03.实现BLDCDriver驱动输出PWM

03.实现BLDCDriver驱动输出PWM

确切来说是实现了一个接口，需要外部提供三个函数

• _initDriver 初始化驱动
• _enableDriver 启用/禁用驱动
• _setPhraseVoltage 设置三相电压
• 因为这三个函数的具体实现都是和硬件相关的，
• 在不同硬件上（如stm32或arduino）会有不同的实现方式

具体实现

BLDCDriver.cpp

#include "BLDCDriver.hpp"
#include "Arduino.h"

BLDCDriver::BLDCDriver(void (*_initDriver)(),
                       void (*_enableDriver)(bool enable),
                       void (*_setPhraseVoltage)(int16_t u_a, int16_t u_b, int16_t u_c))
{
    this->_initDriver = _initDriver;
    this->_enableDriver = _enableDriver;
    this->_setPhraseVoltage = _setPhraseVoltage;
}

void BLDCDriver::initDriver()
{
    this->_initDriver();
}
void BLDCDriver::enableDriver(bool enable)
{
    this->_enableDriver(enable);
}
/**
 * 设置相电压
 * @param u_a int16_t [-32768,32767] 表示 [-1,1] 精度：1/32768 = 0.0000305
 */
void BLDCDriver::setPhraseVoltage(int16_t u_a, int16_t u_b, int16_t u_c)
{
    this->_setPhraseVoltage(u_a, u_b, u_c);
}

BLDCDriver.hpp

#ifndef __BLDCDriver_H__
#define __BLDCDriver_H__
#include <stdint.h>

class BLDCDriver
{
private:
    void (*_initDriver)();
    void (*_enableDriver)(bool enable);
    void (*_setPhraseVoltage)(int16_t u_a, int16_t u_b, int16_t u_c);

public:
    BLDCDriver(
        void (*_initDriver)(),
        void (*_enableDriver)(bool enable),
        void (*_setPhraseVoltage)(int16_t u_a, int16_t u_b, int16_t u_c));
    void initDriver();
    void enableDriver(bool enable);
    void setPhraseVoltage(int16_t u_a, int16_t u_b, int16_t u_c);
};
#endif

BLDCMotor.cpp

#include "HardwareSerial.h"
#include "BLDCMotor.hpp"
#include "Arduino.h"

BLDCMotor::BLDCMotor()
{
}
void BLDCMotor::connectDriver(BLDCDriver *driver)
{
    this->driver = driver;
}
void BLDCMotor::initFOC()
{
    if (this->driver)
    {
        this->driver->initDriver();
        this->driver->enableDriver(true);
        this->driver->setPhraseVoltage(0, 0, 0);
    }
}
/**
 * 设置相电压
 * @param u_d int16_t [-32768,32767] 表示 [-1,1] 精度：1/32768 = 0.0000305
 * @param u_q int16_t [-32768,32767] 表示 [-1,1]
 * @param e_angle uint16_t [0,65535] 表示 [0,2PI] 精度：360°/65535 = 0.00549°
 */
void BLDCMotor::setPhraseVoltage(int16_t u_d, int16_t u_q, uint16_t e_angle)
{
    int16_t sin, cos;
    // 计算三角函数
    _sincos(e_angle, &sin, &cos);
    // 帕克逆变换
    int16_t u_alpha = ((cos * (int32_t)u_d) + (-sin * (int32_t)u_q)) / _INT16_ONE_;
    int16_t u_beta = ((sin * (int32_t)u_d) + (cos * (int32_t)u_q)) / _INT16_ONE_;
    // 克拉克逆变换(等幅值形式)
    int16_t u_a = u_alpha;
    int16_t u_b = (-u_alpha + _INT16_SQRT3_ * u_beta / _INT16_ONE_) / 2;
    int16_t u_c = -(u_a + u_b);
    // 设置相电压
    driver->setPhraseVoltage(u_a, u_b, u_c);
}

实现效果

03.bldc_driver_output_pwm

#include <Arduino.h>
#include "BLDCMotor.hpp"
#include "foc_utils.h"
#include "typedef.h"

BLDCMotor motor = BLDCMotor();
BLDCDriver driver = BLDCDriver(
#define M1_En 8
#define M1_Ua 5
#define M1_Ub 9
#define M1_Uc 6
    // init driver
    []()
    {
      pinMode(M1_En, OUTPUT); // enable
      pinMode(M1_Ua, OUTPUT); // a
      pinMode(M1_Ub, OUTPUT); // b
      pinMode(M1_Uc, OUTPUT); // c
    },
    // enable or disable driver
    [](bool enable)
    {
      digitalWrite(M1_En, enable ? HIGH : LOW); // enable
    },
    // set pwm to driver
    [](int16_t u_a, int16_t u_b, int16_t u_c)
    {
      // [-32768,32767] => [0,255]
      Serial.print((u_a + _INT16_N_ONE_) / 255);
      Serial.print(',');
      Serial.print((u_b + _INT16_N_ONE_) / 255);
      Serial.print(',');
      Serial.print((u_c + _INT16_N_ONE_) / 255);
      Serial.print('\n');
      // [-32768,32767] => [0,255]
      // 大多数引脚上的 PWM 信号频率约为490 Hz
      // 设置占空比
      analogWrite(M1_Ua, (u_a + _INT16_N_ONE_) / 255);
      analogWrite(M1_Ub, (u_b + _INT16_N_ONE_) / 255);
      analogWrite(M1_Uc, (u_c + _INT16_N_ONE_) / 255);
    });

void setup()
{
  Serial.begin(9600);
  motor.connectDriver(&driver);
  motor.initFOC();
}

uint64_t t1_us, t2_us = micros(), dt_us;
uint64_t dt()
{
  // 微妙us 70分钟溢出一次
  t1_us = micros();
  dt_us = t2_us - t1_us;
  t2_us = t1_us;
  // 大于1s 返回 0.1ms
  return dt_us > 1000000 ? 100 : dt_us;
}

float angle = 0;
void loop()
{
  angle += 1000;
  motor.setPhraseVoltage(0, _INT16_ONE_, angle);
}