SDK3.2和MCWB 2.0无法运行中断和串行通信

Ciao Philip
 
 
 这看起来很奇怪。 FW lib和Workbench之间检查的兼容性表是这样的：
 
 FW Lib v3.0 - MC Work Bench 1.0.2 - ＆gt; （没有实时通信）
 FW Lib v3.0.1 - MC Work Bench 1.2 - ＆gt; （实时通信）
 FW Lib v3.2 - MC Work Bench 2.0 - ＆gt; （实时通信）
 
 我可以说'开箱即用''这个组合应该工作，所以我能给你的最好的建议是来到最初的FW卸载并重新安装MC lib。它应该工作。如果没有，我建议花一些时间阅读STM32 PMSM MC Library v3.2用户手册.pdf或STM32 PMSM MC Library v3.0.pdf快速入门（存在于v3.0安装文件夹中）。
 
 然后回到你遇到的问题我认为在第一种情况下：
电机旋转几圈。
 
 它的行为如下：首先它运行DC几毫秒，然后产生9个正弦波，频率为20 Hz，最大电压（PWM 0-100％）。之后电机停止并显示速度反馈错误。
 
 这是一种“正常”的行为。当电动机已经以足够的速度进行布线时，无传感器算法开始工作，因此BEMF具有良好的幅度。为此，已经实施了启动程序。你看到的DC应该是对齐阶段，然后是加速阶段（你看到的20Hz和电流是你在MC Workbench中设置的那个 - ＆gt; Drive Mamagement - ＆gt; Startup block）。
 如果您读取速度反馈错误（而不是RevUp失败），这意味着无传感器算法已经收敛了一段时间（通过RUN状态所需的时间），然后它失去了测量的可靠性。
 首先，重要的是要了解电机是否已正确运行。如果电机只是在没有真正转动的情况下振动，则可以调整启动参数，降低加速度或增加电流。
 如果电机确实运行，则重新输入以查看观察到的BEMF的波形以及观察到的电角度的波形。这可以使用FW的DAC功能轻松完成。
 如果BEMF有噪声，最好的事情就是将观察者的G2参数除以2,4,8。如果BEMF是非常好的正弦形状但电角度不是一个好的三角形，那么你可以将PLL的KI除以2。
 其他要检查的重点是无传感器算法的方差阈值或提高速度故障的检查次数（可以在MC工作台中设置的所有参数）以及验证启动的最低速度。
 所以你有很多参数可供使用。只需使用明智的技术，每次尝试只做一次更改。
 
 最后关于最后一个问题，我认为它可能是由HardFault（可能是一些堆栈溢出或类似）引起的。这不是正常的行为，如果你不修改代码就不会发生这种行为（但总是可能出现bug）。所以，如果你愿意，发布你的配置（.stmc文件），我会尝试重现这个问题。
 
 再见
 梁咏琪



以下为原文





Ciao Philip


It seems very strange. The table of checked compatibilities between FW lib and Workbench is this:

FW Lib v3.0 - MC Work Bench 1.0.2 -> (No real time communication implemented)
FW Lib v3.0.1 - MC Work Bench 1.2 -> (Real time communication implemented)
FW Lib v3.2 - MC Work Bench 2.0 -> (Real time communication implemented)

I can say that ''out of the box'' this combination shuould work so the best suggestion I can give to you is to come to the original FW disinstalling and reinstalling the MC lib. and it shall work. If not I suggest to spend some time to read the STM32 PMSM MC Library v3.2 User manual.pdf or the Quick Start for STM32 PMSM MC Library v3.0.pdf (present in the v3.0 installation folder).

Then swithcing back to the problems you have I think that in the first case:  
the motor spinning just for few turns.

It behaves like that: First it runs DC for few miliseconds and after that it generates 9 sine waves with frequency 20 Hz and maximum voltage (PWM 0-100%). After that the motor stops and displays Speed Feedback Error.
  
It is a ''normal'' behaviour. The sensorless algortithm start to work just when the motor has been already bringed to a sufficient speed and so the BEMF have a good amplitude. To do that a start up procedure has been implemented. The DC you see shall be the allignment phase and after that there is the acceleration phase (the 20Hz and current that you see is the one that you have set in the MC Workbench -> Drive Mamagement -> Startup block).
If you read the Speed Feedback Error (and not the RevUp Fails) this means that the sensorless algorithm has been converged for some times (the time required to pass in RUN state) and then it looses the reliability of the measurement.
First of all it is important to understand if the motor has been proper bringed to run. If the motor just vibrate witout really turning it is the case to adjust the startup parameters lowering the accelleration or increasing the current supplied.
If the motor runs really then is importatn to take a look at the waveform of the BEMF observed and at the waveform of the Electrical angle Observed. And this can be easily done using the DAC capabilities of the FW.
If the BEMF is noisy the best thing is to divide by 2,4,8 the G2 parameter of the observer. While if the BEMF are pretty good sinusoidal shape but the Electrical angle is not a good triangle then you can divide by 2 the KI of the PLL.
Other important point to check is the Variance threshold of the sensorless algorithm or the number of check befor to rise the speed fault (all parameter that you can set in the MC workbench) and also the minimum speed to validate the startup.
So you have a lot of parameter to play with. Just use the wise techinque to make just one change for each try.

Finally regarding the last issue I think that it can be caused by an HardFault (maybe some stack overflow or similar). It is not a normal behaviour and it shall not occurs if you don't modify the code (but bug is always possible). So, if you want, post your configuration (.stmc file) and I will try to reproduce the issue.

Ciao
Gigi