt; - if (g_mc.stateMachine == FSM_RUN || - g_mc.stateMachine == FSM_STARTUP) { - OverTempProtProcess(); - } - } - - if (g_mc.msTickCnt - tickCnt500Ms >= tickNum500Ms) { - if (SysIsError(&g_mc.statusReg) != true && SysIsError(&g_fan.statusReg) != true) { - /* The LED blinks when no status is not error. */ - HAL_GPIO_TogglePin(&g_gpio0, GPIO_PIN_5); - } - tickCnt500Ms = g_mc.msTickCnt; - } - } - return 0; -} \ No newline at end of file diff --git a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_carrier_process.h b/application/middleware_sample/mcs_65ldemo/common/inc/mcs_carrier_process.h deleted file mode 100644 index 4f4b9f9..0000000 --- a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_carrier_process.h +++ /dev/null @@ -1,96 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_carrier_process.h - * @author MCU Algorithm Team - * @brief This file provides functions declaration for carrier interrupt processing function. - */ -#ifndef McuMagicTag_MCS_CARRIER_PROCESS_H -#define McuMagicTag_MCS_CARRIER_PROCESS_H - -#include "mcs_sys_status.h" -#include "mcs_mtr_param.h" -#include "mcs_fsm.h" -#include "mcs_svpwm.h" -#include "mcs_curr_ctrl.h" -#include "mcs_if_ctrl.h" -#include "mcs_ramp_mgmt.h" -#include "mcs_spd_ctrl.h" -#include "mcs_fosmo.h" -#include "mcs_pll.h" -#include "mcs_startup.h" -#include "mcs_r1_svpwm.h" - -typedef void (*MCS_ReadCurrUvwCb)(UvwAxis *CurrUvw); -typedef void (*MCS_SetPwmDutyCb)(UvwAxis *dutyUvwLeft, UvwAxis *dutyUvwRight); -typedef void (*MCS_SetADCTriggerTimeCb)(unsigned short cntCmpSOCA, unsigned short cntCmpSOCB); - -/** - * @brief Sampling mode. - */ -typedef enum { - THREE_RESISTORS = 0, - SINGLE_RESISTOR = 1 -} SampleMode; - -/** - * @brief Motor control data structure - */ -typedef struct { - float spdCmdHz; /**< External input speed command value */ - short axisAngle; /**< Angle of the synchronous coordinate system, used for coordinate transformation */ - float spdRefHz; /**< Command value after speed ramp management */ - float currCtrlPeriod; /**< current loop control period */ - unsigned short aptMaxcntCmp; /**< Apt Maximum Comparison Count */ - - unsigned short sysTickCnt; /**< System Timer Tick Count */ - unsigned short capChargeTickNum; /**< Bootstrap Capacitor Charge Tick Count */ - volatile unsigned int msTickCnt; /**< Millisecond-level counter, which can be used in 1-ms and 5-ms tasks. */ - unsigned short msTickNum; /**< Number of ticks corresponding to 1 ms */ - - SysStatusReg statusReg; /**< System status */ - volatile FsmState stateMachine; /**< Motor Control State Machine */ - - SampleMode sampleMode; /**< sample mode */ - MtrParamHandle mtrParam; /**< Motor parameters */ - FoSmoHandle smo; /**< SMO observer handle */ - IfHandle ifCtrl; /**< I/F control handle */ - SvpwmHandle sv; /**< SVPWM Handle */ - R1SvpwmHandle r1Sv; /**< Single-resistance phase-shifted SVPWM handld */ - RmgHandle spdRmg; /**< Ramp management struct for the speed controller input reference */ - SpdCtrlHandle spdCtrl; /**< Speed loop Control Handle */ - CurrCtrlHandle currCtrl; /**< Current loop control handle */ - StartupHandle startup; /**< Startup Switch Handle */ - - DqAxis currRefDq; /**< Command value of the dq axis current */ - UvwAxis currUvw; /**< Three-phase current sampling value */ - AlbeAxis currAlbe; /**< αβ-axis current feedback value */ - DqAxis currDq; /**< Current feedback value of the dq axis */ - DqAxis vdq; /**< Current loop output dq voltage */ - AlbeAxis vab; /**< Current loop output voltage αβ */ - UvwAxis dutyUvw; /**< UVW three-phase duty cycle */ - UvwAxis dutyUvwLeft; /**< Single Resistor UVW Three-Phase Left Duty Cycle */ - UvwAxis dutyUvwRight; /**< Single Resistor UVW Three-Phase Right Duty Cycle*/ - - MCS_ReadCurrUvwCb readCurrUvwCb; /**< Read current callback function */ - MCS_SetPwmDutyCb setPwmDutyCb; /**< Set the duty cycle callback function. */ - MCS_SetADCTriggerTimeCb setADCTriggerTimeCb; /**< Sets the ADC trigger point callback function. */ -} MtrCtrlHandle; - -void MCS_CarrierProcess(MtrCtrlHandle *mtrCtrl); - -#endif \ No newline at end of file diff --git a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_config_motor.h b/application/middleware_sample/mcs_65ldemo/common/inc/mcs_config_motor.h deleted file mode 100644 index a3de7f9..0000000 --- a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_config_motor.h +++ /dev/null @@ -1,55 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_motor.h - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#ifndef McuMagicTag_MCS_CONFIG_MOTOR_H -#define McuMagicTag_MCS_CONFIG_MOTOR_H - -#include "mcs_mtr_param.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -typedef struct { - /* electromechanical parameters */ - unsigned int mtrNp; /**< numbers of pole pairs */ - float mtrRs; /**< resistor of stator */ - float mtrLd; /**< inductance of D-axis */ - float mtrLq; /**< inductance of Q-axis */ - float mtrPsif; /**< permanent magnet flux */ - float mtrJ; /**< rotor inertia */ - float maxElecSpd; /**< max elec speed */ - float maxCurr; /**< max current */ - /* Encoder parameters */ - unsigned int mtrPPMR; /**< pulse per mechanical round */ - unsigned int zShift; /**< pulse Z shift */ -} MotorConfig; - -typedef struct { - float currPiKp; /**< current loop kp */ - float currPiKi; /**< current loop ki */ - float currPiLimitPu; /**< current loop limit per unit value */ - float spdPiKp; /**< speed loop kp */ - float spdPiKi; /**< speed loop ki */ - float spdPiLimit; /**< speed loop limit */ -} PiCtrlParam; - -void MtrParamInit(MtrParamHandle *handle, const MotorConfig *motorTable); - -#endif diff --git a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_sys_status.h b/application/middleware_sample/mcs_65ldemo/common/inc/mcs_sys_status.h deleted file mode 100644 index 5503700..0000000 --- a/application/middleware_sample/mcs_65ldemo/common/inc/mcs_sys_status.h +++ /dev/null @@ -1,188 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_sys_status.h - * @author MCU Algorithm Team - * @brief This file provides functions declaration of system status. - */ - -/* Define to prevent recursive inclusion ------------------------------------------------------- */ -#ifndef McuMagicTag_MCS_SYS_STATUS_H -#define McuMagicTag_MCS_SYS_STATUS_H - -/* Includes ------------------------------------------------------------------------------------ */ -#include "typedefs.h" -#include "mcs_assert.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -/** - * @brief System status define - */ -typedef union { - unsigned short all; - struct { - unsigned short cmdStart : 1; /**< Indicates that a start system command has been received. */ - unsigned short cmdStop : 1; /**< Indicates that a stop system command has been received. */ - unsigned short isRunning : 1; /**< Indicates that the system is running (enable signal) */ - unsigned short sysError : 1; /**< Indicates that the system reports an error. */ - unsigned short poweron : 1; /**< Indicates that the power-on initialization phase is complete. */ - unsigned short capcharge : 1; /**< Indicates that the bootstrap capacitor charging phase is complete. */ - unsigned short adczero : 1; /**< The current sampling point is reset to zero after power-on. */ - } Bit; -} SysStatusReg; - -/** - * @brief Get status of Bit cmdStart. - * @param sysStatus System status register handle. - * @retval Status of Bit cmdStart. - */ -static inline bool SysGetCmdStart(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.cmdStart == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit cmdStart. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStartSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStart = 1; -} - -/** - * @brief Clear Bit cmdStart. - * @param handle System status register handle. - * @retval None. - */ -static inline void SysCmdStartClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStart = 0; -} - -/** - * @brief Get status of Bit cmdStop. - * @param sysStatus System status register handle. - * @retval Status of Bit cmdStart. - */ -static inline bool SysGetCmdStop(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.cmdStop == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit cmdStop. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStopSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStop = 1; -} - -/** - * @brief Clear Bit cmdStop. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysCmdStopClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.cmdStop = 0; -} - -/** - * @brief Get status of Bit isRunning. - * @param sysStatus System status register handle. - * @retval Status of Bit isRunning. - */ -static inline bool SysIsRunning(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.isRunning == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit isRuning. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysRunningSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.isRunning = 1; -} - -/** - * @brief Clear Bit isRuning. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysRunningClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.isRunning = 0; -} - -/** - * @brief Get status of Bit sysError. - * @param sysStatus System status register handle. - * @retval Status of Bit sysError. - */ -static inline bool SysIsError(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - bool ret; - ret = (sysStatus->Bit.sysError == 1) ? true : false; - return ret; -} - -/** - * @brief Set Bit sysError. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysErrorSet(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.sysError = 1; -} - -/** - * @brief Clear Bit sysError. - * @param sysStatus System status register handle. - * @retval None. - */ -static inline void SysErrorClr(SysStatusReg *sysStatus) -{ - MCS_ASSERT_PARAM(sysStatus != NULL); - sysStatus->Bit.sysError = 0; -} - -#endif diff --git a/application/middleware_sample/mcs_65ldemo/common/src/mcs_carrier_process.c b/application/middleware_sample/mcs_65ldemo/common/src/mcs_carrier_process.c deleted file mode 100644 index be8184a..0000000 --- a/application/middleware_sample/mcs_65ldemo/common/src/mcs_carrier_process.c +++ /dev/null @@ -1,134 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_carrier_process.c - * @author MCU Algorithm Team - * @brief This file provides carrier interrupt application for motor control. - */ - -#include "mcs_carrier_process.h" -#include "mcs_math.h" -#include "typedefs.h" -#include "mcs_assert.h" - -/** - * @brief Synchronous rotation coordinate system angle. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_SyncCoorAngle(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - /* Synchronous rotation coordinate system angle. */ - switch (mtrCtrl->stateMachine) { - case FSM_STARTUP: - /* Current ramp angle is 0. */ - if (mtrCtrl->startup.stage == STARTUP_STAGE_CURR) { - mtrCtrl->axisAngle = 0; - } else if (mtrCtrl->startup.stage == STARTUP_STAGE_SPD) { /* IF control phase angle self-addition. */ - mtrCtrl->axisAngle = IF_CurrAngleCalc(&mtrCtrl->ifCtrl, mtrCtrl->spdRefHz); - } else if (mtrCtrl->startup.stage == STARTUP_STAGE_SWITCH) { /* Switch Angle */ - mtrCtrl->axisAngle = mtrCtrl->smo.elecAngle; - } - break; - - case FSM_RUN: - mtrCtrl->axisAngle = mtrCtrl->smo.elecAngle; - break; - - default: - mtrCtrl->axisAngle = 0; - break; - } -} - -/** - * @brief PWM waveform setting and sampling point setting for a single resistors and three resistors. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_PwmAdcSet(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - SampleMode sampleMode = mtrCtrl->sampleMode; - /* Set the duty cycle according to the sampling mode. */ - if (sampleMode == THREE_RESISTORS) { - SVPWM_Exec(&mtrCtrl->sv, &mtrCtrl->vab, &mtrCtrl->dutyUvw); - mtrCtrl->setPwmDutyCb(&mtrCtrl->dutyUvw, &mtrCtrl->dutyUvw); - } else if (sampleMode == SINGLE_RESISTOR) { - R1SVPWM_Exec(&mtrCtrl->r1Sv, &mtrCtrl->vab, &mtrCtrl->dutyUvwLeft, &mtrCtrl->dutyUvwRight); - mtrCtrl->setPwmDutyCb(&mtrCtrl->dutyUvwLeft, &mtrCtrl->dutyUvwRight); - /* The ADC sampling point position needs to be set based on the phase shift of a single resistors. */ - mtrCtrl->setADCTriggerTimeCb(mtrCtrl->r1Sv.samplePoint[0] * mtrCtrl->aptMaxcntCmp, \ - mtrCtrl->r1Sv.samplePoint[1] * mtrCtrl->aptMaxcntCmp); - } -} - -/** - * @brief Carrier interrupt function. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -void MCS_CarrierProcess(MtrCtrlHandle *mtrCtrl) -{ - MCS_ASSERT_PARAM(mtrCtrl != NULL); - UvwAxis *currUvw = &mtrCtrl->currUvw; - AlbeAxis *currAlbe = &mtrCtrl->currAlbe; - AlbeAxis *vab = &mtrCtrl->vab; - SampleMode sampleMode = mtrCtrl->sampleMode; - - if (sampleMode > SINGLE_RESISTOR || mtrCtrl->setADCTriggerTimeCb == NULL) { - return; - } - - if (mtrCtrl->setPwmDutyCb == NULL || mtrCtrl->readCurrUvwCb == NULL) { - return; - } - /* Read the three-phase current value. */ - mtrCtrl->readCurrUvwCb(currUvw); - /* Clark Calc */ - ClarkeCalc(currUvw, currAlbe); - - /* Smo observation */ - FOSMO_Exec(&mtrCtrl->smo, currAlbe, vab, mtrCtrl->spdRefHz); - /* Synchronization angle */ - MCS_SyncCoorAngle(mtrCtrl); - - /* Park transformation */ - ParkCalc(currAlbe, mtrCtrl->axisAngle, &mtrCtrl->currDq); - - /* statemachine */ - switch (mtrCtrl->stateMachine) { - case FSM_STARTUP: - case FSM_RUN: - CURRCTRL_Exec(&mtrCtrl->currCtrl, &mtrCtrl->vdq); - InvParkCalc(&mtrCtrl->vdq, mtrCtrl->axisAngle, vab); - MCS_PwmAdcSet(mtrCtrl); - break; - - case FSM_CAP_CHARGE: - case FSM_CLEAR: - case FSM_IDLE: - break; - - default: - vab->alpha = 0.0f; - vab->beta = 0.0f; - MCS_PwmAdcSet(mtrCtrl); - break; - } -} \ No newline at end of file diff --git a/application/middleware_sample/mcs_65ldemo/common/src/mcs_config_motor.c b/application/middleware_sample/mcs_65ldemo/common/src/mcs_config_motor.c deleted file mode 100644 index 504968a..0000000 --- a/application/middleware_sample/mcs_65ldemo/common/src/mcs_config_motor.c +++ /dev/null @@ -1,48 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_motor.c - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#include "mcs_config_motor.h" -#include "mcs_assert.h" - -/** - * @brief Initialzer of motor parameters. - * @param mtrParamHandle Motor parameters handle. - * @param motorTable Motor parameters table handle. - * @retval None. - */ -void MtrParamInit(MtrParamHandle *mtrParamHandle, const MotorConfig *motorTable) -{ - MCS_ASSERT_PARAM(mtrParamHandle != NULL); - MCS_ASSERT_PARAM(motorTable != NULL); - /* Initialzer of motor parameters */ - mtrParamHandle->mtrRs = motorTable->mtrRs; /* resistor of stator */ - mtrParamHandle->mtrLd = motorTable->mtrLd; /* inductance of D-axis */ - mtrParamHandle->mtrLq = motorTable->mtrLq; /* inductance of Q-axis */ - /* Average inductance, mtrLs = (mtrLd + mtrLq) * 0.5f */ - mtrParamHandle->mtrLs = (motorTable->mtrLd + motorTable->mtrLq) * 0.5f; - mtrParamHandle->mtrPsif= motorTable->mtrPsif; /* permanent magnet flux */ - mtrParamHandle->mtrNp = motorTable->mtrNp; /* numbers of pole pairs */ - mtrParamHandle->mtrJ = motorTable->mtrJ; /* rotor inertia */ - mtrParamHandle->maxElecSpd = motorTable->maxElecSpd; /* max elec speed */ - mtrParamHandle->maxCurr = motorTable->maxCurr; /* max current */ - mtrParamHandle->maxTrq = 0.0f; -} \ No newline at end of file diff --git a/application/middleware_sample/mcs_65ldemo/inc/mcs_61h48.h b/application/middleware_sample/mcs_65ldemo/inc/mcs_61h48.h deleted file mode 100644 index cf14175..0000000 --- a/application/middleware_sample/mcs_65ldemo/inc/mcs_61h48.h +++ /dev/null @@ -1,42 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_61h48.h - * @author MCU Algorithm Team - * @brief This file provides motor sample functions declaration for AD101LDMA board - */ -#include "main.h" - -extern GPIO_Handle g_Led; -extern TIMER_Handle g_sysTickTimer; -extern APT_Handle g_aptUcp; -extern APT_Handle g_aptVcp; -extern APT_Handle g_aptWcp; -extern ADC_Handle g_adc; -extern ACMP_Handle g_acmp1; - -/** - * @brief phase sequence. - */ -typedef enum { - PHASE_U = 0, - PHASE_V, - PHASE_W, - PHASE_MAX_NUM -} MCS_PhaseEnum; - -int Main61H48(void); diff --git a/application/middleware_sample/mcs_65ldemo/inc/mcs_config_61h48.h b/application/middleware_sample/mcs_65ldemo/inc/mcs_config_61h48.h deleted file mode 100644 index 18e7608..0000000 --- a/application/middleware_sample/mcs_65ldemo/inc/mcs_config_61h48.h +++ /dev/null @@ -1,60 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config_61h48.h - * @author MCU Algorithm Team - * @brief This file provides config macros for 61demo app. - */ -#ifndef McuMagicTag_MCS_61H48_H -#define McuMagicTag_MCS_61H48_H - -#include "debug.h" -#include "typedefs.h" - -#define INV_CAP_CHARGE_MS 3u -#define INV_VOLTAGE_BUS 24.0f /* Bus voltage, V */ - -#define CTRL_CURR_PERIOD 0.0001f /* carrier ISR period */ -#define CTRL_SYSTICK_PERIOD 0.0005f /* systick control period */ - -/** Duty of sample window, the real time is 0.06*50us = 3us. */ -#define SAMPLE_WINDOW_DUTY 0.06f - -/** Duty of sample point shift as flip point, the real time is 0.008*50us = 0.4us. */ -#define SAMPLE_POINT_SHIFT 0.008f - -/* SMO */ -#define SPEED_FILTER_CUTOFF_FREQUENCY 40.0f -#define FOSMO_GAIN 10.0f -#define FILTER_ANGLE_COMPENSATION 4826 - -/* User_Commond */ -#define CTRL_IF_CURR_AMP_A 1.0f /* IF control current amplitude */ -/* 0.008055 Sampling resistance20 Ohm Sampling resistance 100mOhm 0.001611f */ -#define ADC_CURR_COFFI_CP 0.001611f -#define USER_TARGET_SPD_HZ (100.0f) /* Parentheses are used to enter negative instructions */ -#define USER_SWITCH_SPDBEGIN_HZ (70.0f) /* Start of handover interval */ -#define USER_SWITCH_SPDEND_HZ (73.0f) /* End of handover period */ - -#define USER_SPD_SLOPE 15.0f /* slope of velocity change */ -#define USER_CURR_SLOPE (CTRL_IF_CURR_AMP_A * 0.5f) /* Current change slope */ - -/* Service Definition */ -#define PTC_RELAY_DELAY 2 -#define MOTOR_START_DELAY 10 - -#endif /* McuMagicTag_MCS_61H48_H */ diff --git a/application/middleware_sample/mcs_65ldemo/src/mcs_61h48.c b/application/middleware_sample/mcs_65ldemo/src/mcs_61h48.c deleted file mode 100644 index eb7a948..0000000 --- a/application/middleware_sample/mcs_65ldemo/src/mcs_61h48.c +++ /dev/null @@ -1,765 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_61h48.c - * @author MCU Algorithm Team - * @brief This file provides motor application for AD101LDMA board. - * @details Single FOC application based on the AD101LDMA VER.A board - * 1) The motor model is JMC 42JSF630AS-1000. - * 2) Select the Motorcontrolsystem example in the sample column of chipConfig and click Generate Code. - * 3) The AD101LDMA VER.A board is a high-voltage board, its power supply must be changed to 24V. - */ -#include "mcs_61h48.h" -#include "mcs_config_61h48.h" -#include "mcs_math_const.h" -#include "mcs_math.h" -#include "mcs_config_motor.h" -#include "mcs_carrier_process.h" - -#define MHZ 1000000u - -#define SYSTICK_PERIOD_US 500u /* systick period */ -/* APT module interrupt priority. */ -#define EVT_INTERRUPT_PRIORITY 7 -#define TMR_INTERRUPT_PRIORITY 6 -#define SYS_TMR_INTERRUPT_PRIORITY IRQ_PRIO_LOWEST -/* Use sync-out pulse from APT_U as the sync-in source for slave APT module. */ -#define APT_SYNC_IN_SRC APT_SYNCIN_SRC_APT0_SYNCOUT - -/* Define of OC Event selection */ -#define APT_OC_ENABLE BASE_CFG_ENABLE - -#define APT_U_CP APT0_BASE /* Base address of U phase APT module */ -#define APT_V_CP APT1_BASE /* Base address of V phase APT module */ -#define APT_W_CP APT2_BASE /* Base address of W phase APT module */ - -#define APT_TMR_IRQ IRQ_APT0_TMR - -#define POE_EVENT_PROTECT 0 -#define ACMP_EVENT_PROTECT 1 - -#define POE_ACMP_EVENT_PROTECT ACMP_EVENT_PROTECT - -/** - * Output control event polarity for IPM. - * APT_EM_EVENT_POLARITY_NOT_INVERT (High active) - * APT_EM_EVENT_POLARITY_INVERT (Low active) - */ -#define PROTECT_EVENT_POLARITY_CP APT_EM_EVENT_POLARITY_INVERT - -#define APT_EVT_IRQ_CP IRQ_APT0_EVT - -/* Some configuration values of APT modules. */ -#define APT_PWM_FREQ 10000 /* Set PWM frequency to 10KHz. */ -#define APT_DUTY_MAX (HAL_CRG_GetIpFreq(APT_U_CP) / (APT_PWM_FREQ * 2)) -#define APT_DIVIDER_FACTOR 1 /* The APT clock is not divided. */ -#define DB_US 1.5f /* Dead-Band time, in units of us */ - -#define MICROSECOND_NUM_PER_MILLISECOND 1000 -#define ANGLE_RANGE_ABS 65536 -#define ANGLE_360_F 65536.0f /* 0 - 65536 indicates 0 to 360. */ -#define APT_FULL_DUTY 1.0f - -void ISR_Systick(void *param); -void ISR_Carrier(void *aptHandle); -void ISR_OverCurrProt(void *aptHandle); - -/* Motor parameters. */ -static MotorConfig g_MotorParam[1] = { - {4, 0.5f, 0.000295f, 0.000295f, 0.0f, 0.0f, 200.0f, 4.0f, 4000, 410}, /* Wildfire 24V */ -}; - -/* Motor PI param. */ -static PiCtrlParam g_motorPiParam[1] = { - /* currKp，ki, limitPu, spdKp, ki, limit */ - {0.7414f, 0.1256f, 1.0f, 0.0105f, 0.000003f, 1.0f}, /* Wildfire 24V */ -}; - -static void *g_aptCp[PHASE_MAX_NUM] = {APT_U_CP, APT_V_CP, APT_W_CP}; - -/* Motor control handle for compressor */ -static MtrCtrlHandle g_mc; - -/** - * @brief Initialzer of system tick. - * @param mtrCtrl Motor control struct handle. - * @retval None. - */ -static void TimerTickInit(MtrCtrlHandle *mtrCtrl) -{ - mtrCtrl->sysTickCnt = 0; - mtrCtrl->msTickNum = MICROSECOND_NUM_PER_MILLISECOND / SYSTICK_PERIOD_US; - mtrCtrl->capChargeTickNum = (INV_CAP_CHARGE_MS * MICROSECOND_NUM_PER_MILLISECOND / SYSTICK_PERIOD_US); -} - -/** - * @brief Initialzer of Current controller. - * @param currHandle Current control handle. - * @param mtrCtrl Motor control handle. - * @param piCtrlTable Dual loop control parameters. - * @retval None. - */ -static void CurrCtrlInit(CurrCtrlHandle *currHandle, MtrCtrlHandle *mtrCtrl, const PiCtrlParam *piCtrlTable) -{ - currHandle->currRef = &mtrCtrl->currRefDq; - currHandle->currFdbk = &mtrCtrl->currDq; - currHandle->currFf.d = 0.0f; - currHandle->currFf.q = 0.0f; - - PID_Reset(&currHandle->dAxisPi); /* clear d-axis PI param */ - - PID_Reset(&currHandle->qAxisPi); /* clear q-axis PI param */ - - currHandle->outLimit = 0.0f; - currHandle->mtrParam = &(mtrCtrl->mtrParam); - currHandle->ctrlPeriod = mtrCtrl->currCtrlPeriod; - - currHandle->dAxisPi.kp = piCtrlTable->currPiKp; - currHandle->dAxisPi.ki = piCtrlTable->currPiKi; - currHandle->qAxisPi.kp = piCtrlTable->currPiKp; - currHandle->qAxisPi.ki = piCtrlTable->currPiKi; - currHandle->outLimit = INV_VOLTAGE_BUS * ONE_DIV_SQRT3 * piCtrlTable->currPiLimitPu; /* output voltage limit */ - currHandle->dAxisPi.upperLimit = currHandle->outLimit; - currHandle->dAxisPi.lowerLimit = -currHandle->outLimit; - currHandle->qAxisPi.upperLimit = currHandle->outLimit; - currHandle->qAxisPi.lowerLimit = -currHandle->outLimit; -} - -/** - * @brief Initialzer of speed control struct handle. - * @param spdHandle Speed control struct handle. - * @param piCtrlTable PI controller parameter table. - * @retval None. - */ -static void SpdCtrlInit(SpdCtrlHandle *spdHandle, const PiCtrlParam *piCtrlTable) -{ - PID_Reset(&spdHandle->spdPi); /* reset speed loop PI */ - - spdHandle->trqLimit = 0.0f; - spdHandle->mtrParam = NULL; - spdHandle->ctrlPeriod = CTRL_SYSTICK_PERIOD; - /* Initialize the PI parameter of the speed loop. */ - spdHandle->spdPi.kp = piCtrlTable->spdPiKp; - spdHandle->spdPi.ki = piCtrlTable->spdPiKi; - spdHandle->trqLimit = piCtrlTable->spdPiLimit; - spdHandle->spdPi.upperLimit = spdHandle->trqLimit; - spdHandle->spdPi.lowerLimit = -spdHandle->trqLimit; -} - -/** - * @brief Initialzer of Pll struct handle. - * @param pllHandle pll struct handle. - * @retval None. - */ -static void PLL_Init(PllHandle *pllHandle) -{ - float we = 300.0f; /* PLL bandwidth (unit: Hz) */ - /* Reset PLL PID. */ - PID_Reset(&pllHandle->pi); - /* Initializing PLL Parameters. */ - pllHandle->ctrlPeriod = CTRL_CURR_PERIOD; - pllHandle->pi.kp = 1.414f * we; /* sqrt(2) * we */ - pllHandle->pi.ki = we * we * CTRL_CURR_PERIOD; - pllHandle->pi.upperLimit = 5000.0f; /* The upper limit value of the pid comp output. */ - pllHandle->pi.lowerLimit = -pllHandle->pi.upperLimit; - pllHandle->minAmp = 0.1f; /* Minimum value of the input value in case of the divergence of the PLL. */ - pllHandle->freq = 0.0f; - pllHandle->ratio = ANGLE_360_F * CTRL_CURR_PERIOD; - pllHandle->angle = 0; -} - -/** - * @brief Initialzer of Smo control struct handle. - * @param smoHandle Position SMO struct handle. - * @param mtrParam Motor parameter handle. - * @retval None. - */ -static void SmoInit(FoSmoHandle *smoHandle, MtrParamHandle *mtrParam) -{ - smoHandle->mtrParam = mtrParam; - smoHandle->ctrlPeriod = CTRL_CURR_PERIOD; - - smoHandle->a1 = 1.0f - (smoHandle->ctrlPeriod * smoHandle->mtrParam->mtrRs / smoHandle->mtrParam->mtrLd); - smoHandle->a2 = smoHandle->ctrlPeriod / smoHandle->mtrParam->mtrLd; - - smoHandle->kSmo = FOSMO_GAIN; - smoHandle->lambda = 2.0f; /* SMO coefficient of cut-off frequency is 2.0. */ - /* smo angle filcompAngle */ - smoHandle->filCompAngle = FILTER_ANGLE_COMPENSATION; - FOSMO_Clear(smoHandle); - - smoHandle->emfLpfMinFreq = 2.0f; /* The minimum cutoff frequency of the back EMF filter is 2.0. */ - PLL_Init(&smoHandle->pll); - - /* low pass filter cutoff frequency for speed estimation is 40Hz */ - FoLowPassFilterInit(&smoHandle->spdFilter, smoHandle->ctrlPeriod, SPEED_FILTER_CUTOFF_FREQUENCY); -} - -/** - * @brief Init motor control task. - * @retval None. - */ -static void TSK_InitCp(void) -{ - IfCtrlInit ifInitParam; - - g_mc.stateMachine = FSM_IDLE; - g_mc.spdCmdHz = USER_TARGET_SPD_HZ; - g_mc.aptMaxcntCmp = APT_DUTY_MAX; - g_mc.sampleMode = SINGLE_RESISTOR; - - ifInitParam.currSlope = USER_CURR_SLOPE; - ifInitParam.anglePeriod = CTRL_CURR_PERIOD; - ifInitParam.targetAmp = CTRL_IF_CURR_AMP_A; - ifInitParam.stepAmpPeriod = CTRL_SYSTICK_PERIOD; - - IF_Init(&g_mc.ifCtrl, &ifInitParam); - - RMG_Init(&g_mc.spdRmg, CTRL_SYSTICK_PERIOD, USER_SPD_SLOPE); /* Init speed slope */ - - MtrParamInit(&g_mc.mtrParam, &g_MotorParam[0]); - - TimerTickInit(&g_mc); - - SVPWM_Init(&g_mc.sv, INV_VOLTAGE_BUS * ONE_DIV_SQRT3); - - R1SVPWM_Init(&g_mc.r1Sv, INV_VOLTAGE_BUS * ONE_DIV_SQRT3, SAMPLE_POINT_SHIFT, SAMPLE_WINDOW_DUTY); - - g_mc.currCtrlPeriod = CTRL_CURR_PERIOD; /* Init current controller */ - - CurrCtrlInit(&g_mc.currCtrl, &g_mc, &g_motorPiParam[0]); - - SpdCtrlInit(&g_mc.spdCtrl, &g_motorPiParam[0]); /* Init speed controller */ - - SmoInit(&g_mc.smo, &g_mc.mtrParam); /* Init the SMO observer */ - - STARTUP_Init(&g_mc.startup, USER_SWITCH_SPDBEGIN_HZ, USER_SWITCH_SPDEND_HZ); -} - -/** - * @brief Clear historical values of all controller before start-up. - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void ClearBeforeStartup(MtrCtrlHandle *mtrCtrl) -{ - /* The initial angle is 0. */ - mtrCtrl->axisAngle = 0; - - mtrCtrl->spdRefHz = 0.0f; - /* The initial dq-axis reference current is 0. */ - mtrCtrl->currRefDq.d = 0.0f; - mtrCtrl->currRefDq.q = 0.0f; - - mtrCtrl->vdq.d = 0.0f; - mtrCtrl->vdq.q = 0.0f; - /* Clear Duty Cycle Value. The initial duty cycle is 0.5. */ - mtrCtrl->dutyUvwLeft.u = 0.5f; - mtrCtrl->dutyUvwLeft.v = 0.5f; - mtrCtrl->dutyUvwLeft.w = 0.5f; - mtrCtrl->dutyUvwRight.u = 0.5f; - mtrCtrl->dutyUvwRight.v = 0.5f; - mtrCtrl->dutyUvwRight.w = 0.5f; - - RMG_Clear(&mtrCtrl->spdRmg); /* Clear the history value of speed slope control */ - CURRCTRL_Clear(&mtrCtrl->currCtrl); - IF_Clear(&mtrCtrl->ifCtrl); - SPDCTRL_Clear(&mtrCtrl->spdCtrl); - FOSMO_Clear(&mtrCtrl->smo); - STARTUP_Clear(&mtrCtrl->startup); - R1SVPWM_Clear(&mtrCtrl->r1Sv); -} - -/** - * @brief To set the comparison value of the IGBT single-resistance ADC sampling trigger position - * @param aptx The APT register struct handle. - * @param cntCmpA A Count compare reference of time-base counter. - * @param cntCmpB B Count compare reference of time-base counter. - * @param maxCntCmp Maximum Comparison Value - * @retval None. - */ -static void MCS_SetAdcCompareR1(APT_RegStruct *aptx, unsigned short cntCmpA, - unsigned short cntCmpB, unsigned short maxCntCmp) -{ - unsigned short tmp; - /* Sets the A Count compare reference of time-base counter. */ - tmp = (cntCmpA >= maxCntCmp) ? (maxCntCmp - 1) : cntCmpA; - DCL_APT_SetCounterCompare(aptx, APT_COMPARE_REFERENCE_A, tmp); - /* Sets the B Count compare reference of time-base counter. */ - tmp = (cntCmpB >= maxCntCmp) ? (maxCntCmp - 1) : cntCmpB; - DCL_APT_SetCounterCompare(aptx, APT_COMPARE_REFERENCE_B, tmp); -} - -/** - * @brief Setting the APT Output Duty Cycle. - * @param aptx APT register base address. - * @param leftDuty Left duty cycle. - * @param rightDuty Right duty cycle. - * @retval None. - */ -static void SetPwmDuty(APT_Handle *aptx, float leftDuty, float rightDuty) -{ - unsigned short maxPeriodCnt = aptx->waveform.timerPeriod; - unsigned short cntCmpLeftEdge = (unsigned short)(leftDuty * maxPeriodCnt); - unsigned short cntCmpRightEdge = (unsigned short)(rightDuty * maxPeriodCnt); - /* avoid overflowing */ - cntCmpLeftEdge = (cntCmpLeftEdge > maxPeriodCnt) ? maxPeriodCnt : cntCmpLeftEdge; - cntCmpRightEdge = (cntCmpRightEdge > maxPeriodCnt) ? maxPeriodCnt : cntCmpRightEdge; - HAL_APT_SetPWMDuty(aptx, cntCmpLeftEdge, cntCmpRightEdge); -} - -/** - * @brief Open the three-phase lower pipe. - * @param aptAddr Three-phase APT address pointer. - * @param maxDutyCnt Max duty count. - * @retval None. - */ -static void AptTurnOnLowSidePwm(void **aptAddr, unsigned int maxDutyCnt) -{ - unsigned int dutyCnt; - dutyCnt = maxDutyCnt * APT_FULL_DUTY; - /* Open the three-phase lower pipe */ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->TC_REFC.BIT.rg_cnt_refch = dutyCnt; - aptx->TC_REFD.BIT.rg_cnt_refdh = dutyCnt; - } -} -/** - * @brief Enable three-phase pwm output. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void MotorPwmOutputEnable(void **aptAddr) -{ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->PG_OUT_FRC.BIT.rg_pga_frc_en = BASE_CFG_UNSET; - aptx->PG_OUT_FRC.BIT.rg_pgb_frc_en = BASE_CFG_UNSET; - } -} -/** - * @brief Disable three-phase pwm output. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void MotorPwmOutputDisable(void **aptAddr) -{ - /* Disable three-phase pwm output. */ - for (unsigned int i = 0; i < PHASE_MAX_NUM; i++) { - APT_RegStruct *aptx = (APT_RegStruct *)(aptAddr[i]); - aptx->PG_OUT_FRC.BIT.rg_pga_frc_en = BASE_CFG_SET; - aptx->PG_OUT_FRC.BIT.rg_pgb_frc_en = BASE_CFG_SET; - DCL_APT_ForcePWMOutputLow(aptx); - } -} - -/** - * @brief Smo IF angle difference calculation. - * @param smoElecAngle Smo electrical angle. - * @param ifCtrlAngle IF control angle. - * @retval signed short angle difference. - */ -static signed short SmoIfAngleDiffCalc(signed short smoElecAngle, signed short ifCtrlAngle) -{ - /* Smo IF angle difference calculation */ - signed int tmpS32 = (signed int)(smoElecAngle - ifCtrlAngle); - if (tmpS32 > INT16_MAX) { - tmpS32 -= ANGLE_RANGE_ABS; - } - if (tmpS32 < INT16_MIN) { - tmpS32 += ANGLE_RANGE_ABS; - } - return (signed short)(tmpS32); -} - -/** - * @brief Construct a new mcs startupswitch object - * @param mtrCtrl The motor control handle. - * @retval None. - */ -static void MCS_StartupSwitch(MtrCtrlHandle *mtrCtrl) -{ - StartupHandle *startup = &mtrCtrl->startup; - DqAxis *currRefDq = &mtrCtrl->currRefDq; - float iftargetAmp = mtrCtrl->ifCtrl.targetAmp; - float spdRefHz = mtrCtrl->spdRefHz; - - switch (startup->stage) { - case STARTUP_STAGE_CURR: - if (mtrCtrl->ifCtrl.curAmp >= iftargetAmp) { - /* Stage change */ - currRefDq->q = iftargetAmp; - startup->stage = STARTUP_STAGE_SPD; - } else { - /* current Amplitude increase */ - currRefDq->q = IF_CurrAmpCalc(&mtrCtrl->ifCtrl); - spdRefHz = 0.0f; - } - break; - case STARTUP_STAGE_SPD: - /* current frequency increase */ - if (Abs(spdRefHz) >= startup->spdBegin) { - /* Stage change */ - startup->stage = STARTUP_STAGE_SWITCH; - TrigVal localTrigVal; - TrigCalc(&localTrigVal, SmoIfAngleDiffCalc(mtrCtrl->smo.elecAngle, mtrCtrl->ifCtrl.angle)); - currRefDq->d = iftargetAmp * localTrigVal.sin; - mtrCtrl->startup.initCurr = currRefDq->d; - currRefDq->q = iftargetAmp; - mtrCtrl->spdCtrl.spdPi.integral = iftargetAmp * localTrigVal.cos; - } else { - /* Speed rmg */ - spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - } - break; - - case STARTUP_STAGE_SWITCH: - /* Switch from IF to SMO */ - spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - currRefDq->d = STARTUP_CurrCal(&mtrCtrl->startup, spdRefHz); - SPDCTRL_Exec(&mtrCtrl->spdCtrl, spdRefHz, mtrCtrl->smo.spdEstHz, &mtrCtrl->currRefDq); - if (spdRefHz >= startup->spdEnd) { - /* Stage change */ - currRefDq->d = 0.0f; - mtrCtrl->stateMachine = FSM_RUN; - } - break; - - default: - break; - } - - mtrCtrl->spdRefHz = spdRefHz; -} - -/** - * @brief Pre-processing of motor status. - * @param statusReg System status. - * @param stateMachine Motor Control Status. - * @retval None. - */ -static void MotorStatePerProc(SysStatusReg *statusReg, volatile FsmState *stateMachine) -{ - /* Get system status */ - if (SysIsError(statusReg)) { - *stateMachine = FSM_FAULT; - } - if (SysGetCmdStop(statusReg)) { - SysCmdStopClr(statusReg); - *stateMachine = FSM_STOP; - } -} - -/** - * @brief Actiong for FSM_CAP_CHARGE status. - * @param mtrCtrl The motor control handle. - * @param stateMachine Motor Control Status. - * @retval None. - */ -static void MCS_CAPChage(MtrCtrlHandle *mtrCtrl, FsmState *stateMachine) -{ - mtrCtrl->sysTickCnt++; - if (mtrCtrl->sysTickCnt == mtrCtrl->capChargeTickNum) { - *stateMachine = FSM_CLEAR; - } -} - -/** - * @brief Actiong for FSM_FAlT status. - * @param statusReg System status. - * @param stateMachine Motor Control Status. - * @retval None. - */ -static void MCS_Fault(SysStatusReg *statusReg, FsmState *stateMachine) -{ - if (SysIsError(statusReg) == false) { - *stateMachine = FSM_IDLE; - } -} - -/** - * @brief System timer tick task.+ - * @param mtrCtrl The motor control handle. - * @param aptAddr Three-phase APT address pointer. - * @retval None. - */ -static void TSK_SystickIsr(MtrCtrlHandle *mtrCtrl, void **aptAddr) -{ - SysStatusReg *statusReg = &mtrCtrl->statusReg; - volatile FsmState *stateMachine = &mtrCtrl->stateMachine; - mtrCtrl->msTickCnt++; - /* Pre-processing of motor status */ - MotorStatePerProc(statusReg, stateMachine); - /* statemachine */ - switch (*stateMachine) { - case FSM_IDLE: - if (SysGetCmdStart(statusReg)) { - SysRunningSet(statusReg); - SysCmdStartClr(statusReg); - mtrCtrl->sysTickCnt = 0; - *stateMachine = FSM_CAP_CHARGE; - /* Preparation for charging the bootstrap capacitor */ - AptTurnOnLowSidePwm(aptAddr, mtrCtrl->aptMaxcntCmp); - /* Out put pwm */ - MotorPwmOutputEnable(aptAddr); - } - break; - - case FSM_CAP_CHARGE: - /* Bootstrap Capacitor Charging Timing */ - MCS_CAPChage(mtrCtrl, stateMachine); - break; - - case FSM_CLEAR: - ClearBeforeStartup(mtrCtrl); - *stateMachine = FSM_STARTUP; - break; - - case FSM_STARTUP: - MCS_StartupSwitch(mtrCtrl); - break; - - case FSM_RUN: - /* Speed ramp control */ - mtrCtrl->spdRefHz = RMG_Exec(&mtrCtrl->spdRmg, mtrCtrl->spdCmdHz); - /* speed loop control */ - SPDCTRL_Exec(&mtrCtrl->spdCtrl, mtrCtrl->spdRefHz, mtrCtrl->smo.spdEstHz, &mtrCtrl->currRefDq); - break; - - case FSM_STOP: - MotorPwmOutputDisable(aptAddr); - SysRunningClr(statusReg); - *stateMachine = FSM_IDLE; - break; - - case FSM_FAULT: /* Overcurrent state */ - MCS_Fault(statusReg, stateMachine); - break; - default: - break; - } -} -/** - * @brief Obtaining the Three-Phase Current of the Compressor. - * @param CurrUvw Three-phase current data return pointer. - */ -static void ReadCurrUvwCp(UvwAxis *CurrUvw) -{ - float iBusSocA, iBusSocB; - iBusSocA = (float)(HAL_ADC_GetConvResult(&g_adc, ADC_SOC_NUM8) - 2086.0f) * ADC_CURR_COFFI_CP; - iBusSocB = (float)(HAL_ADC_GetConvResult(&g_adc, ADC_SOC_NUM9) - 2086.0f) * ADC_CURR_COFFI_CP; - R1CurrReconstruct(g_mc.r1Sv.voltIndexLast, iBusSocA, iBusSocB, CurrUvw); -} - -/** - * @brief Compressor Duty Cycle Setting. - * @param dutyUvwLeft Three-phase left duty cycle. - * @param dutyUvwRight Three-phase right duty cycle. - * @retval None. - */ -static void SetPwmDutyCp(UvwAxis *dutyUvwLeft, UvwAxis *dutyUvwRight) -{ - SetPwmDuty(&g_aptUcp, dutyUvwLeft->u, dutyUvwRight->u); - SetPwmDuty(&g_aptVcp, dutyUvwLeft->v, dutyUvwRight->v); - SetPwmDuty(&g_aptWcp, dutyUvwLeft->w, dutyUvwRight->w); -} - -/** - * @brief To set the ADC sampling trigger comparison value. - * @param cntCmpSOCA Soca Compare Count Value. - * @param cntCmpSOCB Socb Compare Count Value. - * @retval None. - */ -static void SetADCTriggerTimeCp(unsigned short cntCmpSOCA, unsigned short cntCmpSOCB) -{ - MCS_SetAdcCompareR1(g_aptCp[PHASE_U], cntCmpSOCA, cntCmpSOCB, g_mc.aptMaxcntCmp); -} - - -/** - * @brief System timer ISR function. - * @param param The systick timer handle. - * @retval None. - */ -void ISR_Systick(void *param) -{ - TIMER_Handle *timer = (TIMER_Handle *)param; - TIMER_ASSERT_PARAM(timer != NULL); - TIMER_ASSERT_PARAM(timer->baseAddress != NULL); - /* Clear timer interrupt. */ - HAL_TIMER_IrqClear(timer); - TSK_SystickIsr(&g_mc, g_aptCp); -} - - -volatile float g_mc_u, g_mc_v, g_mc_w; -volatile int g_tracevalue_ref = 1; -/** - * @brief Timer interrupt callback function of U phase APT module. - * @param aptHandle APT module handle. - * @retval None. - */ -void ISR_Carrier(void *aptHandle) -{ - /* the carrierprocess */ - MCS_CarrierProcess(&g_mc); - g_mc_u = g_mc.currUvw.u; - g_mc_v = g_mc.currUvw.v; - g_mc_w = g_mc.currUvw.w; - int tmp = g_tracevalue_ref; - BASE_FUNC_UNUSED(aptHandle); -} - -/** - * @brief Event interrupt callback function of APT module. - * @param aptHandle APT module handle. - * @retval None. - */ -void ISR_OverCurrProt(void *aptHandle) -{ - APT_Handle *apt = (APT_Handle *)aptHandle; - if (apt->irqNumEvt == APT_EVT_IRQ_CP) { - /* The IPM overcurrent triggers and disables the three-phase PWM output. */ - MotorPwmOutputDisable(g_aptCp); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_U], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_V], APT_OC_COMBINE_EVENT_A1); - DCL_APT_ClearOutCtrlEventFlag((APT_RegStruct *)g_aptCp[PHASE_W], APT_OC_COMBINE_EVENT_A1); - /* Status setting error */ - SysErrorSet(&g_mc.statusReg); - DBG_PRINTF("APT_EVT_IRQ\r\n"); - } else { - DBG_PRINTF("ISR_OverCurrProt\r\n"); - } - HAL_GPIO_TogglePin(&g_Led, GPIO_PIN_6); -} - -/** - * @brief Init motor controller's data structure. - * @retval None. - */ -static void InitSoftware(void) -{ - /* Initializing Compressor and Fan Control Tasks */ - TSK_InitCp(); - /* MCU peripheral configuration function used for initial motor control */ - g_mc.readCurrUvwCb = ReadCurrUvwCp; - g_mc.setPwmDutyCb = SetPwmDutyCp; - g_mc.setADCTriggerTimeCb = SetADCTriggerTimeCp; -} - -/** - * @brief Switch motor running status. - * @param mtrCtrl The motor control handle. - */ -static void GetExternalParam(MtrCtrlHandle *mtrCtrl) -{ - BASE_FUNC_UNUSED(mtrCtrl->spdCmdHz); /* Externally controlled motor speed, Control motor speed */ -} - -/** - * @brief Initial configuration of the underlying driver. - * @retval None. - */ -__weak void MCS_SystemInit(void) -{ -} -/** - * @brief Confit the master APT. - * @param aptx The master APT handle. - * @retval None. - */ -static void AptMasterSet(APT_Handle *aptx) -{ - MCS_ASSERT_PARAM(aptx != NULL); - /* Confit the master APT. */ - HAL_APT_MasterSyncInit(aptx, APT_SYNC_OUT_ON_CNTR_ZERO); -} - -/** - * @brief Config the slave APT. - * @param aptx The slave APT handle. - * @retval None. - */ -static void AptSalveSet(APT_Handle *aptx) -{ - MCS_ASSERT_PARAM(aptx != NULL); - APT_SlaveSyncIn slave; - /* Config the slave APT. */ - slave.divPhase = 0; - slave.cntPhase = 0; - slave.syncCntMode = APT_COUNT_MODE_AFTER_SYNC_UP; - slave.syncInSrc = APT_SYNC_IN_SRC; - slave.cntrSyncSrc = APT_CNTR_SYNC_SRC_SYNCIN; - HAL_APT_SlaveSyncInit(aptx, &slave); -} - -/** - * @brief Configuring Master and Slave APTs. - * @retval None. - */ -static void AptMasterSalveSet(void) -{ - /* Compressor fan APT master/slave synchronization */ - AptMasterSet(&g_aptUcp); - AptSalveSet(&g_aptVcp); - AptSalveSet(&g_aptWcp); -} - -/** - * @brief User application entry. - * @retval BSP_OK. - */ -int Main61H48(void) -{ - SystemInit(); - AptMasterSalveSet(); - HAL_TIMER_Start(&g_sysTickTimer); - /* Disable PWM output before startup. */ - MotorPwmOutputDisable(g_aptCp); - /* Software initialization. */ - InitSoftware(); - /* Start the PWM clock. */ - HAL_APT_StartModule(RUN_APT0 | RUN_APT1 | RUN_APT2); - - unsigned int tickNum_1ms = 2; /* 1ms tick */ - static unsigned int tickCnt_1ms = 0; - - unsigned int tickNum_500ms = 1000; /* 500ms tick */ - static unsigned int tickCnt_500ms = 0; - - BASE_FUNC_DELAY_S(MOTOR_START_DELAY); - SysCmdStartSet(&g_mc.statusReg); /* start motor */ - - while (1) { - if (g_mc.msTickCnt - tickCnt_1ms >= tickNum_1ms) { - tickCnt_1ms = g_mc.msTickCnt; - if (g_mc.stateMachine == FSM_RUN || - g_mc.stateMachine == FSM_STARTUP) { - } - } - - if (g_mc.msTickCnt - tickCnt_500ms >= tickNum_500ms) { - if (SysIsError(&g_mc.statusReg) != true) { - /* The LED blinks when no status is not error. */ - HAL_GPIO_TogglePin(&g_Led, G_LED_PIN); - } - tickCnt_500ms = g_mc.msTickCnt; - } - } - return 0; -} \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_config.h b/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_config.h deleted file mode 100644 index 848337d..0000000 --- a/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_config.h +++ /dev/null @@ -1,76 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config.h - * @author MCU Algorithm Team - * @brief This file provides config macros for ECMCU105H app. - */ -#ifndef McuMagicTag_MCS_CONFIG_H -#define McuMagicTag_MCS_CONFIG_H - -#include "debug.h" -#include "typedefs.h" - -#define SMO4TH - -#define SYSTICK_PERIOD_US 500u /* systick period */ - -#define INV_CAP_CHARGE_MS 3u - -#define INV_VOLTAGE_BUS 12.0f /* Bus voltage, V */ - -#define CTRL_CURR_PERIOD 0.0001f /* carrier ISR period, 100us */ -#define CTRL_SYSTICK_PERIOD 0.0005f /* systick control period, 500us */ - -/* Duty of sample window, the real time is 0.06*50us = 3us. */ -#define SAMPLE_WINDOW_DUTY 0.06f - -/* Duty of sample point shift as flip point, the real time is 0.008*50us = 0.4us. */ -#define SAMPLE_POINT_SHIFT 0.008f - -/* SMO */ -#define SPEED_FILTER_CUTOFF_FREQUENCY 40.0f -#define FILTER_ANGLE_COMPENSATION 4826 -/* Sampling resistance 200mOhm 0.0013295 */ -#define ADC_CURR_COFFI_CP 0.0013295f /* 3.3/4096/3.03/0.2 pga: 3.03, 200mohm */ -/* APT */ -#define APT_SYNC_IN_SRC APT_SYNCIN_SRC_APT0_SYNCOUT - -#define APT_U_CP APT0_BASE /* Base address of U phase APT module */ -#define APT_V_CP APT1_BASE /* Base address of V phase APT module */ -#define APT_W_CP APT2_BASE /* Base address of W phase APT module */ - - -#define FOSMO_GAIN 1.5f -/* User_Commond */ -#define CTRL_IF_CURR_AMP_A 0.12f /* IF control current amplitude */ -#define USER_TARGET_SPD_HZ (100.0f) /* Parentheses are used to enter negative instructions */ -#define USER_SWITCH_SPDBEGIN_HZ (30.0f) /* Start of handover interval */ -#define USER_SWITCH_SPDEND_HZ (33.0f) /* End of handover period */ -#define USER_MAX_SPD_HZ 180.25 -#define USER_SPD_SLOPE 100.0f /* slope of velocity change */ -#define USER_CURR_SLOPE (CTRL_IF_CURR_AMP_A * 40.0f) /* Current change slope */ - - -/* Service Definition */ -#define MOTOR_START_DELAY 100 -#define ADC_READINIT_DELAY 200 -#define ADC_READINIT_TIMES 20 -#define ADC_TRIMVALUE_MIN 2020.0 -#define ADC_TRIMVALUE_MAX 2080.0 - -#endif \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_motor.h b/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_motor.h deleted file mode 100644 index 21b6627..0000000 --- a/application/middleware_sample/pmsm_sensorless_1shunt_foc/inc/mcs_motor.h +++ /dev/null @@ -1,52 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_motor.h - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#ifndef McuMagicTag_MCS_MOTOR_H -#define McuMagicTag_MCS_MOTOR_H - -#include "mcs_mtr_param.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -typedef struct { - /* electromechanical parameters */ - unsigned int mtrNp; /**< numbers of pole pairs */ - float mtrRs; /**< resistor of stator */ - float mtrLd; /**< inductance of D-axis */ - float mtrLq; /**< inductance of Q-axis */ - float mtrPsif; /**< permanent magnet flux */ - float mtrJ; /**< rotor inertia */ - float maxElecSpd; /**< max elec speed */ - float maxCurr; /**< max current */ -} MotorConfig; - -typedef struct { - float currPiKp; /**< current loop kp */ - float currPiKi; /**< current loop ki */ - float currPiLimitPu; /**< current loop limit per unit value */ - float spdPiKp; /**< speed loop kp */ - float spdPiKi; /**< speed loop ki */ - float spdPiLimit; /**< speed loop limit */ -} PiCtrlParam; - -void MtrParamInit(MtrParamHandle *handle, const MotorConfig *motorTable); - -#endif diff --git a/application/middleware_sample/pmsm_sensorless_1shunt_foc/readme.txt b/application/middleware_sample/pmsm_sensorless_1shunt_foc/readme.txt deleted file mode 100644 index a97714e..0000000 --- a/application/middleware_sample/pmsm_sensorless_1shunt_foc/readme.txt +++ /dev/null @@ -1,4 +0,0 @@ -ʾơpmsm_sensorless_1shunt_foc -˵ECMCU105Hĵ˫FOCӦ -Ҫ󡿣õԴΪʾõ12VѹѡGimbal GBM2804H-100T -IDE÷chipConfigеsampleĿѡpmsm sensorless 1shunt focʾȻɴ뼴 \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_1shunt_foc/src/mcs_motor.c b/application/middleware_sample/pmsm_sensorless_1shunt_foc/src/mcs_motor.c deleted file mode 100644 index d7f371f..0000000 --- a/application/middleware_sample/pmsm_sensorless_1shunt_foc/src/mcs_motor.c +++ /dev/null @@ -1,48 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_motor.c - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#include "mcs_motor.h" -#include "mcs_assert.h" - -/** - * @brief Initialzer of motor parameters. - * @param mtrParamHandle Motor parameters handle. - * @param motorTable Motor parameters table handle. - * @retval None. - */ -void MtrParamInit(MtrParamHandle *mtrParamHandle, const MotorConfig *motorTable) -{ - MCS_ASSERT_PARAM(mtrParamHandle != NULL); - MCS_ASSERT_PARAM(motorTable != NULL); - /* Initialzer of motor parameters */ - mtrParamHandle->mtrRs = motorTable->mtrRs; /* resistor of stator */ - mtrParamHandle->mtrLd = motorTable->mtrLd; /* inductance of D-axis */ - mtrParamHandle->mtrLq = motorTable->mtrLq; /* inductance of Q-axis */ - /* Average inductance, mtrLs = (mtrLd + mtrLq) * 0.5f */ - mtrParamHandle->mtrLs = (motorTable->mtrLd + motorTable->mtrLq) * 0.5f; - mtrParamHandle->mtrPsif= motorTable->mtrPsif; /* permanent magnet flux */ - mtrParamHandle->mtrNp = motorTable->mtrNp; /* numbers of pole pairs */ - mtrParamHandle->mtrJ = motorTable->mtrJ; /* rotor inertia */ - mtrParamHandle->maxElecSpd = motorTable->maxElecSpd; /* max elec speed */ - mtrParamHandle->maxCurr = motorTable->maxCurr; /* max current */ - mtrParamHandle->maxTrq = 0.0f; -} \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_config.h b/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_config.h deleted file mode 100644 index 88bc4c7..0000000 --- a/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_config.h +++ /dev/null @@ -1,77 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_config.h - * @author MCU Algorithm Team - * @brief This file provides config macros for ECMCU105H app. - */ -#ifndef McuMagicTag_MCS_CONFIG_H -#define McuMagicTag_MCS_CONFIG_H - -#include "debug.h" -#include "typedefs.h" - -#define SMO4TH - -#define SYSTICK_PERIOD_US 500u /* systick period */ - -#define INV_CAP_CHARGE_MS 3u - -#define INV_VOLTAGE_BUS 12.0f /* Bus voltage, V */ - -#define CTRL_CURR_PERIOD 0.0001f /* carrier ISR period, 100us */ -#define CTRL_SYSTICK_PERIOD 0.0005f /* systick control period, 500us */ - -/* Duty of sample window, the real time is 0.06*50us = 3us. */ -#define SAMPLE_WINDOW_DUTY 0.06f - -/* Duty of sample point shift as flip point, the real time is 0.008*50us = 0.4us. */ -#define SAMPLE_POINT_SHIFT 0.008f - -/* SMO */ -#define SPEED_FILTER_CUTOFF_FREQUENCY 40.0f -#define FILTER_ANGLE_COMPENSATION 4826 -/* Sampling resistance 200mOhm 0.0013295 */ -#define ADC_CURR_COFFI_CP 0.0013295f /* 3.3/4096/3.03/0.2 pga: 3.03, 200mohm */ -/* APT */ -#define APT_SYNC_IN_SRC APT_SYNCIN_SRC_APT0_SYNCOUT - -#define APT_U_CP APT0_BASE /* Base address of U phase APT module */ -#define APT_V_CP APT1_BASE /* Base address of V phase APT module */ -#define APT_W_CP APT2_BASE /* Base address of W phase APT module */ - - -#define FOSMO_GAIN 1.5f -/* User_Commond */ -#define CTRL_IF_CURR_AMP_A 0.07f /* IF control current amplitude */ -#define USER_TARGET_SPD_HZ (100.0f) /* Parentheses are used to enter negative instructions */ -#define USER_SWITCH_SPDBEGIN_HZ (30.0f) /* Start of handover interval */ -#define USER_SWITCH_SPDEND_HZ (33.0f) /* End of handover period */ -#define USER_MAX_SPD_HZ 180.25 -#define USER_SPD_SLOPE 100.0f /* slope of velocity change */ -#define USER_CURR_SLOPE (CTRL_IF_CURR_AMP_A * 40.0f) /* Current change slope */ - - -/* Service Definition */ -#define ADC_INITREAD_DELAY 5 -#define MOTOR_START_DELAY 50 -#define ADC_READINIT_DELAY 20 -#define ADC_READINIT_TIMES 20 -#define ADC_TRIMVALUE_MIN 1950.0 -#define ADC_TRIMVALUE_MAX 2150.0 - -#endif \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_motor.h b/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_motor.h deleted file mode 100644 index 21b6627..0000000 --- a/application/middleware_sample/pmsm_sensorless_2shunt_foc/inc/mcs_motor.h +++ /dev/null @@ -1,52 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_motor.h - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#ifndef McuMagicTag_MCS_MOTOR_H -#define McuMagicTag_MCS_MOTOR_H - -#include "mcs_mtr_param.h" - -/* Typedef definitions ------------------------------------------------------------------------- */ -typedef struct { - /* electromechanical parameters */ - unsigned int mtrNp; /**< numbers of pole pairs */ - float mtrRs; /**< resistor of stator */ - float mtrLd; /**< inductance of D-axis */ - float mtrLq; /**< inductance of Q-axis */ - float mtrPsif; /**< permanent magnet flux */ - float mtrJ; /**< rotor inertia */ - float maxElecSpd; /**< max elec speed */ - float maxCurr; /**< max current */ -} MotorConfig; - -typedef struct { - float currPiKp; /**< current loop kp */ - float currPiKi; /**< current loop ki */ - float currPiLimitPu; /**< current loop limit per unit value */ - float spdPiKp; /**< speed loop kp */ - float spdPiKi; /**< speed loop ki */ - float spdPiLimit; /**< speed loop limit */ -} PiCtrlParam; - -void MtrParamInit(MtrParamHandle *handle, const MotorConfig *motorTable); - -#endif diff --git a/application/middleware_sample/pmsm_sensorless_2shunt_foc/readme.txt b/application/middleware_sample/pmsm_sensorless_2shunt_foc/readme.txt deleted file mode 100644 index 5ad9a7a..0000000 --- a/application/middleware_sample/pmsm_sensorless_2shunt_foc/readme.txt +++ /dev/null @@ -1,4 +0,0 @@ -ʾơpmsm_sensorless_2shunt_foc -˵ECMCU105Hĵ˫FOCӦ -Ҫ󡿣õԴΪʾõ12VѹѡGimbal GBM2804H-100T -IDE÷chipConfigеsampleĿѡpmsm sensorless 2shunt focʾȻɴ뼴 \ No newline at end of file diff --git a/application/middleware_sample/pmsm_sensorless_2shunt_foc/src/mcs_motor.c