【STM32电机培训】- 基于MC SDK5.0 API速度控制与电机启动停止

TLLED · 2018-08-30T13:33:02+00:00

培训手册里实验2：基于MC SDK5.0 API速度控制与电机启动停止。1、实验2内容：. Z, e3 y+ }9 y3 ` ) r9 \) p' T3 x w" c+ f8 T. l * f2 y2 C9 V& {: k j$ ~ # P' d0 \! j x0 A% m' f% ~ 6 y9 F8 R7 z' w5 n# b 2、程序代码，在上篇实现的代码的基础上，修改代码如下：! O# L* i) _- u# S2 s9 Z+ u1 h main.c程序里面添加内容 ( F: K, [# w- K; w) O Q//----------------------------- / `% F) M; ?; e//定义变量- ] a' m% w8 }" m1 q /* USER CODE BEGIN PV */1 E7 I, i: U; M% b. f /* Private variables ---------------------------------------------------------*/) y) L0 P& k2 H1 j static uint32_t delay_cnt=0; //延时计数 # f5 b% z$ `+ p static uint32_t delay_cnt1=0; 0 U4 O( \) e# w. u static uint8_t delay_start_flag=0x30; //延时启动标志位 6 \+ y* f, Z) J) m. o# b: } static uint8_t delay_5s_flag=0; //5s时间到标志位 ( z# v* b% z# ?8 }, G& U, R static uint8_t delay_10s_flag=0; //10s时间到标志位 : r! W/ ]: B) T0 P& h4 b# w0 d/* USER CODE END PV */ M' p' k, `' Q2 _/ A- e9 Z ]( \3 o! c2 k" z# H//函数定义2 X& t$ q. l/ d$ T( p /* USER CODE BEGIN 0 */ + E9 a& O2 r3 W7 k: j//定时器处理' K2 X& [' o2 ~" F void Delay_Handler(void) 4 }5 J {6 H7 [9 Z" c6 W" k{4 q2 K2 P% |5 |6 m7 K delay_cnt++; 8 K( P# V* `3 e( s! Q; D+ `! D if(delay_cnt>2000) //1s计时 & z" s2 Y- r, f3 c# _9 b { + H+ S$ X8 O6 L) Y! v& m4 q; C delay_cnt=0; 1 P9 I6 A! D& W% h/ w HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_9); //定义示波器看时引脚. L g5 V' W8 }7 `$ n2 H0 E& g2 e //----------------------------------------8 M. ]' j9 ? [% E) l if(delay_start_flag==0x30) //启动10s计时 ) R0 |$ `, Z$ c) N/ w) M# J _% B% u9 o2 r {' v" k" x7 r8 T2 J8 R V6 c delay_cnt1++;2 E5 J5 i6 B6 \- s+ V3 F1 u. ^; F1 j if(delay_cnt1>9) //10S4 ]$ V- {+ A& _5 S; D1 \9 ]& ` {0 i' L: J3 {2 f( Y delay_cnt1=0;, C: T: e: T6 r7 x+ Y( x delay_start_flag=0x20; : W- C V% \4 D. I delay_10s_flag=1; //10S时间到标志位' H5 E6 \* W' V1 g/ U0 {" x } 6 t/ ^& c7 p3 A' N0 N1 _+ W8 U } / t$ M4 A- q/ _0 F1 z3 H5 k else if(delay_start_flag==0x20) //启动5s计时' F2 x& {2 o( }5 [8 Q$ s( w { 2 D- i% m7 N0 U1 K4 ?7 ^ delay_cnt1++; $ n C9 |8 d4 J/ }# }; E if(delay_cnt1>4) //5S % G, A+ _ Y( _! H6 J& t n {( }- E9 N* @& w5 s delay_cnt1=0; 6 r+ G+ Q) v8 R, L3 C4 G/ v1 f delay_start_flag=0x30; t: S$ W$ I- g0 ?; u4 S1 H delay_5s_flag=1; //5S时间到标志位 ; W, H t! D; t6 q* q K2 ` } ( I1 ]5 T2 W* v1 T } , x. I1 }9 r8 i3 n1 c w5 b } . z6 s& l, t+ C) h2 n0 F/ U4 k}) _) D& g2 d) F. f1 c* W; C0 h 5 _4 u+ _) h: g# }( Y0 Z. ~5 z. y int main(void) 9 Y5 H( _6 }6 F, K$ X3 f{9 j0 H& m9 M% s- O! ?. o" z /* USER CODE BEGIN 1 */, G$ ?