ESC32 电调 AD采样过零分析
/*This file is part of AutoQuad ESC32.
AutoQuad ESC32 is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
AutoQuad ESC32 is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with AutoQuad ESC32.If not, see <http://www.gnu.org/licenses/>.
Copyright 漏 2011, 2012, 2013Bill Nesbitt
*/
#include "main.h"
#include "adc.h"
#include "fet.h"
#include "run.h"
#include "digital.h"
#include "timer.h"
#include "config.h"
#include "stm32f10x_adc.h"
#include "stm32f10x_dma.h"
#include "misc.h"
#ifdef ADC_FAST_SAMPLE
uint32_t adcRawData;
#else
uint32_t adcRawData;
#endif
float adcToAmps;
int16_t adcAdvance;
int32_t adcblankingMicros;
int32_t adcMaxPeriod;
int32_t adcMinPeriod;
int16_t histIndex;
int16_t histSize;
uint16_t histA;
uint16_t histB;
uint16_t histC;
uint32_t avgA, avgB, avgC;
int32_t adcAmpsOffset;
volatile int32_t adcAvgAmps;
volatile int32_t adcMaxAmps;
volatile int32_t adcAvgVolts;
uint8_t adcStateA, adcStateB, adcStateC;
volatile uint32_t detectedCrossing;
volatile uint32_t crossingPeriod;
volatile int32_t adcCrossingPeriod;
uint32_t nextCrossingDetect;
uint32_t numLoops;
void adcCalibrateADC(ADC_TypeDef *ADCx) {
// Enable ADC reset calibration register
ADC_ResetCalibration(ADCx);
// Check the end of ADC reset calibration register
while(ADC_GetResetCalibrationStatus(ADCx))
;
// Start ADC calibration
ADC_StartCalibration(ADCx);
// Check the end of ADC calibration
while(ADC_GetCalibrationStatus(ADCx))
;
}
void adcInit(void) {
ADC_InitTypeDef ADC_InitStructure;
DMA_InitTypeDef DMA_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//int i;
adcSetConstants();
histSize = ADC_HIST_SIZE;
// Use STM32's Dual Regular Simultaneous Mode capable of ~ 1.7M samples per second
// NOTE: assume that RCC code has already placed all pins into Analog In mode during startup
// DMA1 channel1 configuration (ADC1)
DMA_DeInit(DMA1_Channel1);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)ADC1 + 0x4c;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&adcRawData;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = sizeof(adcRawData)/4;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Word;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &DMA_InitStructure);
DMA_ITConfig(DMA1_Channel1, DMA_IT_TC | DMA_IT_HT, ENABLE);
DMA_ClearITPendingBit(DMA1_IT_GL1 | DMA1_IT_TC1 | DMA1_IT_HT1);
DMA_Cmd(DMA1_Channel1, ENABLE);
// Enable the DMA1_Channel1 global Interrupt
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// ADC1 configuration
// ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
ADC_InitStructure.ADC_Mode = ADC_Mode_RegInjecSimult;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = sizeof(adcRawData)/4;
ADC_Init(ADC1, &ADC_InitStructure);
#ifdef ADC_FAST_SAMPLE
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 1, ADC_SAMPLE_TIME); // SENSE_CURRENT
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 2, ADC_SAMPLE_TIME); // SENSE_CURRENT
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 3, ADC_SAMPLE_TIME); // SENSE_B
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 4, ADC_SAMPLE_TIME); // SENSE_B