b/application/middleware_sample/pmsm_sensorless_2shunt_foc/src/mcs_motor.c deleted file mode 100644 index d7f371f..0000000 --- a/application/middleware_sample/pmsm_sensorless_2shunt_foc/src/mcs_motor.c +++ /dev/null @@ -1,48 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file mcs_motor.c - * @author MCU Algorithm Team - * @brief This file provides the electromechanical parameters of the tested motor. - */ - -#include "mcs_motor.h" -#include "mcs_assert.h" - -/** - * @brief Initialzer of motor parameters. - * @param mtrParamHandle Motor parameters handle. - * @param motorTable Motor parameters table handle. - * @retval None. - */ -void MtrParamInit(MtrParamHandle *mtrParamHandle, const MotorConfig *motorTable) -{ - MCS_ASSERT_PARAM(mtrParamHandle != NULL); - MCS_ASSERT_PARAM(motorTable != NULL); - /* Initialzer of motor parameters */ - mtrParamHandle->mtrRs = motorTable->mtrRs; /* resistor of stator */ - mtrParamHandle->mtrLd = motorTable->mtrLd; /* inductance of D-axis */ - mtrParamHandle->mtrLq = motorTable->mtrLq; /* inductance of Q-axis */ - /* Average inductance, mtrLs = (mtrLd + mtrLq) * 0.5f */ - mtrParamHandle->mtrLs = (motorTable->mtrLd + motorTable->mtrLq) * 0.5f; - mtrParamHandle->mtrPsif= motorTable->mtrPsif; /* permanent magnet flux */ - mtrParamHandle->mtrNp = motorTable->mtrNp; /* numbers of pole pairs */ - mtrParamHandle->mtrJ = motorTable->mtrJ; /* rotor inertia */ - mtrParamHandle->maxElecSpd = motorTable->maxElecSpd; /* max elec speed */ - mtrParamHandle->maxCurr = motorTable->maxCurr; /* max current */ - mtrParamHandle->maxTrq = 0.0f; -} \ No newline at end of file diff --git a/board/key/inc/matrixkey.h b/board/key/inc/matrixkey.h deleted file mode 100644 index 6482b9a..0000000 --- a/board/key/inc/matrixkey.h +++ /dev/null @@ -1,103 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file matrixkey.h - * @author MCU Application Team - * @brief Include the header file of the matrixkey.c file. - */ - -/* Define to prevent recursive inclusion ------------------------------------- */ -#ifndef McuMagicTag_MATRIXKEY_H -#define McuMagicTag_MATRIXKEY_H - -/* Includes ------------------------------------------------------------------ */ -#include "baseinc.h" -#include "timer.h" -#include "gpio.h" - -#ifdef MKEY_PARAM_CHECK -#define MKEY_ASSERT_PARAM BASE_FUNC_ASSERT_PARAM -#define MKEY_PARAM_CHECK_NO_RET BASE_FUNC_PARAMCHECK_NO_RET -#define MKEY_PARAM_CHECK_WITH_RET BASE_FUNC_PARAMCHECK_WITH_RET -#else -#define MKEY_ASSERT_PARAM(para) ((void)0U) -#define MKEY_PARAM_CHECK_NO_RET(para) ((void)0U) -#define MKEY_PARAM_CHECK_WITH_RET(para, ret) ((void)0U) -#endif - -/* Macro definitions --------------------------------------------------------- */ -/** Solution 1 : Proactively process keystroke events. The interrupt processing \ - function scans the I/O port. When the key press tick reaches the press \ - threshold, the key registration function is invoked in the interrupt. This \ - function applies to scenarios where the key event execution time is short. \ - Advantage: It is easy to invoke. When the while loop in main is long, this \ - method responds to keys in real time. */ -#define BOARD_MKEY_SCHEME_NUMBER_ONE 0 -/** Solution 2: Passively process keystroke events. The interrupt processing \ - function scans I/O ports and counts ticks. The main function polls tick \ - values in the while loop. When the threshold is reached, the registration \ - function is called. Advantage: The interrupt function processing period is \ - reduced. */ -#define BOARD_MKEY_SCHEME_NUMBER_TWO 1 - -/* Typedef definitions ------------------------------------------------------- */ -/** - * @brief Function return type definition. - */ -typedef enum { - BOARD_MKEY_RET_OK = 0x00000000U, - BOARD_MKEY_RET_INVALID_PARAM = 0x00000001U -} BOARD_MKEY_RET; - -/** - * @brief GPIO group and Pin definition. - */ -typedef struct { - GPIO_RegStruct *gpiox; /**< GPIO register. */ - unsigned int pins; /**< Pin value. */ -} GPIO_MKEY_PinInfo; - -typedef void (*MKeyHandleFun)(void); - -/** - * @brief Key attribute definition. - */ -typedef struct { - unsigned int tick; /**< Current key press count. */ - MKeyHandleFun fun; /**< Function pointer bound when a key event is triggered. */ -} GPIO_MKEY_KeyInfo; - -/** - * @brief Matrix key handle. - */ -typedef struct { - GPIO_MKEY_PinInfo outPins[BOARD_MKEY_OUT_NUM]; /**< GPIO pin used as output during scanning. */ - GPIO_MKEY_PinInfo inPins[BOARD_MKEY_IN_NUM]; /**< GPIO pin used as input during scanning. */ - GPIO_MKEY_KeyInfo keyInfo[BOARD_MKEY_OUT_NUM * BOARD_MKEY_IN_NUM]; /**< Stores information about each key. */ -} BOARD_MKEY_Handle; - -/* Exported global functions ------------------------------------------------- */ -void BOARD_MKEY_Init(TIMER_Handle *timerHandle, unsigned int validPressTimeMs); -BOARD_MKEY_RET BOARD_MKEY_ConfigOutputPin(GPIO_RegStruct *gpiox, unsigned int pins, unsigned int index); -BOARD_MKEY_RET BOARD_MKEY_ConfigInputPin(GPIO_RegStruct *gpiox, unsigned int pins, unsigned int index); -BOARD_MKEY_RET BOARD_MKEY_RegisterKeyFun(unsigned int keyNum, MKeyHandleFun fun); -void BOARD_MKEY_TimerCallBack(void *param); -#if (BOARD_MKEY_SCHEME_NUMBER == BOARD_MKEY_SCHEME_NUMBER_TWO) -void BOARD_MKEY_SCAN_KEY(void); -#endif - -#endif /* McuMagicTag_MATRIXKEY_H */ \ No newline at end of file diff --git a/board/key/src/matrixkey.c b/board/key/src/matrixkey.c deleted file mode 100644 index c654817..0000000 --- a/board/key/src/matrixkey.c +++ /dev/null @@ -1,223 +0,0 @@ -/** - * @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. - * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the - * following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following - * disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - * following disclaimer in the documentation and/or other materials provided with the distribution. - * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote - * products derived from this software without specific prior written permission. - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, - * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE - * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * @file matrixkey.c - * @author MCU Application Team - * @brief Dynamic key scanning module application. - * @details This file provides firmware functions to manage the following - * functionalities of the Dynamic key scanning. - * + Initialization functions. - * + Pin configuration and key event registration function. - * @verbatim - * usage: - * 1) Use the chip config tool to generate the timer/gpt initialization code. - * 2) Call the BOARD_MKEY_Init() function to select the specified TIMER and set Key valid values. - * 3) Call the BOARD_MKEY_ConfigOutputPin() and BOARD_MKEY_ConfigInputPin() function to set pins. - * 4) Call the BOARD_MKEY_RegisterKeyFun() to register the key triggering event. - * 5) Start the corresponding TIMER to monitor the key press status. - * 6) Note: If BOARD_MKEY_SCHEME_NUMBER_TWO is used, the BOARD_MKEY_SCAN_KEY() function should be called in the main - * function while loop to complete key scanning. - * The pin numbers of the Key matrix are as follows: - * out1 | key1 key2 key3 key4 - * | - * out2 | key5 key6 key7 key8 - * | - * out3 | key9 key10 key11 key12 - * | - * out4 | key13 key14 key15 key16 - * |-------------------------------- - * in1 in2 in3 in4 - * @endverbatim - */ - -/* Includes ------------------------------------------------------------------ */ -#include "matrixkey.h" - -/* Private variables --------------------------------------------------------- */ -BOARD_MKEY_Handle g_mKeyInfo; /**< Matrix key array. */ -static unsigned int g_mKeyValidTick; /**< Number of ticks for which keys take effect. */ -static const unsigned int g_mKeyTotalKeyNumber = BOARD_MKEY_IN_NUM * BOARD_MKEY_OUT_NUM; /**< Total number of keys. */ - -/** - * @brief Initialization function, setting the timer and key validity period (ms). - * @param timerHandle Timer handle. - * @param validPressTimeMs Key validity period, in milliseconds. - */ -void BOARD_MKEY_Init(TIMER_Handle *timerHandle, unsigned int validPressTimeMs) -{ - MKEY_ASSERT_PARAM(timerHandle != NULL); - - g_mKeyValidTick = validPressTimeMs; - - unsigned int loadVal = HAL_CRG_GetIpFreq((void *)timerHandle->baseAddress) / 1000; /* 1000: get cycles in 1 ms. */ - timerHandle->load = loadVal; - timerHandle->bgLoad = loadVal; - HAL_TIMER_Config(timerHandle, TIMER_CFG_LOAD); - HAL_TIMER_Config(timerHandle, TIMER_CFG_BGLOAD); - HAL_TIMER_RegisterCallback(timerHandle, BOARD_MKEY_TimerCallBack); - - for (unsigned int i = 0; i < g_mKeyTotalKeyNumber; i++) { - g_mKeyInfo.keyInfo[i].fun = NULL; - g_mKeyInfo.keyInfo[i].tick = 0; - } -} - -/** - * @brief Configuring GPIO for Output. - * @param gpiox GPIO group: GPIO0, GPIO1, GPIO2... - * @param pins Specific pin value. - * @param index Specifies the index value, in [0, BOARD_MKEY_OUT_NUM). - * @return BOARD_MKEY_RET @ref BOARD_MKEY_RET. - */ -BOARD_MKEY_RET BOARD_MKEY_ConfigOutputPin(GPIO_RegStruct *gpiox, unsigned int pins, unsigned int index) -{ - MKEY_ASSERT_PARAM(gpiox != NULL); - MKEY_PARAM_CHECK_WITH_RET((index < BOARD_MKEY_OUT_NUM), BOARD_MKEY_RET_INVALID_PARAM); - - g_mKeyInfo.outPins[index].gpiox = gpiox; - g_mKeyInfo.outPins[index].pins = pins; - DCL_GPIO_SetDirection(gpiox, pins, GPIO_OUTPUT_MODE); - DCL_GPIO_SetValue(gpiox, pins, BOARD_MKEY_OUT_PIN_INVALID); - - return BOARD_MKEY_RET_OK; -} - -/** - * @brief Configuring GPIO for Input. - * @param gpiox GPIO group: GPIO0, GPIO1, GPIO2... - * @param pins Specific pin value. - * @param index Specifies the index value, in [0, BOARD_MKEY_In_NUM). - * @return BOARD_MKEY_RET @ref BOARD_MKEY_RET. - */ -BOARD_MKEY_RET BOARD_MKEY_ConfigInputPin(GPIO_RegStruct *gpiox, unsigned int pins, unsigned int index) -{ - MKEY_ASSERT_PARAM(gpiox != NULL); - MKEY_PARAM_CHECK_WITH_RET((index < BOARD_MKEY_IN_NUM), BOARD_MKEY_RET_INVALID_PARAM); - - g_mKeyInfo.inPins[index].gpiox = gpiox; - g_mKeyInfo.inPins[index].pins = pins; - DCL_GPIO_SetDirection(gpiox, pins, GPIO_INPUT_MODE); - DCL_GPIO_SetValue(gpiox, pins, BOARD_MKEY_IN_PIN_INVALID); - - return BOARD_MKEY_RET_OK; -} - -/** - * @brief Registering the Key Binding Function. - * @param keyNum Key Number.Calculated based on the input and output index values. - * @param fun Key function pointer. - * @return BOARD_MKEY_RET @ref BOARD_MKEY_RET. - */ -BOARD_MKEY_RET BOARD_MKEY_RegisterKeyFun(unsigned int keyNum, MKeyHandleFun fun) -{ - MKEY_ASSERT_PARAM(fun != NULL); - MKEY_PARAM_CHECK_WITH_RET((keyNum < g_mKeyTotalKeyNumber), BOARD_MKEY_RET_INVALID_PARAM); - - g_mKeyInfo.keyInfo[keyNum].fun = fun; - return BOARD_MKEY_RET_OK; -} - -/** - * @brief Disable all output GPIOs. - */ -static void BOARD_MKEY_TurnOffOutPin(void) -{ - for (int i = 0; i < BOARD_MKEY_OUT_NUM; i++) { - MKEY_PARAM_CHECK_NO_RET(g_mKeyInfo.outPins[i].gpiox); - DCL_GPIO_SetValue(g_mKeyInfo.outPins[i].gpiox, g_mKeyInfo.outPins[i].pins, BOARD_MKEY_OUT_PIN_INVALID); - } -} - -#if (BOARD_MKEY_SCHEME_NUMBER == BOARD_MKEY_SCHEME_NUMBER_ONE) -/** - * @brief Timer callback function. Determines the status of each key and executes the registration event according to - * the status. - * @param irqNum Interrupt number. - * @param param Pointer to the timer handle. - */ -void BOARD_MKEY_TimerCallBack(void *param) -{ - TIMER_Handle *handle = (TIMER_Handle *)param; - HAL_TIMER_IrqClear(handle); - - for (unsigned int i = 0; i < BOARD_MKEY_OUT_NUM; i++) { - BOARD_MKEY_TurnOffOutPin(); - DCL_GPIO_SetValue(g_mKeyInfo.outPins[i].gpiox, g_mKeyInfo.outPins[i].pins, BOARD_MKEY_OUT_PIN_VALID); - for (unsigned int j = 0; j < BOARD_MKEY_IN_NUM; j++) { - unsigned int tmp = i * BOARD_MKEY_IN_NUM + j; - GPIO_Value value = DCL_GPIO_GetPinValue(g_mKeyInfo.inPins[j].gpiox, g_mKeyInfo.inPins[j].pins); - if (value == BOARD_MKEY_IN_PIN_VALID) { - g_mKeyInfo.keyInfo[tmp].tick++; - continue; - } - if (g_mKeyInfo.keyInfo[tmp].tick >= g_mKeyValidTick && g_mKeyInfo.keyInfo[tmp].fun) { - g_mKeyInfo.keyInfo[tmp].fun(); - } - g_mKeyInfo.keyInfo[tmp].tick = 0; - } - } -} -#endif - -#if (BOARD_MKEY_SCHEME_NUMBER == BOARD_MKEY_SCHEME_NUMBER_TWO) -/** - * @brief Timer callback function. Check the status of each key and update the tick value. - * @param irqNum Interrupt number. - * @param param Pointer to the timer handle. - */ -void BOARD_MKEY_TimerCallBack(void *param) -{ - TIMER_Handle *handle = (TIMER_Handle *)param; - HAL_TIMER_IrqClear(handle); - - for (int i = 0; i < BOARD_MKEY_OUT_NUM; i++) { - BOARD_MKEY_TurnOffOutPin(); - DCL_GPIO_SetValue(g_mKeyInfo.outPins[i].gpiox, g_mKeyInfo.outPins[i].pins, BOARD_MKEY_OUT_PIN_VALID); - for (int j = 0; j < BOARD_MKEY_IN_NUM; j++) { - int tmp = i * BOARD_MKEY_IN_NUM + j; - int gpioVal = DCL_GPIO_GetPinValue(g_mKeyInfo.inPins[j].gpiox, g_mKeyInfo.inPins[j].pins); - if (gpioVal == BOARD_MKEY_IN_PIN_VALID && g_mKeyInfo.keyInfo[tmp].tick < g_mKeyValidTick) { - g_mKeyInfo.keyInfo[tmp].tick++; - continue; - } - if (gpioVal == BOARD_MKEY_IN_PIN_INVALID && g_mKeyInfo.keyInfo[tmp].tick < g_mKeyValidTick) { - g_mKeyInfo.keyInfo[tmp].tick = 0; - continue; - } - if (gpioVal == BOARD_MKEY_IN_PIN_INVALID && g_mKeyInfo.keyInfo[tmp].tick == g_mKeyValidTick) { - g_mKeyInfo.keyInfo[tmp].tick++; - } - } - } -} - -/** - * @brief Scans the key tick value and executes the binding function when the value reaches the threshold. - * This function is called in the main loop. - */ -void BOARD_MKEY_SCAN_KEY(void) -{ - for (unsigned int i = 0; i < g_mKeyTotalKeyNumber; i++) { - if (g_mKeyInfo.keyInfo[i].tick > g_mKeyValidTick) { - g_mKeyInfo.keyInfo[i].tick = 0; - if (g_mKeyInfo.keyInfo[i].fun) { - g_mKeyInfo.keyInfo[i].fun(); - } - } - } -} -#endif \ No newline at end of file diff --git a/build/build_check.py b/build/build_check.py deleted file mode 100644 index 12c391b..0000000 --- a/build/build_check.py +++ /dev/null @@ -1,641 +0,0 @@ -#!/usr/bin/env python3 -# coding=utf-8 - -''' -# @copyright Copyright (c) 2022, HiSilicon (Shanghai) Technologies Co., Ltd. All rights reserved. -# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the -# following conditions are met: -# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following -# disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the -# following disclaimer in the documentation and/or other materials provided with the distribution. -# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote -# products derived from this software without specific prior written permission. -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE -# USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -''' - -import os -import stat -import sys -import json -import configparser -import subprocess -import tarfile -import zipfile -import shutil -import pathlib - - -def set_bool_parameter(parameter, value, compile_parameter): - ''' - Function description: Set bool parameter, yes is true, no is false - ''' - - if parameter == "yes": - if value not in compile_parameter: - compile_parameter.append(value) - else: - if value in compile_parameter: - compile_parameter.remove(value) - - -def un_alltools(file_name): - ''' - Function description: Decompress all compilation tools. - ''' - if len(str(file_name)) > 256: - print("Error!!!! The file path string is too long(256): ", file_name) - return - - for word in file_name: - if '.' in word: - suffix = file_name.split('.')[-1] - if suffix in ('gz', 'tar'): - untar(file_name) - elif suffix == 'zip': - unzip(file_name) - break - - -def untar(file_name): - ''' - Function description: Decompress the tar or tar.gz file. - ''' - - head, tail = os.path.split(file_name) - cur_path = os.path.join(head, tail.split('.')[0]) - - if not os.path.exists(cur_path): - with tarfile.open(file_name) as tar: - tar.extractall(os.path.dirname(cur_path)) - - -def unzip(file_name): - ''' - Function description: Decompress the zip file. - ''' - - max_size = 1 * 1024 * 1024 * 500 - cur_size = 0 - - with zipfile.ZipFile(file_name) as zip_file: - head, tail = os.path.split(file_name) - file_name = os.path.join(head, tail.split('.')[0]) - - if not os.path.isdir(file_name): - os.mkdir(file_name) - - for names in zip_file.infolist(): - cur_size += names.file_size - if cur_size > max_size: - break - zip_file.extract(names.filename, file_name) - - -def config_toolchain(tool_path, sdk_path): - files1 = (os.listdir(tool_path)) - files2 = (os.listdir(sdk_path)) - files1.sort() - files2.sort() - - for item in files2: - if item not in files1: - source = os.path.join(sdk_path, item) - if os.path.isdir(source): - continue - target = os.path.join(tool_path, item) - shutil.copyfile(source, target) - un_alltools(target) - - gn_path = os.path.join(tool_path, "gn-win", "gn.exe") - gnzip_path = os.path.join(tool_path, "gn-win.zip") - if not os.path.exists(gn_path): - un_alltools(gnzip_path) - - ninja_path = os.path.join(tool_path, "ninja-win", "ninja.exe") - ninjazip_path = os.path.join(tool_path, "ninja-win.zip") - if not os.path.exists(ninja_path): - un_alltools(ninjazip_path) - - -def config_download_toolchain(tool_path): - del_list = [f for f in os.listdir(tool_path)] - for f in del_list: - file_path = os.path.join(tool_path, f) - if os.path.isdir(file_path): - shutil.rmtree(file_path) - - cc_riscv32_win_env_tar_gz_path = os.path.join( - tool_path, "cc_riscv32_win_env.tar.gz") - un_alltools(cc_riscv32_win_env_tar_gz_path) - - cc_riscv32_musl_win_tar_gz_path = os.path.join( - tool_path, "cc_riscv32_musl_win.tar.gz") - un_alltools(cc_riscv32_musl_win_tar_gz_path) - - cc_riscv32_musl_fp_win_tar_gz_path = os.path.join( - tool_path, "cc_riscv32_musl_fp_win.tar.gz") - un_alltools(cc_riscv32_musl_fp_win_tar_gz_path) - - gnzip_path = os.path.join(tool_path, "gn-win.zip") - un_alltools(gnzip_path) - - ninjazip_path = os.path.join(tool_path, "ninja-win.zip") - un_alltools(ninjazip_path) - - path1 = os.path.join(tool_path, "bundle.json") - path2 = os.path.join(tool_path, "LICENSE") - path3 = os.path.join(tool_path, "README.md") - if os.path.exists(path1): - os.remove(path1) - if os.path.exists(path2): - os.remove(path2) - if os.path.exists(path3): - os.remove(path3) - - -def config_win_env(tool_path): - source = os.path.join(tool_path, "cc_riscv32_win_env") - if not os.path.exists(source): - return - - target1 = os.path.join(tool_path, "cc_riscv32_musl_fp_win\\bin") - target2 = os.path.join(tool_path, "cc_riscv32_musl_win\\bin") - src_files = os.listdir(source) - for file_name in src_files: - full_file_name = os.path.join(source, file_name) - if not os.path.isfile(full_file_name): - continue - if os.path.exists(target1): - shutil.copy(full_file_name, target1) - if os.path.exists(target2): - shutil.copy(full_file_name, target2) - - -def config_gdb_env(tool_path): - tool_chain = ["cc_riscv32_musl_fp_win", "cc_riscv32_musl_win"] - rename_bin = [ - ["riscv32-linux-musl-gdb.exe", "riscv32-unknown-elf-gdb.exe"], - ["riscv32-linux-musl-objdump.exe", "riscv32-unknown-elf-objdump.exe"] - ] - - for tool in tool_chain: - for bins in rename_bin: - old = os.path.join(tool_path, tool, "bin", bins[0]) - new = os.path.join(tool_path, tool, "bin", bins[1]) - - if os.path.exists(old) and not os.path.exists(new): - shutil.copyfile(old, new) - - -def convert_file_to_path(includes): - path = [i for i in includes.replace('\n', '').split(",") if i != ''] - - for i, item in enumerate(path): - if os.path.isfile(item): - path[i] = os.path.dirname(item) - return list(set(path)) - - -def convert_file_to_path_extern(includes, cur_path): - # Processing Path - path = [i for i in includes.replace('\n', '').split(",") if i != ''] - # Process only paths outside the project - path = [i for i in path if cur_path not in i] - - if not path: - return path - - for i, item in enumerate(path): - if os.path.isfile(item): - path[i] = os.path.dirname(item) - - return list(set(path)) - - -class CompileParameter: - optimization = '' - warning = '' - werror = '' - wno_unused_function = '' - wno_unused_label = '' - wno_unused_parameter = '' - wno_unused_variable = '' - fstack = '' - - def __init__(self): - pass - - def set_optimization(self, config): - self.optimization = config - - def set_warnning(self, config): - self.warnning = config - - def set_werror(self, config): - self.werror = config - - def set_function(self, config): - self.wno_unused_function = config - - def set_label(self, config): - self.wno_unused_label = config - - def set_parameter(self, config): - self.wno_unused_parameter = config - - def set_variable(self, config): - self.wno_unused_variable = config - - def set_fstack(self, config): - self.fstack = config - - @staticmethod - def set_generate_crc(value): - deveco_path = 'build/config.ini' - if not os.path.exists(deveco_path): - return - - config = configparser.ConfigParser() - config.read(deveco_path) - - if not config.has_section('gn_args'): - return - - config.set('gn_args', 'gen_crc', value) - modes = stat.S_IWUSR | stat.S_IRUSR - flags = os.O_RDWR | os.O_CREAT - config.write(os.fdopen(os.open(deveco_path, flags, modes), 'w')) - - - @staticmethod - def set_build_type(build_type): - command = 'python build/build.py -b ' + build_type - process = subprocess.Popen(command, shell=False) - process.wait() - - @staticmethod - def check_toolchain(sdk_path): - ide_path = ".deveco-device-tool/compiler_tool_chain/Windows" - tool_path = os.path.join(os.path.expanduser("~"), ide_path) - sdk_path = os.path.join(sdk_path, "tools/toolchain/Windows") - ninja_exe_path = os.path.join(tool_path, "ninja-win", "ninja.exe") - # check toolchain - all_times = 3 - times = 0 - if not os.path.exists(sdk_path): - for times in range(0, all_times): - if not os.path.exists(ninja_exe_path): - config_download_toolchain(tool_path) - config_win_env(tool_path) - config_gdb_env(tool_path) - times += 1 - else: - return - if not os.path.exists(ninja_exe_path): - print("Packages in " + tool_path + - " are damaged! Please manually delete and rebuild!") - return - - if not os.path.exists(os.path.dirname(tool_path)): - os.mkdir(os.path.dirname(tool_path)) - if not os.path.exists(tool_path): - os.mkdir(tool_path) - else: - if check_tool_chain_md5(sdk_path, tool_path): - return - - config_toolchain(tool_path, sdk_path) - config_win_env(tool_path) - config_gdb_env(tool_path) - - @staticmethod - def set_toolchain(toolchian, build_type): - if toolchian == 'cc_riscv32_musl_fp_win': - command = 'python build/build.py -t hcc_fpu -b' + build_type - else: - command = 'python build/build.py -t hcc -b' + build_type - - process = subprocess.Popen(command, shell=False) - process.wait() - - def set_compile_parameter(self): - ''' - Function description: Set compile parameter. - ''' - - file_data = "" - file_path = "chip/target/userconfig.json" - - modes = stat.S_IWUSR | stat.S_IRUSR - flags = os.O_RDWR | os.O_CREAT - with os.fdopen(os.open(file_path, flags, modes), 'r+') as f: - file_data = f.read() - content = json.loads(file_data) - - for subsystem in content["system"][0]["subsystem"]: - if subsystem["name"] != "compile_frame": - continue - - param = subsystem["cflags"] - param[0] = f'-{self.optimization}' - - if self.warnning == "yes": - param[2] = "-Wall" - else: - param[2] = "-w" - - set_bool_parameter( - self.werror, "-Werror", param) - set_bool_parameter( - self.wno_unused_function, "-Wno-unused-function", param) - set_bool_parameter(self.wno_unused_label, - "-Wno-unused-label", param) - set_bool_parameter( - self.wno_unused_parameter, "-Wno-unused-parameter", param) - set_bool_parameter( - self.wno_unused_variable, "-Wno-unused-variable", param) - set_bool_parameter( - self.fstack, "-fstack-protector-strong", param) - - file_data = json.dumps( - content, indent=4, ensure_ascii=False) - - f.seek(0) - f.truncate() - f.write(file_data) - break - - @staticmethod - def set_static_library(enable, name, sources, includes): - ''' - Function description: Set static library. - ''' - file_data = "" - file_path = "chip/target/userconfig.json" - cflags = [] - asmflags = [] - ldflags = [] - - modes = stat.S_IWUSR | stat.S_IRUSR - flags = os.O_RDWR | os.O_CREAT - with os.fdopen(os.open(file_path, flags, modes), 'r+') as f: - file_data = f.read() - content = json.loads(file_data) - - for subsystem in content["system"][0]["subsystem"]: - if subsystem["name"] != "compile_frame": - continue - if enable == "no": - name = "" - sources = "" - includes = "" - continue - - cflags = subsystem["cflags"] - asmflags = subsystem["asmflags"] - ldflags = subsystem["ldflags"] - break - - for subsystem in content["system"][0]["subsystem"]: - if subsystem["name"] != "static_lib": - continue - - for component in subsystem["component"]: - component["cflags"] = cflags - component["asmflags"] = asmflags - component["ldflags"] = ldflags - component["name"] = name - component["sources"] = [i for i in sources.replace( - '\n', '').split(",") if i != ''] - component["includes"] = convert_file_to_path(includes) - - file_data = json.dumps(content, indent=4, ensure_ascii=False) - - f.seek(0) - f.truncate() - f.write(file_data) - - @staticmethod - def set_extern_staticlib_link(libspath, libsinclude): - ''' - Function description: Set static library. - ''' - file_data = "" - file_path = "chip/target/userconfig.json" - ext_path = [] - ext_include = [] - cur_path = str(pathlib.Path.cwd()) - - modes = stat.S_IWUSR | stat.S_IRUSR - flags = os.O_RDWR | os.O_CREAT - with os.fdopen(os.open(file_path, flags, modes), 'r+') as f: - file_data = f.read() - content = json.loads(file_data) - - for subsystem in content["system"][0]["subsystem"]: - if subsystem["name"] != "compile_frame": - continue - - subsystem['extlibspath'] = [] - subsystem['extlibsname'] = [] - subsystem['extlibsinclude'] = [] - - if not libspath: - break - # Processing Path - ext_path = [i for i in libspath.replace( - '\n', '').split(",") if i != ''] - # Process only paths outside the project - ext_path = [i for i in ext_path if cur_path not in i] - if ext_path: - subsystem['extlibspath'] = [os.path.dirname(i) - for i in ext_path] - subsystem['extlibsname'] = [os.path.basename(i) - for i in ext_path] - # List deduplication - subsystem['extlibspath'] = list( - set(subsystem['extlibspath'])) - subsystem['extlibsname'] = list( - set(subsystem['extlibsname'])) - if not libsinclude: - break - subsystem['extlibsinclude'] = convert_file_to_path_extern( - libsinclude, cur_path) - - file_data = json.dumps(content, indent=4, ensure_ascii=False) - - f.seek(0) - f.truncate() - f.write(file_data) - - -def check_tool_chain_md5(sdk_path, tool_path): - tool_name = os.path.join(tool_path, "ninja-win", "ninja.exe") - if not os.path.exists(tool_name): - print("Tool chain is damaged! Repairing in progress.") - del_file(tool_path) - return False - - file_name = os.path.join(sdk_path, "cc_riscv32_musl_fp_win") - if not os.path.exists(file_name): - release_tool_chain(sdk_path) - - sdk_md5 = get_toolchain_md5(os.path.join(file_name, "bin")) - - tool_name = os.path.join(tool_path, "cc_riscv32_musl_fp_win") - tool_zip_name = os.path.join(tool_path, "cc_riscv32_musl_fp_win.tar.gz") - if os.path.exists(tool_zip_name) and os.path.exists(tool_name): - tool_md5 = get_toolchain_md5(os.path.join(tool_name, "bin")) - if sdk_md5 == tool_md5 or\ - sdk_md5 == "noMD5" or\ - tool_md5 == "noMD5": - return True - - del_file(tool_path) - return False - - -def release_tool_chain(sdk_path): - for item in os.listdir(sdk_path): - if "cc_riscv32_musl_fp_win" in item or "cc_riscv32_win_env" in item: - zip_name = os.path.join(sdk_path, item) - if os.path.isdir(zip_name): - continue - un_alltools(zip_name) - - target = os.path.join(sdk_path, "cc_riscv32_musl_fp_win", "bin") - source = os.path.join(sdk_path, "cc_riscv32_win_env") - if not os.path.exists(source): - return - - for file_name in os.listdir(source): - full_file_name = os.path.join(source, file_name) - if not os.path.isfile(full_file_name): - continue - if os.path.exists(target): - shutil.copy(full_file_name, target) - - -def del_file(filepath): - ''' - Delete all files or folders in a directory. - ''' - del_list = [f for f in os.listdir(filepath) if "cc_riscv32" in f] - for f in del_list: - file_path = os.path.join(filepath, f) - if os.path.isfile(file_path): - os.remove(file_path) - elif os.path.isdir(file_path): - shutil.rmtree(file_path) - - -def get_toolchain_md5(target_path): - cur_path = pathlib.Path.cwd() - - if not os.path.exists(target_path): - return "noMD5" - - os.chdir(target_path) - # Check the MD5 value. - cmd = ['certutil', '-hashfile', 'riscv32-linux-musl-gcc.exe', 'md5'] - out_bytes = subprocess.check_output(cmd, shell=False) - os.chdir(cur_path) - return out_bytes - - -def extern_static_library(env, config, param): - ''' - Function description: Linking External Static Libraries. - ''' - - if 'extern_staticlib_path' in config[env] and \ - 'extern_staticlib_include' in config[env]: - param.set_extern_staticlib_link( - config[env]['extern_staticlib_path'], - config[env]['extern_staticlib_include']) - - -def fix_warning(config, env, deveco_path): - if 'warnning' in config[env]: - config.set(env, 'warning', config[env]['warnning']) - config.remove_option(env, 'warnning') - modes = stat.S_IWUSR | stat.S_IRUSR - flags = os.O_RDWR | os.O_CREAT - with os.fdopen(os.open(deveco_path, flags, modes), 'w') as file: - file.seek(0) - file.truncate() - config.write(file) - - -def build_check(argv): - ''' - Function description: check compile parameter and tool chain. - ''' - - if len(argv) < 2: - return - - deveco_path = '.deveco/deveco.ini' - chip = argv[1] - env = "env:" + chip - config = configparser.ConfigParser() - config.read(deveco_path) - - param = CompileParameter() - if 'chip_package_path' in config[env]: - param.check_toolchain(config[env]['chip_package_path']) - - if 'compiler' in config[env] and 'build_type' in config[env]: - param.set_toolchain(config[env]['compiler'], config[env]['build_type']) - - if 'optimization' in config[env] and \ - 'werror' in config[env] and \ - 'wno_unused_function' in config[env] and \ - 'wno_unused_label' in config[env] and \ - 'wno_unused_parameter' in config[env] and \ - 'wno_unused_variable' in config[env] : - - param.set_optimization(config[env]['optimization']) - param.set_werror(config[env]['werror']) - param.set_function(config[env]['wno_unused_function']) - param.set_label(config[env]['wno_unused_label']) - param.set_parameter(config[env]['wno_unused_parameter']) - param.set_variable(config[env]['wno_unused_variable']) - - if 'fstack_protector_strong' in config[env]: - param.set_fstack(config[env]['fstack_protector_strong']) - - fix_warning(config, env, deveco_path) - - if 'warning' in 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