使用MCF8316A和PIC32MZ2048EFM100实现平稳安静的BLDC电机控制

/*!
 * @file main.c
 * @brief Brushless 33 Click example
 *
 * # Description
 * This example demonstrates the control of an A2212/13T 1000KV motor using
 * the Brushless 33 Click board. The example showcases basic motor operations, including
 * speed adjustments, direction switching, and fault handling. The motor speed is
 * controlled by varying the PWM duty cycle.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the logger and configures the Click board.
 *
 * ## Application Task
 * Adjusts the motor's duty cycle to control its speed, alternating between increasing
 * and decreasing duty values. Fault conditions are checked and resolved to maintain
 * stable operation. Additional motor controls, such as switching direction and braking,
 * are triggered based on the duty cycle limits. Each step will be logged on the USB UART
 * where you can track the program flow.
 *
 * @note
 * The library is configured for an A2212/13T 1000KV motor with a 12V power supply.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "brushless33.h"

static brushless33_t brushless33;
static log_t logger;

void application_init ( void ) 
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    brushless33_cfg_t brushless33_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    brushless33_cfg_setup( &brushless33_cfg );
    BRUSHLESS33_MAP_MIKROBUS( brushless33_cfg, MIKROBUS_1 );
    if ( I2C_MASTER_ERROR == brushless33_init( &brushless33, &brushless33_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( BRUSHLESS33_ERROR == brushless33_default_cfg ( &brushless33 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    log_info( &logger, " Application Task " );
}

void application_task ( void ) 
{
    static int8_t duty_cnt = 0;
    static int8_t duty_inc = 1;
    float duty = duty_cnt / 10.0;
    uint32_t gate_drv_flt = 0;
    uint32_t controller_flt = 0;

    if ( !brushless33_get_fault_pin ( &brushless33 ) )
    {
        if ( BRUSHLESS33_OK == brushless33_read_fault ( &brushless33, &gate_drv_flt, &controller_flt ) )
        {
            if ( gate_drv_flt )
            {
                log_printf( &logger, " GATE DRIVER FAULT: 0x%.8LX\r\n", gate_drv_flt );
            }
            if ( controller_flt )
            {
                log_printf( &logger, " CONTROLLER FAULT: 0x%.8LX\r\n", controller_flt );
            }
        }
        brushless33_clear_fault ( &brushless33 );
        // Motor startup delay
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
    }
    
    brushless33_set_duty_cycle ( &brushless33, duty );
    log_printf( &logger, "> Duty: %d%%\r\n", ( uint16_t )( duty_cnt * 10 ) );
    
    if ( ( 1 == duty_cnt ) && ( 1 == duty_inc ) )
    {
        // Motor startup delay
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
        Delay_ms ( 1000 );
    }
    Delay_ms ( 1000 );

    duty_cnt += duty_inc;
    if ( duty_cnt > 10 ) 
    {        
        duty_cnt = 9;
        duty_inc = -1;
    }
    else if ( duty_cnt < 0 ) 
    {
        duty_cnt = 0;
        duty_inc = 1;
        log_printf( &logger, " Pull brake\r\n" );
        brushless33_pull_brake ( &brushless33 );
        Delay_ms ( 1000 );
        log_printf( &logger, " Switch direction\r\n" );
        brushless33_switch_direction ( &brushless33 );
        Delay_ms ( 1000 );
        log_printf( &logger, " Release brake\r\n" );
        brushless33_release_brake ( &brushless33 );
        Delay_ms ( 1000 );
    }
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

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