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 5, ADC_SAMPLE_TIME); // SENSE_VIN
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 6, ADC_SAMPLE_TIME); // SENSE_VIN
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 7, ADC_SAMPLE_TIME); // SENSE_B
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 8, ADC_SAMPLE_TIME); // SENSE_B
#else
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 1, ADC_SAMPLE_TIME); // SENSE_CURRENT
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 2, ADC_SAMPLE_TIME); // SENSE_B
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 3, ADC_SAMPLE_TIME); // SENSE_VIN
ADC_RegularChannelConfig(ADC1, ADC_Channel_2, 4, ADC_SAMPLE_TIME); // SENSE_B
#endif
ADC_DMACmd(ADC1, ENABLE);
// ADC2 configuration
// ADC_InitStructure.ADC_Mode = ADC_Mode_RegSimult;
ADC_InitStructure.ADC_Mode = ADC_Mode_RegInjecSimult;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = sizeof(adcRawData)/4;
ADC_Init(ADC2, &ADC_InitStructure);
#ifdef ADC_FAST_SAMPLE
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 2, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 3, ADC_SAMPLE_TIME); // SENSE_C
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 4, ADC_SAMPLE_TIME); // SENSE_C
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 5, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 6, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 7, ADC_SAMPLE_TIME); // SENSE_C
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 8, ADC_SAMPLE_TIME); // SENSE_C
#else
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 2, ADC_SAMPLE_TIME); // SENSE_C
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 3, ADC_SAMPLE_TIME); // SENSE_A
ADC_RegularChannelConfig(ADC2, ADC_Channel_3, 4, ADC_SAMPLE_TIME); // SENSE_C
#endif
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
// enable and calibrate
ADC_Cmd(ADC1, ENABLE);
adcCalibrateADC(ADC1);
ADC_Cmd(ADC2, ENABLE);
adcCalibrateADC(ADC2);
nextCrossingDetect = adcMaxPeriod;
// setup injection sequence
ADC_InjectedSequencerLengthConfig(ADC1, 1);
ADC_InjectedSequencerLengthConfig(ADC2, 1);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_5, 1, ADC_SAMPLE_TIME);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_4, 1, ADC_SAMPLE_TIME);
ADC_ExternalTrigInjectedConvCmd(ADC1, ENABLE);
ADC_ExternalTrigInjectedConvCmd(ADC2, ENABLE);
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_None);
ADC_ExternalTrigInjectedConvConfig(ADC2, ADC_ExternalTrigInjecConv_None);
// Start ADC1 / ADC2 Conversions
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
}
void adcSetCrossingPeriod(int32_t crossPer) {
adcCrossingPeriod = crossPer<<15;
crossingPeriod = crossPer;
}
void adcGrowHist(void) {
register int i;
avgA += histA;
avgB += histB;
avgC += histC;
for (i = histSize; i > histIndex; i--) {
histA = histA;
histB = histB;
histC = histC;
}
histSize++;
}
void adcShrinkHist(void) {
register int i;
for (i = histIndex; i < histSize-1; i++) {
histA = histA;
histB = histB;
histC = histC;
}
histSize--;
if (histIndex == histSize)
histIndex = 0;
avgA -= histA;
avgB -= histB;
avgC -= histC;
}
void adcEvaluateHistSize(void) {
int16_t sizeNeeded;
//sizeNeeded = crossingPeriod/16/TIMER_MULT;
// sizeNeeded = crossingPeriod/20/TIMER_MULT;
//sizeNeeded = crossingPeriod/24/TIMER_MULT;
sizeNeeded = crossingPeriod/32/TIMER_MULT;
// if (sizeNeeded > (histSize+1) && histSize < ADC_HIST_SIZE)
if (sizeNeeded > (histSize+1) && histSize < ADC_HIST_SIZE)
adcGrowHist();
else if (sizeNeeded < (histSize-1) && sizeNeeded > 1)
adcShrinkHist();
}
#pragma GCC optimize ("-O1")
void DMA1_Channel1_IRQHandler(void) {
register uint16_t *raw = (uint16_t *)adcRawData;
register uint32_t valA, valB, valC; //, valCOMP;
//int ampsFlag = 0;
uint32_t currentMicros;
__asm volatile ("cpsid i");
currentMicros = timerGetMicros();
__asm volatile ("cpsie i");
#ifdef ADC_FAST_SAMPLE
if ((DMA1->ISR & DMA1_FLAG_TC1) != RESET) {
raw += (ADC_CHANNELS * 4); // 4 16bit words each
adcAvgVolts -= (adcAvgVolts - (int32_t)((raw+raw)<<(ADC_VOLTS_PRECISION-1)))>>6;
}
else {
adcAvgAmps -= (adcAvgAmps - (int32_t)((raw+raw)<<(ADC_AMPS_PRECISION-1)))>>6;
}
#else
if ((DMA1->ISR & DMA1_FLAG_TC1) != RESET) {
raw += (ADC_CHANNELS * 2); // 2 16bit words each
adcAvgVolts -= (adcAvgVolts - (int32_t)(raw<<ADC_VOLTS_PRECISION))>>6;
}
else {
adcAvgAmps -= (adcAvgAmps - (int32_t)(raw<<ADC_AMPS_PRECISION))>>6;
}
#endif
DMA1->IFCR = DMA1_IT_GL1 | DMA1_IT_TC1 | DMA1_IT_HT1;
if (runMode == SERVO_MODE)
return;
// blanking time after commutation
if (!fetCommutationMicros || ((currentMicros >= fetCommutationMicros) ? (currentMicros - fetCommutationMicros) : (TIMER_MASK - fetCommutationMicros + currentMicros)) > adcblankingMicros) {
#ifdef ADC_FAST_SAMPLE
histA = valA = (raw+raw);
histB = valB = (raw+raw);
histC = valC = (raw+raw);
#else
histA = valA = raw;
histB = valB = raw;
histC = valC = raw;
#endif
histIndex = (histIndex + 1) % histSize;
avgA += valA - histA;
avgB += valB - histB;
avgC += valC - histC;
if ((avgA+avgB+avgC)/histSize > (ADC_MIN_COMP*3) && state != ESC_STATE_DISARMED && state != ESC_STATE_NOCOMM) {
register int32_t periodMicros;
periodMicros = (currentMicros >= detectedCrossing) ? (currentMicros - detectedCrossing) : (TIMER_MASK - detectedCrossing + currentMicros);
if (periodMicros > nextCrossingDetect) {
register uint8_t nextStep = 0;
if (!adcStateA && avgA >= (avgB+avgC)>>1) {
adcStateA = 1;
nextStep = 6;
}
else if (adcStateA && avgA <= (avgB+avgC)>>1) {
adcStateA = 0;
nextStep = 3;
}
else if (!adcStateB && avgB >= (avgA+avgC)>>1) {
adcStateB = 1;
nextStep = 4;
}
else if (adcStateB && avgB <= (avgA+avgC)>>1) {
adcStateB = 0;
nextStep = 1;
#ifdef ESC_DEBUG
digitalTogg(tp);
#endif
}
else if (!adcStateC && avgC >= (avgA+avgB)>>1) {
adcStateC = 1;
nextStep = 2;
}
else if (adcStateC && avgC <= (avgA+avgB)>>1) {
adcStateC = 0;
nextStep = 5;
}
if (nextStep && periodMicros > adcMinPeriod) {
if (periodMicros > adcMaxPeriod)
periodMicros = adcMaxPeriod;
// crossingPeriod = (crossingPeriod*3 + periodMicros)/4;
// crossingPeriod = (crossingPeriod*5 + periodMicros)/6;
adcCrossingPeriod += ((periodMicros<<15) - adcCrossingPeriod)>>3;
crossingPeriod = adcCrossingPeriod>>15;
// adcCrossingPeriod += ((periodMicros<<15) - adcCrossingPeriod)>>4;
// crossingPeriod = adcCrossingPeriod>>15;
// crossingPeriod = (crossingPeriod*7 + periodMicros)/8;
// crossingPeriod = (crossingPeriod*15 + periodMicros)/16;
// schedule next commutation
fetStep = nextStep;
fetCommutationMicros = 0;
timerSetAlarm1(crossingPeriod/2 - (ADC_DETECTION_TIME*(histSize+2))/2 - ADC_COMMUTATION_ADVANCE, fetCommutate, crossingPeriod);
// record crossing time
detectedCrossing = currentMicros;
// resize history based on period
adcEvaluateHistSize();
// calculate next crossing detection time
// nextCrossingDetect = crossingPeriod*2/3;
nextCrossingDetect = crossingPeriod*3/4;
// nextCrossingDetect = crossingPeriod*6/8;
// record highest current draw for this run
if (adcAvgAmps > adcMaxAmps)
adcMaxAmps = adcAvgAmps;
}
}
}
}
}
// start injected conversion of current sensor
int32_t adcGetInstantCurrent(void) {
ADC_ClearFlag(ADC1, ADC_FLAG_JEOC);
ADC_SoftwareStartInjectedConvCmd(ADC1, ENABLE);
while (ADC_GetFlagStatus(ADC1, ADC_FLAG_JEOC) != SET)
;
return (int32_t)ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
}
void adcSetConstants(void) {
float shuntResistance = p;
float advance = p;
float blankingMicros = p;
float minPeriod = p;
float maxPeriod = p;
// bounds checking
if (shuntResistance > ADC_MAX_SHUNT)
shuntResistance = ADC_MAX_SHUNT;
else if (shuntResistance < ADC_MIN_SHUNT)
shuntResistance = ADC_MIN_SHUNT;
if (advance > ADC_MAX_ADVANCE)
advance = ADC_MAX_ADVANCE;
else if (advance < ADC_MIN_ADVANCE)
advance = ADC_MIN_ADVANCE;
if (blankingMicros > ADC_MAX_BLANKING_MICROS)
blankingMicros = ADC_MAX_BLANKING_MICROS;
else if (blankingMicros < ADC_MIN_BLANKING_MICROS)
blankingMicros = ADC_MIN_BLANKING_MICROS;
if (minPeriod > ADC_MAX_MIN_PERIOD)
minPeriod = ADC_MAX_MIN_PERIOD;
else if (minPeriod < ADC_MIN_MIN_PERIOD)
minPeriod = ADC_MIN_MIN_PERIOD;
if (maxPeriod > ADC_MAX_MAX_PERIOD)
maxPeriod = ADC_MAX_MAX_PERIOD;
else if (maxPeriod < ADC_MIN_MAX_PERIOD)
maxPeriod = ADC_MIN_MAX_PERIOD;
adcToAmps = ((ADC_TO_VOLTAGE / ((1<<(ADC_AMPS_PRECISION))+1)) / (ADC_SHUNT_GAIN * shuntResistance / 1000.0f));
adcAdvance = 100.0f / (advance * (50.0f / 30.0f));
adcblankingMicros = blankingMicros * TIMER_MULT;
adcMinPeriod = minPeriod * TIMER_MULT;
adcMaxPeriod = maxPeriod * TIMER_MULT;
p = shuntResistance;
p = advance;
p = blankingMicros;
p = minPeriod;
p = maxPeriod;
}
问题 hist 它记录长度是 换相周期对于32 us 的倍数，假定单前周期 是 320us， 记录长度则为10， 64us 时间内的 AD 值。
但是 不能保证 高电平对高电平比对，低电平对低电平比对呀？ 是不是我的理解有错误？ esc32的 原理图 和src 包传一下，帮你看一下 原理图没有~~ 网上我也没有找到，看程序推功能引脚的~~ rei1984 发表于 2013-9-22 21:33 static/image/common/back.gif
esc32的 原理图 和src 包传一下，帮你看一下
回复错了， 没有@你，在回复中有了！
rei1984 发表于 2013-9-22 21:33 static/image/common/back.gif
esc32的 原理图 和src 包传一下，帮你看一下
我来传原理图给大神! SRC包,沈家兴的附件里有的! BLACKBLUE007 发表于 2013-9-23 09:51 static/image/common/back.gif
我来传原理图给大神!
哈哈，谢谢，我找了半天没有找到 没有看懂过AD采样后的滤波算法？就是hist相关的那些算法，有没有大神解答一下？？ 哦，看了看原理图，原来这个电调是在相位采样端加了滤波电容的异步过零检测，过零检测要容易很多了 楼主，ADC初始化，规则注入混合模式，规则组是哪几个通道？注入组是哪几个通道？我看下来，理解的好像有点偏差 BLACKBLUE007 发表于 2013-9-23 09:51
我来传原理图给大神!
您好 看到了楼上的原理图资料 为什么下不下来了？ 能再发一下吗？或者邮箱dtcrong@163.com BLACKBLUE007 发表于 2013-9-23 09:51
我来传原理图给大神!
咦 下载下来了感谢分享 过零检测！ 给楼主点个赞,学习中,电调门外汉... 想问一下原理图是V2.0还是V3.0的？ 这块ADC检测识别过零点的算法，我也没看懂
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