【电机控制】Online培训三个任务主函数及中断程序

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努力的人发布时间：2017-8-29 11:04

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本帖最后由努力的人于 2017-8-29 11:09 编辑

/**
******************************************************************************
* @file main.c
* @author STMicroelectronics - System Lab - MC Team
* @version 4.3.0
* @date 22-Sep-2016 15:29
* @brief Main program body
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
/* Pre-compiler coherency check */
#define PROJECT_CHK
#include "CrossCheck.h"
#undef PROJECT_CHK
#include "MCTuningClass.h"
#include "MCInterfaceClass.h"
#include "StateMachineClass.h"
#if defined(PFC_ENABLED)
#include "PFCInit.h"
#include "PFCApplication.h"
#endif
#include "MCTasks.h"
#include "Parameters conversion.h"
#ifdef DUALDRIVE
#include "Parameters conversion motor 2.h"
#endif
#include "Timebase.h"
#include "UITask.h"
#include "MCLibraryISRPriorityConf.h"
#include <stdio.h>
#if (defined(USE_STM32303C_EVAL))
#include "stm32303c_eval.h"
#elif USE_EVAL
#include "stm32_eval.h"
#endif
#ifdef USE_STGAP1S
#include "GAPApplication.h"
#endif
#ifdef STSPIN32F0
void STSPIN32F0_Init(void);
#endif
#define INTERNAL 0
#define EXTERNAL 1
#define STM32F3_64MHZ_INT ((CLOCK_SOURCE == INTERNAL) && defined(STM32F30X) && defined(CPU_CLK_64_MHZ))
#if STM32F3_64MHZ_INT
void STM32F3_64MHz_Internal(void);
#endif
#define FIRMWARE_VERS "STM32 FOC SDK\0Ver.4.3.0"
const char s_fwVer[32] = FIRMWARE_VERS;
#ifdef __GNUC__
/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
#if defined(EXAMPLE_SPEEDMONITOR)
void speedmonitor_start(void);
#endif
#if defined(EXAMPLE_POTENTIOMETER)
void potentiometer_start(void);
#endif
#if defined(EXAMPLE_RAMP)
void ramp_start(void);
#endif
#if defined(EXAMPLE_PI)
void NewPIval_start(void);
#endif
#if defined(EXAMPLE_CONTROLMODE)
void TqSpeedMode_start(void);
#endif
/* Private function prototypes -----------------------------------------------*/
void SysTick_Configuration(void);
/* Private variables ---------------------------------------------------------*/
CMCI oMCI[MC_NUM];
CMCT oMCT[MC_NUM];
uint32_t wConfig[MC_NUM] = {UI_CONFIG_M1,UI_CONFIG_M2};
uint16_t mytime;
uint16_t Fault_Type;
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
#if !defined(STM32F0XX)
/*NVIC Priority group configuration.
Default option is NVIC_PriorityGroup_3.
*/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);
#endif
#ifdef USE_STGAP1S
GAPboot();
#endif
#if STM32F3_64MHZ_INT
STM32F3_64MHz_Internal();
#endif
#ifdef STSPIN32F0
STSPIN32F0_Init();
#endif
/*MCInterface and MCTuning boot*/
MCboot(oMCI,oMCT);
#if defined(PFC_ENABLED)
PFC_Boot(oMCT[0],(CMCT)MC_NULL, (int16_t *)MC_NULL);
#endif
/*Systick configuration.*/
SysTick_Configuration();
/* Start here ***************************************************************/
/* GUI, this section is present only if LCD, DAC or serial communication is */
/* enabled. */
#if (defined(LCD_FUNCTIONALITY) | defined(DAC_FUNCTIONALITY) | defined(SERIAL_COMMUNICATION))
UI_TaskInit(UI_INIT_CFG,wConfig,MC_NUM,oMCI,oMCT,s_fwVer);
#endif
#ifdef ENABLE_START_STOP_BUTTON
/* Init Key input (Start/Stop button) */
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = START_STOP_GPIO_PIN;
GPIO_Init(START_STOP_GPIO_PORT, &GPIO_InitStructure);
}
#endif
//TASK2ÐÞ¸ÄPI²ÎÊý
/*
static int16_t Speed_Kp,Speed_Ki;
static CPI oPItuning;
oPItuning = MCT_GetSpeedLoopPID(oMCT[0]); // ????PID???
Speed_Kp = PI_GetKP(oPItuning); // ????PID??
Speed_Ki = PI_GetKI(oPItuning);
PI_SetKP(oPItuning,Speed_Kp*2.9-300); // ??PID??
PI_SetKI(oPItuning,Speed_Ki*2.9);
*/ </font>
/* End here******************************************************************/
/* TASK3Õý·´×ª¹ÊÕÏ
MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
MCI_StartMotor(oMCI[0]);
MCI_ExecSpeedRamp(oMCI[0],-3000/6,1000);
CSTM oSTM = MCT_GetStateMachine(oMCT[0]);
//STM_NextState(oSTM,STOP_IDLE);
STM_FaultProcessing(oSTM, MC_SPEED_FDBK, STOP_IDLE );</font>
*/
while(1)
{
/*TASK3
Fault_Type = (uint16_t)STM_GetFaultState(oSTM);
if(Fault_Type == MC_SPEED_FDBK)
{
MCI_FaultAcknowledged(oMCI[0]);
MCI_ExecSpeedRamp(oMCI[0],MCI_GetLastRampFinalSpeed(oMCI[0]), 1000);
MCI_StartMotor(oMCI[0]);
}
*/</font>
/*TASK1
if(mytime==0)
{
MCI_ExecSpeedRamp(oMCI[0],3000/6,1000);
MCI_StartMotor(oMCI[0]);
}
if(mytime==10000)
{
MCI_StopMotor(oMCI[0]);
}
*/</font>
#ifdef SERIAL_COMMUNICATION
/* Start here ***********************************************************/
/* GUI, this section is present only if serial communication is enabled.*/
