huahua/RP-01
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

调整电机线序及采样电阻

Browse Source
This commit is contained in:
sunbeam 2025-01-03 16:35:44 +08:00
parent 2638a07571
commit f637bdbf48
4 changed files with 18 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cva_asw_m0146/settings/cva_asw_m0146.dnx
View File

@ -25,8 +25,8 @@
<MemConfigValue>E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue> <MemConfigValue>E:\Program Files\IAR Systems\Embedded Workbench 9.2\arm\config\debugger\CVAChip\CVM0144.ddf</MemConfigValue>
</PlDriver> </PlDriver>
<ArmDriver> <ArmDriver>
<EnableCache>0</EnableCache>
<EnforceMemoryConfiguration>1</EnforceMemoryConfiguration> <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
<EnableCache>0</EnableCache>
</ArmDriver> </ArmDriver>
<DebugChecksum> <DebugChecksum>
<Checksum>1315671368</Checksum> <Checksum>1315671368</Checksum>

10
cva_asw_m0146/settings/cva_asw_m0146.wsdt
View File

File diff suppressed because one or more lines are too long

14
cva_asw_m0146/src/MotorCtrl.c
View File

@ -707,37 +707,37 @@ void CurrentDetect(void)
static uint16_t getOverCurrentTh(uint8_t ch) static uint16_t getOverCurrentTh(uint8_t ch)
{ {
uint16_t th = 50; uint16_t th = 100;
switch (ch) switch (ch)
{ {
case 0: case 0:
if (MotorStateReal[MotorHG]!=Motor_ACT_NOACT) if (MotorStateReal[MotorHG]!=Motor_ACT_NOACT)
{ {
th+=50; th+=100;
} }
if (MotorStateReal[MotorKB]!=Motor_ACT_NOACT) if (MotorStateReal[MotorKB]!=Motor_ACT_NOACT)
{ {
th+=50; th+=100;
} }
break; break;
case 1: case 1:
if (MotorStateReal[MotorTT]!=Motor_ACT_NOACT) if (MotorStateReal[MotorTT]!=Motor_ACT_NOACT)
{ {
th+=50; th+=100;
} }
if (MotorStateReal[MotorZY]!=Motor_ACT_NOACT) if (MotorStateReal[MotorZY]!=Motor_ACT_NOACT)
{ {
th+=50; th+=100;
} }
break; break;
case 2: case 2:
if (MotorStateReal[Motor5]!=Motor_ACT_NOACT) if (MotorStateReal[Motor5]!=Motor_ACT_NOACT)
{ {
th+=50; th+=100;
} }
if (MotorStateReal[Motor6]!=Motor_ACT_NOACT) if (MotorStateReal[Motor6]!=Motor_ACT_NOACT)
{ {
th+=20; th+=100;
} }
break; break;
default: default:

10
cva_asw_m0146/src/hwctrl.c
View File

@ -16,7 +16,7 @@
#define PDB_BB_SEL (0u) //000b : PDB0 and PDB1 operates independently. #define PDB_BB_SEL (0u) //000b : PDB0 and PDB1 operates independently.
#define DMA_CHANNEL0 0 #define DMA_CHANNEL0 0
#define DMA_CHANNEL1 1 #define DMA_CHANNEL1 1
#define PWM_PERIOD_HZ 2000 #define PWM_PERIOD_HZ 100
/******************************************************************************* /*******************************************************************************
* the typedefs * the typedefs
******************************************************************************/ ******************************************************************************/
@ -268,8 +268,8 @@ static void PWM_Init(void)
PwmLiteDrv_GetDefaultChannelConfig(&channelConfig); PwmLiteDrv_GetDefaultChannelConfig(&channelConfig);
channelConfig.pwmMuxType.channelNumber = PWMLITEDRV_MUX_PWM0_CH0; channelConfig.pwmMuxType.channelNumber = PWMLITEDRV_MUX_PWM0_CH0;
channelConfig.pwmMuxType.padNumber = PWMLITEDRV_MUX_PAD_PWM4; channelConfig.pwmMuxType.padNumber = PWMLITEDRV_MUX_PAD_PWM4;
channelConfig.behavior0 = PWMLITEDRV_HIGH_AT_REACH; channelConfig.behavior0 = PWMLITEDRV_LOW_AT_REACH;
channelConfig.behavior1 = PWMLITEDRV_LOW_AT_REACH; channelConfig.behavior1 = PWMLITEDRV_HIGH_AT_REACH;
channelConfig.threshold0 = 0; channelConfig.threshold0 = 0;
channelConfig.threshold1 = 0; channelConfig.threshold1 = 0;
PwmLiteDrv_ConfigChannel(&mcu.pwmLiteDrv0, PWMLITEDRV_PWM_CH0, &channelConfig); PwmLiteDrv_ConfigChannel(&mcu.pwmLiteDrv0, PWMLITEDRV_PWM_CH0, &channelConfig);
@ -546,11 +546,11 @@ void hw_MotorCtrl(Motor_ID_Type motorid,Motor_ACT_Type dir)
PinsDrv_ClearPin(&mcu.ptd, 0); PinsDrv_ClearPin(&mcu.ptd, 0);
PinsDrv_ClearPin(&mcu.ptd, 1); PinsDrv_ClearPin(&mcu.ptd, 1);
break; break;
case Motor_ACT_CW: case Motor_ACT_CCW:
PinsDrv_SetPin(&mcu.ptd, 0); PinsDrv_SetPin(&mcu.ptd, 0);
PinsDrv_ClearPin(&mcu.ptd, 1); PinsDrv_ClearPin(&mcu.ptd, 1);
break; break;
case Motor_ACT_CCW: case Motor_ACT_CW:
PinsDrv_SetPin(&mcu.ptd, 1); PinsDrv_SetPin(&mcu.ptd, 1);
PinsDrv_ClearPin(&mcu.ptd, 0); PinsDrv_ClearPin(&mcu.ptd, 0);
break; break;