foc/src/Bsp/board.c

/**
 * @file board.c
 * @author jimingqing
 * @date 2023-08-14
 * @version 0.0.1
 * @copyright XiazhiTech Copyright (c) 2023
 *
 * @brief
 */

#include "board.h"

/**
 * @brief System Tick
 * @retval None
 */
void SysTick_Handler(void)
{
    HAL_IncTick();
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
     */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM = 25;
    RCC_OscInitStruct.PLL.PLLN = 336;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }
    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
    {
        Error_Handler();
    }
}

/**
 * @brief NVIC Configuration.
 * @retval None
 */
static void MX_NVIC_Init(void)
{
    /* ADC_IRQn interrupt configuration */
    // HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
    // HAL_NVIC_EnableIRQ(ADC_IRQn);
    /* TIM1_UP_TIM10_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
    /* TIM1_BRK_TIM9_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 4, 1);
    HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
    /* TIM3_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(TIM3_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(TIM3_IRQn);
    /* USART1_IRQn interrupt configuration */
    // HAL_NVIC_SetPriority(USART1_IRQn, 3, 1);
    // HAL_NVIC_EnableIRQ(USART1_IRQn);
    /* EXTI2_IRQn interrupt configuration */
    // HAL_NVIC_SetPriority(EXTI2_IRQn, 3, 0);
    // HAL_NVIC_EnableIRQ(EXTI2_IRQn);
}

void FOC_Init()
{
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // 开启三个PWM通道输出
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); // 开启三个PWM通道输出
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); // 开启三个PWM通道输出
    HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);

    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
    // LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
    // LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
    // __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);
    // __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 2400);

    // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
    // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);

    /* wait for a new PWM period */
    // LL_TIM_ClearFlag_UPDATE(TIM1);
    // // while (LL_TIM_IsActiveFlag_UPDATE(TIM1) == 0)
    // // {
    // // }
    // /* Clear Update Flag */
    // LL_TIM_ClearFlag_UPDATE(TIM1);

    /* Main PWM Output Enable */
    // TIM1->BDTR |= LL_TIM_OSSI_ENABLE;
    // LL_TIM_EnableAllOutputs(TIM1);

    // /* Clear Update Flag */
    // LL_TIM_ClearFlag_UPDATE(TIM1);
    // /* Enable Update IRQ */
    // LL_TIM_EnableIT_UPDATE(TIM1);

    // LL_TIM_OC_SetCompareCH1(TIM1, 42 * 1000000 / 16000);
    // LL_TIM_OC_SetCompareCH2(TIM1, 42 * 1000000 / 16000);
    // LL_TIM_OC_SetCompareCH3(TIM1, 42 * 1000000 / 16000);
}

/**
 * This function will initial your board.
 */
void board_init(void)
{
    __HAL_RCC_SYSCFG_CLK_ENABLE();
    __HAL_RCC_PWR_CLK_ENABLE();

    HAL_Init();
    SystemClock_Config();
    SystemCoreClockUpdate();

    MX_GPIO_Init();
    MX_USART1_UART_Init();
    MX_TIM1_Init();
    // MX_TIM3_Init();
    MX_NVIC_Init();

    FOC_Init();
}

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */