FOC_TEST/user/main.c

/**********************************
 * 主函数文件
 * 功能：系统初始化、硬件配置和主循环
 * 说明：
 * 1. 初始化系统时钟和硬件
 * 2. 配置PWM输出，默认占空比50%
 * 3. 测试串口通信功能
 **********************************/
#include "main.h"
#include "led_app.h"
#include <stdio.h>

static __IO uint32_t uwTimingDelay;  // 延时计数器

/**
 * @brief 简化版时钟信息打印（仅打印关键信息）
 */
//static void Print_Clock_Info_Simple(void)
//{
//    RCC_ClocksTypeDef RCC_Clocks;
//    RCC_GetClocksFreq(&RCC_Clocks);
//    
//    printf("\r\n=== Clock Info ===\r\n");
//    printf("HSE:    %u MHz\r\n", HSE_VALUE/1000000);
//    printf("SYSCLK: %u MHz\r\n", RCC_Clocks.SYSCLK_Frequency/1000000);
//    printf("HCLK:   %u MHz\r\n", RCC_Clocks.HCLK_Frequency/1000000);
//    printf("PCLK1:  %u MHz (TIM2-5: %u MHz)\r\n", 
//           RCC_Clocks.PCLK1_Frequency/1000000,
//           (RCC_Clocks.PCLK1_Frequency == RCC_Clocks.HCLK_Frequency) ? 
//           RCC_Clocks.PCLK1_Frequency/1000000 : RCC_Clocks.PCLK1_Frequency*2/1000000);
//    printf("PCLK2:  %u MHz (TIM1: %u MHz, USART1: %u MHz)\r\n", 
//           RCC_Clocks.PCLK2_Frequency/1000000,
//           (RCC_Clocks.PCLK2_Frequency == RCC_Clocks.HCLK_Frequency) ? 
//           RCC_Clocks.PCLK2_Frequency/1000000 : RCC_Clocks.PCLK2_Frequency*2/1000000,
//           RCC_Clocks.PCLK2_Frequency/1000000);
//    printf("USART1 Baud Rate: %u bps\r\n", 
//           RCC_Clocks.PCLK2_Frequency / USART1->BRR);
//    printf("================\r\n\r\n");
//}


/**
 * @brief   主函数
 * @param   无
 * @retval  无
 */
int main(void)
{
  
  // 初始化硬件
  hard_init();
  
  // 初始化LED应用
  led_app_init();
  
  // 初始化串口通信
  uart_communication_init();
   
	
	//Print_Clock_Info_Simple();
	


  foc_algorithm_initialize();
  if(get_offset_flag==0)
  {
    get_offset_flag = 1;
    TIM_CtrlPWMOutputs(PWM_TIM,ENABLE);
  }


  // 主循环
  while (1)
  {
      
		#define PRINT_LEN 13
			float data_print[PRINT_LEN] = {0};
			const uint8_t tail[4] = {0x00, 0x00, 0x80, 0x7f};  // 帧尾
        // 准备打印数据并直接发送到 DMA 缓冲区
      uint8_t dma_tx_buffer[PRINT_LEN * sizeof(float) + 4];
      
#ifdef OPENLOOP_TEST
//      data_print[0] = theta;
//      data_print[1] = Vbus;
//      data_print[2] = 0;
//      data_print[3] = get_foc_input()->Id_ref;
//      data_print[4] = get_foc_input()->Iq_ref;
//      data_print[5] = get_curr_dq()->Id;
//      data_print[6] = get_curr_dq()->Iq;
//      data_print[7] = Temp;
			
//			data_print[0] = Hall_Get()->count[0];           
//			data_print[1] = Hall_Get()->count[1];             
//			data_print[2] = Hall_Get()->count[2];        
//			data_print[3] = Hall_Get()->count[3];        
//			data_print[4] = Hall_Get()->count[4];       
//			data_print[5] = Hall_Get()->count[5];
//			data_print[6] = Hall_Get()->speed[0];
//			data_print[7] =  Hall_Get()->speed[1];
//			data_print[8] = Hall_Get()->speed[2];
//			data_print[9] = Hall_Get()->speed[3];
//			data_print[10] = Hall_Get()->speed[4];
//			data_print[11] = Hall_Get()->speed[5];
//			data_print[12] = Hall_Get()->state;               
//			data_print[13] = Hall_Get()->Speed;     
//			data_print[14] = Hall_Get()->angle;
//			data_print[15] = Hall_Get()->angle_add;
//			data_print[16] = theta;

//			data_print[0] = Hall_Get()->speed[0];
//			data_print[1] =  Hall_Get()->speed[1];
//			data_print[2] = Hall_Get()->speed[2];
//			data_print[3] = Hall_Get()->speed[3];
//			data_print[4] = Hall_Get()->speed[4];
//			data_print[5] = Hall_Get()->speed[5];
//			data_print[6] = Hall_Get()->state;               
//			data_print[7] = Hall_Get()->Speed;     
//			data_print[8] = Hall_Get()->angle;
//			data_print[9] = Hall_Get()->angle_add;
//			data_print[10] = theta;
			
//			data_print[0] = get_curr_dq()->Iq;
//			data_print[1] =  get_foc_input()->Iq_ref;
//			data_print[2] = get_curr_dq()->Id;
//			data_print[3] = get_foc_input()->Id_ref;
//			data_print[4] = FOC_Input.ia;
//			data_print[5] = FOC_Input.ib;
//			data_print[6] = FOC_Input.ic;
//			data_print[7] = Hall_Get()->state;               
//			data_print[8] = Hall_Get()->Speed;     
//			data_print[9] = Hall_Get()->angle;
//			data_print[10] = Hall_Get()->angle_add;
//			data_print[11] = theta;
//			data_print[12] = MAX_ELE_RAD;
			
			data_print[0] = get_curr_dq()->Iq;
			data_print[1] = get_foc_input()->Iq_ref;
			data_print[2] = get_curr_dq()->Id;
			data_print[3] = get_foc_input()->Id_ref;
			data_print[4] = FOC_Input.ia;
			data_print[5] = FOC_Input.ib;
			data_print[6] = FOC_Input.ic;
			data_print[7] = Speed_Fdk / 2.0f / PI;               
			data_print[8] = Speed_Ref;     
			data_print[9] = Hall_Get()->angle;
			data_print[10] = Hall_Get()->angle_add;
			data_print[11] = theta;
			data_print[12] = MAX_ELE_RAD;
#else
//      data_print[0] = FOC_Input.ia;
//      data_print[1] = FOC_Input.ib;
//      data_print[2] = FOC_Input.ic;
//      data_print[3] = FOC_Input.theta;
//      data_print[4] = FOC_Input.Iq_ref;
//      data_print[5] = FOC_Input.Id_ref;
//      data_print[6] = Speed_Ref;
//      data_print[7] = Speed_Fdk/(2 * PI);
extern CURRENT_DQ_DEF Current_Idq; 
//			data_print[0] = FOC_Input.ia;
//      data_print[1] = FOC_Input.ib;
//      data_print[2] = FOC_Input.ic;
//      data_print[3] = FOC_Input.theta;
//      data_print[4] = FOC_Input.Iq_ref;
//      data_print[5] = FOC_Input.Id_ref;
//      data_print[6] = Current_Idq.Id;
//      data_print[7] = Current_Idq.Iq;
			
			data_print[0] = FOC_Output.Tcmp1;
      data_print[1] = FOC_Output.Tcmp2;
      data_print[2] = FOC_Output.Tcmp3;
      data_print[3] = FOC_Input.theta;
      data_print[4] = FOC_Input.Iq_ref;
      data_print[5] = FOC_Input.Id_ref;
      data_print[6] = Current_Idq.Id;
      data_print[7] = Current_Idq.Iq;			
			
#endif
      
      // 合并数据包到 DMA 缓冲区
      memcpy(dma_tx_buffer, (uint8_t*)data_print, PRINT_LEN * sizeof(float));
      memcpy(&dma_tx_buffer[PRINT_LEN * sizeof(float)], tail, 4);
      
      // 使用 DMA 发送数据（10kHz 频率）
      DMA_USART_COMM_Send(dma_tx_buffer, PRINT_LEN * sizeof(float) + 4);
       
  }
}

/**
 * @brief   延时函数
 * @param   nTime: 延时时间（毫秒）
 * @retval  无
 */
void Delay(__IO uint32_t nTime)
{ 
  uwTimingDelay = nTime;
  
  while(uwTimingDelay != 0);
}

/**
 * @brief   延时计数器递减函数
 * @param   无
 * @retval  无
 * @note    在SysTick中断中调用
 */
void TimingDelay_Decrement(void)
{
  if (uwTimingDelay != 0x00)
  {
    uwTimingDelay--;
  }
}

#ifdef  USE_FULL_ASSERT

/**
 * @brief   断言失败处理函数
 * @param   file: 文件名称
 * @param   line: 行号
 * @retval  无
 */
void assert_failed(uint8_t* file, uint32_t line)
{ 
  
  while (1)
  {
  }
}
#endif