- o/ n0 x n # q; ^9 N& S+ `; s* \ T' C$ N6 y) \ % a" G# `& \; D& ` R$ c; j /* USER CODE END 1 */# r( P$ K. ]+ I: Z0 A+ g / j* E4 P8 w/ n ] ' _" m& p! @% p+ y+ p( g7 _ /* MCU Configuration----------------------------------------------------------*/6 M% }8 z. |$ H9 e & h" ]) N3 t. S% V: D+ S( _% Q9 ] ) Y% t, ^ d$ N# j% _ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ % r" T" `6 T6 U5 ^/ X! X HAL_Init(); % W2 \( k6 i3 h7 _; ` ) [0 T$ m& z4 o; _% V! Z: L7 m- Q1 ^1 P0 i4 l( z/ K: ]) u /* USER CODE BEGIN Init */ T+ p( n2 ^3 Y! j; X! F . S$ p2 ~9 i i3 T5 t- u; Q. G2 U/ o& J$ G1 s7 r) { /* USER CODE END Init */) I4 \* G5 f# I+ M7 V % b' P' i5 l/ u# E5 Q' V& l( o& x T$ | /* Configure the system clock */ & q, k7 @* b7 ^3 O SystemClock_Config(); B* j( T9 O7 w, N 4 V& I" g' R4 W5 @) S/ j ' n+ o! z1 u, I /* USER CODE BEGIN SysInit */ ) ]- I9 p: r/ p0 J! \: v1 R8 H& S8 s! p& n, B/ R- X3 l, e 5 T( ~9 w* [: F0 ] /* USER CODE END SysInit */ * N2 \8 I" M& H' N # b4 X# _# Z! O. d c# Q1 @9 ~+ O% Q% d" [ /* Initialize all configured peripherals */# j9 O9 m/ }( y% e8 j' ^ MX_GPIO_Init();0 c) N. Y; |7 @, \1 b6 `( Q/ u3 \8 c MX_ADC1_Init(); 3 h0 W9 P& ?" w) e7 F: _ MX_DAC_Init();) E6 L" x2 v5 M/ y MX_TIM1_Init(); 0 Z; Y( [. r( J/ |2 ~ MX_USART2_UART_Init();0 s U, b/ h: D( ?& C" z4 H# } MX_MotorControl_Init();* W+ Y+ H3 S- S) @0 e 1 S$ S; S0 ~2 ]( ~. Z 7 L+ z, R" K! X- @/ i /* Initialize interrupts */1 T! A' V3 @8 x- w \ MX_NVIC_Init(); . k; I* e: T( m! v /* USER CODE BEGIN 2 */ % B! }& @! v4 n% v' a* W# `2 H ? MC_StartMotor1(); //启动电机) e3 A& ]; c2 p MC_ProgramSpeedRampMotor1(3000/6,1000); //1s内加速到3000RPM$ `) T7 b/ L9 D8 V6 v) b% ]1 c" o ) \" ?$ U! B: c/ g4 } # p5 n* F" m u3 [# Z /* USER CODE END 2 */ ; M% t: j% Y0 n4 ]/ s X7 O5 a, |: k& J 8 h5 y. z. V( s# { /* Infinite loop */4 r3 Q( @7 g8 F: @) f' c /* USER CODE BEGIN WHILE */ ' G" w Z; Z# m. R, c while (1) * \& H* k* T7 ~% k+ `' ]+ Q {1 c# l' _; G; B 0 X7 h* \7 d( P2 s' ^' w8 \ ! o3 S4 e$ d( w5 U4 T /* USER CODE END WHILE */ 2 Z2 f) ?/ b% @# t3 p+ C ~1 c9 u' W, |$ s * ^( C' T& z, @$ C /* USER CODE BEGIN 3 */& E# M5 ~! P$ _% U" ~0 i if(delay_10s_flag==1) //10S* E* f* M/ A! { { ' ]1 I. ~/ K8 |3 e" t6 ^ MC_StopMotor1(); //停止电机运行 6 C. i1 h8 j- p) H( i) E+ m delay_10s_flag=0; + J1 r l/ Q9 J } * H7 k& i# m; w& W if(delay_5s_flag==1) //5S 8 t! o" [! S) A {3 `1 _' Z1 S* w0 H MC_StartMotor1();) ?0 i$ n6 v' t+ b delay_5s_flag=0; % l' e+ S9 M! R+ t: E% Y( I }7 ?1 M0 N {& M; R & K9 q( D2 N5 d( H' h + F' ?7 H0 _- E7 R } 0 Y* I( ^9 u1 O /* USER CODE END 3 */1 r/ o" A( I/ i + ^9 L) F5 m! s. } - t* M- G1 m/ k+ H} 7 X( K4 m5 g9 B- ^" y* M. N- ?