ST MCSDK 电机FOC库（添加中文注释）

资源文件列表(大概)

文件名

大小

MCSDK_v5.4.8/MotorControl/

MCSDK_v5.4.8/MotorControl/MCSDK/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/bus_voltage_sensor.h

3.27KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/circle_limitation.h

2.24KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/digital_output.h

3.21KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/enc_align_ctrl.h

4.4KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/encoder_speed_pos_fdbk.h

4.41KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/fast_div.h

2.31KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/feed_forward_ctrl.h

7.27KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/flux_weakening_ctrl.h

7.42KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/gap_gate_driver_ctrl.h

14.33KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/hall_speed_pos_fdbk.h

10.1KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/hifreqinj_fpu_ctrl.h

1.87KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/ics_dd_pwmncurrfdbk.h

5.97KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/inrush_current_limiter.h

3.3KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/max_torque_per_ampere.h

2.18KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/mc_tuning.h

26.86KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/mc_type.h

10.58KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/motor_power_measurement.h

3.8KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/mp_one_touch_tuning.h

12.55KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/mp_self_com_ctrl.h

19.78KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/ntc_temperature_sensor.h

4.88KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/open_loop.h

3.58KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/pid_regulator.h

8.35KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/pqd_motor_power_measurement.h

2.77KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/pwm_common.h

2.49KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/pwm_curr_fdbk.h

14.95KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/r_divider_bus_voltage_sensor.h

3.88KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/r1_dd_pwm_curr_fdbk.h

5.89KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/ramp_ext_mngr.h

3.13KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/revup_ctrl.h

8.62KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/speed_pos_fdbk.h

4.77KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/speed_torq_ctrl.h

8.66KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/state_machine.h

9.14KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/sto_cordic_speed_pos_fdbk.h

14.11KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/sto_pll_speed_pos_fdbk.h

14.65KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/sto_speed_pos_fdbk.h

2.5KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/trajectory_ctrl.h

4.18KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/virtual_bus_voltage_sensor.h

2.41KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Inc/virtual_speed_sensor.h

6.04KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/bus_voltage_sensor.c

3.34KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/circle_limitation.c

4.34KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/digital_output.c

2.46KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/enc_align_ctrl.c

5.27KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/encoder_speed_pos_fdbk.c

12.28KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/fast_div.c

7.16KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/feed_forward_ctrl.c

11.88KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/flux_weakening_ctrl.c

10.89KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/gap_gate_driver_ctrl.c

24.73KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/hall_speed_pos_fdbk.c

25.85KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/hifreqinj_fpu_ctrl.c

33.23KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/inrush_current_limiter.c

5.21KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/max_torque_per_ampere.c

5.25KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/motor_power_measurement.c

4.02KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/ntc_temperature_sensor.c

6.44KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/open_loop.c

3.42KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/pid_regulator.c

14KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/pqd_motor_power_measurement.c

2.79KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/pwm_common.c

5.68KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/pwm_curr_fdbk.c

19.5KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/r_divider_bus_voltage_sensor.c

5.8KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/ramp_ext_mngr.c

8.02KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/revup_ctrl.c

21.81KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/speed_pos_fdbk.c

10.43KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/speed_torq_ctrl.c

16.82KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/state_machine.c

10.25KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/sto_cordic_speed_pos_fdbk.c

34.41KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/sto_pll_speed_pos_fdbk.c

35.25KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/trajectory_ctrl.c

14.49KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/virtual_bus_voltage_sensor.c

2.41KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/Any/Src/virtual_speed_sensor.c

16.09KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Inc/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Inc/ics_g4xx_pwm_curr_fdbk.h

8.03KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Inc/r1_g4xx_pwm_curr_fdbk.h

10.89KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Inc/r3_2_g4xx_pwm_curr_fdbk.h

13.5KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Inc/r3_3_g4xx_pwm_curr_fdbk.h

18.32KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Src/

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Src/ics_g4xx_pwm_curr_fdbk.c

25.25KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Src/r1_g4xx_pwm_curr_fdbk.c

45.83KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Src/r3_2_g4xx_pwm_curr_fdbk.c

55.33KB

MCSDK_v5.4.8/MotorControl/MCSDK/MCLib/G4xx/Src/r3_3_g4xx_pwm_curr_fdbk.c

53.95KB

MCSDK_v5.4.8/MotorControl/MCSDK/SystemDriveParams/

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/dac_common_ui.h

2.82KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/dac_rctimer_ui.h

1.61KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/dac_ui.h

1.67KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/frame_communication_protocol.h

7.07KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/ui_irq_handler.h

4.71KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/UIIRQHandlerClass.h

930B

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/UIIRQHandlerPrivate.h

1.21KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/unidirectional_fast_com.h

3.48KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Inc/usart_frame_communication_protocol.h

2.83KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/dac_common_ui.c

4.16KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/frame_communication_protocol.c

3.58KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/ui_irq_handler.c

5.04KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/unidirectional_fast_com.c

4.68KB

MCSDK_v5.4.8/MotorControl/MCSDK/UILibrary/Src/usart_frame_communication_protocol.c

8.43KB

资源内容介绍

自己看ST的FOC库时，添加了一些代码注释，可以辅助理解代码

/** ****************************************************************************** * @file r3_2_g4xx_pwm_curr_fdbk.c * @author Motor Control SDK Team, ST Microelectronics * @brief This file provides firmware functions that implement current sensor * class to be stantiated when the three shunts current sensing * topology is used. It is specifically designed for STM32F30X * microcontrollers and implements the successive sampling of two motor * current using shared ADC. * + MCU peripheral and handle initialization function * + three shunts current sensing * + space vector modulation function * + ADC sampling function * ****************************************************************************** * @attention * * <h2><center>© Copyright (c) 2019 STMicroelectronics. * All rights reserved.</center></h2> * * This software component is licensed by ST under Ultimate Liberty license * SLA0044, the "License"; You may not use this file except in compliance with * the License. You may obtain a copy of the License at: * www.st.com/SLA0044 * ****************************************************************************** */#include "r3_2_g4xx_pwm_curr_fdbk.h"#include "pwm_common.h"#include "mc_type.h"/** @addtogroup MCSDK * @{ *//** @addtogroup pwm_curr_fdbk * @{ *//** * @defgroup R3_2_G4XX_pwm_curr_fdbk R3 2 ADCs G4 PWM & Current Feedback * * @brief STM32G4, Shared Resources, 3-Shunt PWM & Current Feedback implementation * * This component is used in applications based on an STM32G4 MCU, using a three * shunt resistors current sensing topology and 2 ADC peripherals to acquire the current * values. * * * @todo: TODO: complete documentation. * * @{ */#define TIMxCCER_MASK_CH123 ((uint16_t) (LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH1N|\ LL_TIM_CHANNEL_CH2|LL_TIM_CHANNEL_CH2N|\ LL_TIM_CHANNEL_CH3|LL_TIM_CHANNEL_CH3N))static void R3_2_TIMxInit( TIM_TypeDef * TIMx, PWMC_Handle_t * pHdl );static void R3_2_ADCxInit( ADC_TypeDef * ADCx );__STATIC_INLINE uint16_t R3_2_WriteTIMRegisters( PWMC_Handle_t * pHdl, uint16_t hCCR4Reg );static void R3_2_HFCurrentsPolarizationAB( PWMC_Handle_t * pHdl,ab_t * Iab );static void R3_2_HFCurrentsPolarizationC( PWMC_Handle_t * pHdl, ab_t * Iab );static void R3_2_SetAOReferenceVoltage( uint32_t DAC_Channel, DAC_TypeDef * DACx, uint16_t hDACVref );uint16_t R3_2_SetADCSampPointPolarization( PWMC_Handle_t * pHdl) ;static void R3_2_RLGetPhaseCurrents( PWMC_Handle_t * pHdl, ab_t * pStator_Currents );static void R3_2_RLTurnOnLowSides( PWMC_Handle_t * pHdl );static void R3_2_RLSwitchOnPWM( PWMC_Handle_t * pHdl );/** * @brief It initializes TIMx, ADC, GPIO, DMA1 and NVIC for