V2.4

2026-08-10 10:47:09 +08:00
parent 804daf39a2
commit dfe5ceea43
150 changed files with 20271 additions and 58 deletions
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+/********************************** (C) COPYRIGHT *******************************
+ * File Name          : M6_SpeedLoop.h
+ * Author             : WCH
+ * Version            : V1.0.0
+ * Date               : 2026/04/23
+ * Description        : The speed loop is defined by timer parameters and control counting parameters.
+*********************************************************************************
+* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
+* Attention: This software (modified or not) and binary are used for
+* microcontroller manufactured by Nanjing Qinheng Microelectronics.
+*******************************************************************************/
+
+#ifndef __M6_SPEEDLOOP_H
+#define __M6_SPEEDLOOP_H
+#define TIMER_CLOCK_FREQ_SPEED      144000000uL     
+#define TIMER_FREQ_SPEED_LOOP       2000            
+
+#define TIMER_PERIDO_SYSTICK     TIMER_CLOCK_FREQ_SPEED / (u32)(TIMER_FREQ_SPEED_LOOP*8)
+
+#define TIMER_PRESCALER_SPEED_LOOP  17             
+
+#define SPEED_LOOP_CAL_FREQ         2000
+
+#define SPEED_LOOP_CAL_PERIOD      _IQ(1.0)/SPEED_LOOP_CAL_FREQ
+
+#define SPEED_SAMPLE_PID_PERIOD     TIMER_FREQ_SPEED_LOOP/SPEED_LOOP_CAL_FREQ
+#define LED_PERIOD                      4
+
+//void Timer4_Init(void);
+void Systick_Init(void);
+void SYS_TIM_Cmd(FunctionalState NewState);
+#endif