/ W1 F o2 E# K. d 4 L9 p8 @1 k8 g8 |* q4 f 1 f6 ]/ c$ C8 y$ d( v /* USER CODE END 0 */+ P, Y" }' X8 X( z# H2 K 5 C- d; A" {2 p# e3 P( d3 L0 I3 C4 p9 w$ H 5 @9 j1 U, X2 v, ^& n4 U 1 B4 G+ w- H5 A4 ], {/ h + }' h, M+ d/ ]stm32f30x_mc_it.c 程序里面添加内容： & V6 J# Q) g- o d. c: _在滴答定时中断程序里面调用定义的函数6 V* D, |" |, M" v% ~ void SysTick_Handler(void)7 T! k8 A# d9 ^( L4 N; H: L5 K {/ q7 M) p" T1 E6 D' R3 G x #ifdef MC_HAL_IS_USED # \ }* O- W- ? ` H" I9 d7 Rstatic uint8_t SystickDividerCounter = SYSTICK_DIVIDER; 8 E4 V$ ^3 T8 N8 T/ Z' ]" N0 B /* USER CODE BEGIN SysTick_IRQn 0 */# Q* y, j9 n/ M J, m 6 x, }9 \* m3 l2 E$ S- e% q 8 r$ U I! i: L6 Q' n /* USER CODE END SysTick_IRQn 0 */ 6 g( m" o- L5 h# ]4 F& B* { if (SystickDividerCounter == SYSTICK_DIVIDER)" t- f, s( B! U! a { 6 q% e6 A. v; Z: U1 j HAL_IncTick();3 I% ~+ B8 Y) n( J" u! k5 s HAL_SYSTICK_IRQHandler(); 8 ]; _1 W; ^8 ~+ Y SystickDividerCounter = 0; ' u6 }+ m* F7 s D, {, k }+ R$ p' t8 }! b+ c$ x SystickDividerCounter ++; 9 v) _9 c9 r5 T) \8 v#endif /* MC_HAL_IS_USED */$ k8 Z. h: U- F3 y! \9 i' O! q$ U, I" X; h 2 o6 j% H% W5 l * G5 l" H* o l# a2 Z! m" | /* USER CODE BEGIN SysTick_IRQn 1 */ . I: g" v4 g/ o2 O1 _, v /* USER CODE END SysTick_IRQn 1 */ 8 m* \# s; t+ K. [3 z MC_RunMotorControlTasks();& T& o& g! @( i; ~1 k /* USER CODE BEGIN SysTick_IRQn 2 */) f- V) M% L) k Delay_Handler(); + P! Q& w7 F6 L* \8 r3 ?1 ]- K) I /* USER CODE END SysTick_IRQn 2 */ 1 F3 w7 k) d. n" S+ a |}9 S3 W# i& A/ O6 @: j; R4 |& s # [$ @: e8 B2 b # x; \6 T# V- N+ n. k% h i # x! T1 o! K2 O: U4 r) Q' _! H3、测试波形：+ Y! J. U& {! |; f8 y; @- ? 在程序定义PC9为输出，观察滴答定时器的定时时间，滴答定时器的时间周期为0.5us ,程序处理后变成1s定时周期： 1 O; C: {2 p8 T( v: |5 f0 G6 P 8 P1 v9 V' Q1 E" l2 q. E S( U p$ l7 P ; k7 @$ |6 s9 U# M 监控电机运行的图片： + B) H" o8 P3 O/ A8 N " p; \, ]& M$ I , F* v# X7 Y0 Y2 u1 b0 T ; ~; q% F3 t* D1 o5 q1 z# f . ?6 t% T& I6 \2 }3 j1 q" v! Y- o # n4 X2 N. V% T0 L! S" o* V8 J# F9 J ) o# a. v7 P4 s2 B# p6 { ' A }9 q/ e5 L( a5 Q; A) J, y/ j! P$ d4 D & f3 h: ~' ?! M* Q: L1 X1 V " Q5 {1 [) k* s9 L' B. n) l$ { + E1 F0 c" A: V9 C' U+ E( }7 C( s( M0 `1 T& i, K' `0 M1 I! d 9 t; R' f: `, u4 \, l! P5 \3 h* T) o, r) O " M6 [; h" S" ~$ I+ ?0 I7 ]6 W : o5 N9 o7 S4 h g9 T K : x9 [: q9 a) Q+ G% ?5 z* v" Z

