【STM32电机培训】- 实验4：基于MCSDK5.0 状态的切换

TLLED · 2018-09-01T14:40:26+00:00

本帖最后由 TLLED 于 2018-9-1 22:40 编辑 8 I1 J. W6 K* z" e S" {* t: U; ~2 e! V& h7 [' Q 实验4：基于MCSDK5.0 状态的切换。) R7 U/ M [/ R' t i 一、实验内容要求如下： z7 f: ^/ ~+ ^ G . Q8 W* e5 h: m& V 5 o* D5 H/ y; @/ v2 X3 \% r 5 K" v3 A# B r" O. W9 ~- {" h 1 E: j: N4 V/ {2 y0 Q % Q( f8 N( ]% v7 O3 z7 S 9 \( I: U, V. Y& {7 Q, d二、实验代码修改： ! q; \" M- k- Q" S7 y' X修改main.c代码，修改的部分如下（红色字体） M4 b% w( f8 P$ U int main(void)4 k( v7 ^) d3 J5 h/ C' U {( Y' J( U+ J/ w% Q. T /* USER CODE BEGIN 1 */+ m# m1 S! {4 W3 _/ T( u# h" A State_t ste; //定义变量 ' m4 R& @( e# [2 \1 v2 n2 l6 B /* USER CODE END 1 */ $ P% x) u4 i# p. `) W* p3 t7 ~" O+ U /* MCU Configuration----------------------------------------------------------*/ : _" |% t! p: f& N0 }9 P( L 6 [& Q) {& Y! k /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ 4 E& l0 R' e7 E4 V HAL_Init();0 u% [2 h' \! \- c3 Y2 }1 G 5 \8 o; p/ B( k /* USER CODE BEGIN Init */ 1 y1 G* i$ [. w; J+ U8 a# }1 Z $ {9 i4 T( a& y* i1 d7 ` /* USER CODE END Init */3 W" G( M r, Z - V8 z. ]8 l5 h( u /* Configure the system clock */" E# R4 A1 U2 U X( {9 k) u6 W _( G, R SystemClock_Config();$ h( P6 y5 i6 u H6 | 9 E3 E# i) s( V /* USER CODE BEGIN SysInit */$ n/ j9 ?1 [2 w7 a* f8 L : q5 l2 Y; N% r. V8 [8 ~9 p /* USER CODE END SysInit */ K6 @2 h' Z6 S5 K* I9 {8 w' M9 u * ^2 q- ]5 Y+ y! ~4 U /* Initialize all configured peripherals */ E1 d8 _$ J) i$ W7 U6 Y8 I% ~ MX_GPIO_Init(); & V9 ]2 L7 x0 L/ ? MX_ADC1_Init(); : [7 p- T. |% Z) q$ }6 c7 d+ J% X MX_DAC_Init();4 K% E# g# I9 K MX_TIM1_Init();5 M: m4 M3 H& C- S( n6 G MX_USART2_UART_Init(); ) p5 A+ L" m# G% M6 O MX_MotorControl_Init(); ; ]! ?5 m, E# V. E& R* {: q; y' e* f' y- D2 Q /* Initialize interrupts */ 0 a& P9 G$ S, s- r9 m* R( R MX_NVIC_Init();' X) I, d( Z: ], W$ g- M1 f /* USER CODE BEGIN 2 */. $ ^% [2 f9 t: ? i, a MC_StartMotor1(); //启动电机/ M6 }: n( C0 y8 c HAL_Delay(1000); . j; K9 t% \4 I2 N6 ~; l7 L1 @3 D MC_ProgramSpeedRampMotor1(3000/6,1000); //正转3000转 , ~4 ~3 U+ k2 ?3 m1 a3 @+ n9 Z HAL_Delay(10000); //延时10s) T. v/ Y- F, m* ?