current reading * in three shunt topology using STM32F30X and shared ADC * @param pHandle: handler of the current instance of the PWM component * @retval none */__weak void R3_2_Init( PWMC_R3_2_Handle_t * pHandle ){ R3_3_OPAMPParams_t * OPAMPParams = pHandle->pParams_str->OPAMPParams; COMP_TypeDef * COMP_OCPAx = pHandle->pParams_str->CompOCPASelection; COMP_TypeDef * COMP_OCPBx = pHandle->pParams_str->CompOCPBSelection; COMP_TypeDef * COMP_OCPCx = pHandle->pParams_str->CompOCPCSelection; COMP_TypeDef * COMP_OVPx = pHandle->pParams_str->CompOVPSelection; DAC_TypeDef * DAC_OCPAx = pHandle->pParams_str->DAC_OCP_ASelection; DAC_TypeDef * DAC_OCPBx = pHandle->pParams_str->DAC_OCP_BSelection; DAC_TypeDef * DAC_OCPCx = pHandle->pParams_str->DAC_OCP_CSelection; DAC_TypeDef * DAC_OVPx = pHandle->pParams_str->DAC_OVP_Selection; TIM_TypeDef * TIMx = pHandle->pParams_str->TIMx; ADC_TypeDef * ADCx_1 = pHandle->pParams_str->ADCx_1; ADC_TypeDef * ADCx_2 = pHandle->pParams_str->ADCx_2; if ( ( uint32_t )pHandle == ( uint32_t )&pHandle->_Super ) { /* disable IT and flags in case of LL driver usage * workaround for unwanted interrupt enabling done by LL driver清除和关闭不需要的ADC中断*/ LL_ADC_DisableIT_EOC( ADCx_1 ); LL_ADC_ClearFlag_EOC( ADCx_1 ); LL_ADC_DisableIT_JEOC( ADCx_1 ); LL_ADC_ClearFlag_JEOC( ADCx_1 ); LL_ADC_DisableIT_EOC( ADCx_2 ); LL_ADC_ClearFlag_EOC( ADCx_2 ); LL_ADC_DisableIT_JEOC( ADCx_2 ); LL_ADC_ClearFlag_JEOC( ADCx_2 ); if ( TIMx == TIM1 ) { LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM1_STOP ); } else { LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM8_STOP ); } if ( OPAMPParams != NULL ) {//内部运放，未使用 if (OPAMPParams -> OPAMPx_1 != NULL ) { LL_OPAMP_Enable( OPAMPParams->OPAMPx_1 ); } if (OPAMPParams -> OPAMPx_2 != NULL ) { LL_OPAMP_Enable( OPAMPParams->OPAMPx_2 ); } if (OPAMPParams -> OPAMPx_3 != NULL ) { LL_OPAMP_Enable( OPAMPParams->OPAMPx_3 ); } } if ( COMP_OCPAx != NULL ) { if (( pHandle->pParams_str->CompOCPAInvInput_MODE != EXT_MODE ) && (DAC_OCPAx != MC_NULL)) { R3_2_SetAOReferenceVoltage( pHandle->pParams_str->DAC_Channel_OCPA, DAC_OCPAx, ( uint16_t )( pHandle->pParams_str->DAC_OCP_Threshold ) ); } LL_COMP_Enable ( COMP_OCPAx ); LL_COMP_Lock( COMP_OCPAx ); } if ( COMP_OCPBx != NULL ) { if (( pHandle->pParams_str->CompOCPBInvInput_MODE != EXT_MODE ) && (DAC_OCPBx != MC_NULL)) { R3_2_SetAOReferenceVoltage( pHandle->pParams_str->DAC_Channel_OCPB, DAC_OCPBx,( uint16_t )( pHandle->pParams_str->DAC_OCP_Threshold ) ); } LL_COMP_Enable ( COMP_OCPBx ); LL_COMP_Lock( COMP_OCPBx ); } if ( COMP_OCPCx != NULL ) { if (( pHandle->pParams_str->CompOCPCInvInput_MODE != EXT_MODE ) && (DAC_OCPCx != MC_NULL)) { R3_2_SetAOReferenceVoltage( pHandle->pParams_str->DAC_Channel_OCPC, DAC_OCPCx,( uint16_t )( pHandle->pParams_str->DAC_OCP_Threshold ) ); } LL_COMP_Enable ( COMP_OCPCx ); LL_COMP_Lock( COMP_OCPCx ); } if ( COMP_OVPx != NULL ) { if (( pHandle->pParams_str->CompOVPInvInput_MODE != EXT_MODE ) && (DAC_OVPx != MC_NULL)) { R3_2_SetAOReferenceVoltage( pHandle->pParams_str->DAC_Channel_OVP, DAC_OVPx,( uint16_t )( pHandle->pParams_str->DAC_OVP_Threshold ) ); } LL_COMP_Enable ( COMP_OVPx ); LL_COMP_Lock( COMP_OVPx ); } if (LL_ADC_IsEnabled (ADCx_1) == 0) { R3_2_ADCxInit (ADCx_1); /* Only the Interrupt of the first ADC is enabled. * As Both ADCs are fired by HW at the same moment * It is safe to consider that both conversion are ready at the same

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ST MCSDK 电机FOC库（添加中文注释）

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