【STM32电机培训】- 基于MC SDK5.0 API速度控制与电机启动停止

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TLLED 发布时间：2018-8-30 21:33

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培训手册里实验2：基于MC SDK5.0 API速度控制与电机启动停止。1、实验2内容：

2、程序代码，在上篇实现的代码的基础上，修改代码如下：
main.c程序里面添加内容
//-----------------------------
//定义变量
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
  static uint32_t  delay_cnt=0;                //延时计数
  static uint32_t  delay_cnt1=0;
  static uint8_t  delay_start_flag=0x30;    //延时启动标志位
  static uint8_t  delay_5s_flag=0;             //5s时间到标志位
  static uint8_t  delay_10s_flag=0;          //10s时间到标志位
/* USER CODE END PV */

//函数定义
/* USER CODE BEGIN 0 */
//定时器处理
void Delay_Handler(void)
{
  delay_cnt++;
  if(delay_cnt>2000)       //1s计时
{
   delay_cnt=0;
   HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_9); //定义示波器看时引脚
   //----------------------------------------
   if(delay_start_flag==0x30)       //启动10s计时
   {
      delay_cnt1++;
      if(delay_cnt1>9)       //10S
      {
      delay_cnt1=0;
      delay_start_flag=0x20;
      delay_10s_flag=1;    //10S时间到标志位
      }
   }
   else if(delay_start_flag==0x20) //启动5s计时
   {
      delay_cnt1++;
      if(delay_cnt1>4)          //5S
      {
      delay_cnt1=0;
      delay_start_flag=0x30;
      delay_5s_flag=1; //5S时间到标志位
      }
   }
}
}

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_DAC_Init();
  MX_TIM1_Init();
  MX_USART2_UART_Init();
  MX_MotorControl_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
MC_StartMotor1();    //启动电机
  MC_ProgramSpeedRampMotor1(3000/6,1000); //1s内加速到3000RPM

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
if(delay_10s_flag==1)    //10S
{
   MC_StopMotor1();       //停止电机运行
   delay_10s_flag=0;
}
if(delay_5s_flag==1)    //5S
{
   MC_StartMotor1();
   delay_5s_flag=0;
}

  }
  /* USER CODE END 3 */

}

/* USER CODE END 0 */

stm32f30x_mc_it.c 程序里面添加内容：
在滴答定时中断程序里面调用定义的函数
void SysTick_Handler(void)
{
#ifdef MC_HAL_IS_USED
static uint8_t SystickDividerCounter = SYSTICK_DIVIDER;
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  if (SystickDividerCounter == SYSTICK_DIVIDER)
  {
HAL_IncTick();
HAL_SYSTICK_IRQHandler();
SystickDividerCounter = 0;
  }
  SystickDividerCounter ++;
#endif /* MC_HAL_IS_USED */

  /* USER CODE BEGIN SysTick_IRQn 1 */
  /* USER CODE END SysTick_IRQn 1 */
MC_RunMotorControlTasks();
  /* USER CODE BEGIN SysTick_IRQn 2 */
Delay_Handler();
  /* USER CODE END SysTick_IRQn 2 */
}

3、测试波形：
在程序定义PC9为输出，观察滴答定时器的定时时间，滴答定时器的时间周期为0.5us ,程序处理后变成1s定时周期：