if (UI_SerialCommunicationTimeOutHasElapsed())
{
// Send timeout message
Exec_UI_IRQ_Handler(UI_IRQ_USART,3,0); // Flag 3 = Send timeout error*/
}
if (UI_SerialCommunicationATRTimeHasElapsed())
{
// Send ATR message
Exec_UI_IRQ_Handler(UI_IRQ_USART,4,0); // Flag 4 = Send ATR message*/
}
/* End here**************************************************************/
#endif
#if (defined(LCD_FUNCTIONALITY) || defined(ENABLE_START_STOP_BUTTON))
/* Start here ***********************************************************/
/* GUI, this section is present only if LCD or start/stop button is enabled. */
if (UI_IdleTimeHasElapsed())
{
UI_SetIdleTime(UI_TASK_OCCURENCE_TICKS);
#ifdef LCD_FUNCTIONALITY
UI_LCDRefresh();
#endif
#ifdef ENABLE_START_STOP_BUTTON
{
/* Chek status of Start/Stop button and performs debounce management */
static uint16_t hKeyButtonDebounceCounter = 0u;
if ((GPIO_ReadInputDataBit(START_STOP_GPIO_PORT, START_STOP_GPIO_PIN) == START_STOP_POLARITY) &&
(hKeyButtonDebounceCounter == 0))
{
#ifdef SINGLEDRIVE
/* Queries the STM and a command start or stop depending on the state. */
/* It can be added to MCI functionality */
if (MCI_GetSTMState(oMCI[M1]) == IDLE)
{
MCI_StartMotor(oMCI[M1]);
}
else
{
MCI_StopMotor(oMCI[M1]);
}
#endif
#ifdef DUALDRIVE
/* Stop both motors */
MCI_StopMotor(oMCI[M1]);
MCI_StopMotor(oMCI[M2]);
#endif
hKeyButtonDebounceCounter = 4u; /* Debounce time xx * LCD Clock */
}
if (hKeyButtonDebounceCounter > 0)
{
hKeyButtonDebounceCounter--;
}
}
#endif
}
/* End here**************************************************************/
#endif
/******************************** EXAMPLE AREA ******************************/
#if defined(EXAMPLE_POTENTIOMETER)
potentiometer_start();
#endif
#if defined(EXAMPLE_RAMP)
ramp_start();
#endif
#if defined(EXAMPLE_PI)
NewPIval_start();
#endif
#if defined(EXAMPLE_CONTROLMODE)
TqSpeedMode_start();
#endif
#if defined(EXAMPLE_SPEEDMONITOR)
speedmonitor_start();
#endif
/*****************************************************************************/
#ifdef USE_STGAP1S
GAPSchedule();
#endif
}
}
/**
* @brief Configures the SysTick.
* @param None
* @retval None
*/
void SysTick_Configuration(void)
{
/* Setup SysTick Timer for 500 usec interrupts */
if (SysTick_Config((SystemCoreClock) / SYS_TICK_FREQUENCY))
{
/* Capture error */
while (1);
}
NVIC_SetPriority(SysTick_IRQn, SYSTICK_PRIORITY);
NVIC_SetPriority(PendSV_IRQn, PENDSV_PRIORITY);
}
#if STM32F3_64MHZ_INT
void STM32F3_64MHz_Internal()
{
#warning "Internal"
/* Cleaning of Source clock register */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
/* Disable PLL */
RCC_PLLCmd((FunctionalState)DISABLE);
/* Wait untill PLL is cleared */
while((RCC->CR & RCC_CR_PLLRDY) == 1)
{
}
/* Setting of system clock to 64 MHz */
RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_PLLMul_16); //8/2*16 = 64MHz
/* Enable PLL */
RCC_PLLCmd((FunctionalState)ENABLE);
/* Wait till PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
}
/* Select PLL as system clock source */
RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
/* Wait till PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
{
}
/* HSE disabling */
RCC_HSEConfig(RCC_HSE_OFF);
/* Wait the disabling of HSE */
while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
{
}
}
#endif
#ifdef STSPIN32F0
void STSPIN32F0_Init(void)
{
/** This function is dedicated to the manual setting for STSPIN32F0. **/
/** Setting of internal clock source **/
/* Cleaning of Source clock register */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
/* Disable PLL */
RCC_PLLCmd((FunctionalState)DISABLE);
/* Wait untill PLL is cleared */
while((RCC->CR & RCC_CR_PLLRDY) == 1)
{
}
/* Setting of system clock to 48 MHz */
RCC_PLLConfig(RCC_PLLSource_HSI_Div2, RCC_CFGR_PLLMUL12); //8/2*12 = 48MHz
/* Enable PLL */
RCC_PLLCmd((FunctionalState)ENABLE);
/* Wait till PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
}
/* Select PLL as system clock source */
RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
/* Wait till PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
{
}
/* HSE disabling */
RCC_HSEConfig(RCC_HSE_OFF);
/* Wait the disabling of HSE */
while(RCC_GetFlagStatus(RCC_FLAG_HSERDY)==1)
{
}
/** Setting for OC protection th **/
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF,(FunctionalState) ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOF, &GPIO_InitStructure);
GPIOF->BSRR = GPIO_Pin_7;
GPIOF->BRR = GPIO_Pin_6;
}
#endif
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/

复制代码

/**
******************************************************************************
* @file Project/STM32F30x_StdPeriph_Templates/stm32f30x_it.c
* @author MCD Application Team
* @version 4.3.0
* @date 22-Sep-2016 15:29
* @brief Main Interrupt Service Routines.
* This file provides template for all exceptions handler and
* peripherals interrupt service routine.
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* http://www.st.com/software_license_agreement_liberty_v2
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f30x_it.h"
#include "Timebase.h"
/** @addtogroup Template_Project
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/******************************************************************************/
/* Cortex-M4 Processor Exceptions Handlers */
/******************************************************************************/
/**
* @brief This function handles NMI exception.
* @param None
* @retval None
*/
void NMI_Handler(void)
{
}
/**
* @brief This function handles Memory Manage exception.
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Bus Fault exception.
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
}
}
/**
* @brief This function handles Usage Fault exception.
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
}
}
#ifndef FREE_RTOS
/**
* @brief This function handles SVCall exception.
* @param None
* @retval None
*/
void SVC_Handler(void)
{
}
#endif
/**
* @brief This function handles Debug Monitor exception.
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
}
#ifndef FREE_RTOS
/**
* @brief This function handles PendSVC exception.
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
}
#endif
#ifndef FREE_RTOS
/**
* @brief This function handles SysTick Handler.
* @param None
* @retval None
*/
extern uint16_t mytime;
void SysTick_Handler(void)
{
TB_Scheduler();
mytime++;
if(mytime == 20000)
{mytime=0;}
}</font>
#endif
/******************************************************************************/
/* STM32F30x Peripherals Interrupt Handlers */
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
/* available peripheral interrupt handler's name please refer to the startup */
/* file (startup_stm32f30x.s). */
/******************************************************************************/
/**
* @brief This function handles PPP interrupt request.
* @param None
* @retval None
*/
/*void PPP_IRQHandler(void)
{
}*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/