# [4 Q. B MC_ProgramSpeedRampMotor1(-3000/6,1000); //反转3000转" ]: I* s2 c- w HAL_Delay(2000); 4 Q1 R3 p& X* J, U# k! e! v0 D# H% l) c, P9 \2 v /* USER CODE END 2 */ , X1 Z. o+ }0 `3 c - I1 I# c0 R" m' \# S" D0 w( ~8 y# o- D /* Infinite loop */ * ?2 w7 D, x0 \ /* USER CODE BEGIN WHILE */ ) ~$ m y6 [+ O) \7 ~. K( L while (1) 7 f+ u1 X. Z. ^* a3 a, r {2 a! T) z+ }- O2 w. k ste=MC_GetSTMStateMotor1(); //获取电机任务状态+ k* _) ]! j6 t6 i6 }) i if(ste==FAULT_OVER) //电机报错 0 C1 e$ {; a% i2 k& Z9 g! d8 H c { ( J4 J# p- M' _) o: |- Q- y MC_AcknowledgeFaultMotor1(); //清除故障5 M& k# `) `) G3 r" @$ ~6 n, B8 v @3 \& n7 R" R4 J& q }' ]) S9 q7 m7 M else if(ste == IDLE) //恢复故障后，电机负3000转运行$ G# $ y# u8 e. o) t+ F/ {$ W { & i- W- ]& Q l/ G$ Q) K MC_StartMotor1(); % }" w: n: e* l) W% n' i5 y MC_ProgramSpeedRampMotor1(MC_GetLastRampFinalSpeedMotor1(), 1000);2 C: P( Z3 m: s+ b+ k/ [# I# k }: B7 u3 z' @! @2 D* F' [ + E# S6 V6 w! J: H C /* USER CODE END WHILE */7 T% a4 | \5 Y! j7 h$ Y; }. y1 X / E0 J6 F& s$ I7 j! L /* USER CODE BEGIN 3 */ # Y' r: n9 v8 T( Y //State t sts_motor1 = MCI_GetSTMStateMotor1(); " }. r$ l0 B# Q/ w. K //STM_GetFaultState(&STM[M1]); ! H# f: P8 u# |6 D" s& k( q" e: Q: |2 R1 L$ c8 `& e* m & c! z5 S: P- B+ Z i8 | } & E+ o% T% K- {( ^) p7 g /* USER CODE END 3 */ 7 ~5 X, R) Z9 ~! k- G& }* p' l7 }. O2 M$ K- j2 ] M } 4 h7 W6 e8 ?1 F4 s1 ~7 R# ?, v4 P3 v6 t4 b+ V( e+ j: t8 r; C 三、执行结果： % z0 H% B9 Q, V! d; J$ I0 L! g 9 J; ?/ |5 R$ H* F% _7 C& g # U# G6 e: I6 q$ z2 Q: {5 _; S" x" x1 x j! z$ _' O 8 `3 l7 u/ y! Z6 S' q- Q/ Q; w. @# D! \1 r( O, W/ B" U: m) L " O! }+ y# C5 A& d3 r c 2 G6 I& O6 F5 C+ ?7 |4 q9 r, a; a2 ]' n ' @0 _" C$ l7 b8 P8 }0 r

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TLLED 发布时间：2018-9-1 22:40

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本帖最后由 TLLED 于 2018-9-1 22:40 编辑

实验4：基于MCSDK5.0 状态的切换。
一、实验内容要求如下：

二、实验代码修改：
修改main.c代码，修改的部分如下（红色字体）
int main(void)
{
  /* USER CODE BEGIN 1 */
  State_t  ste;    //定义变量
  /* 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
  HAL_Delay(1000);
  MC_ProgramSpeedRampMotor1(3000/6,1000);  //正转3000转
  HAL_Delay(10000);                                                    //延时10s
  MC_ProgramSpeedRampMotor1(-3000/6,1000); //反转3000转
  HAL_Delay(2000);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
ste=MC_GetSTMStateMotor1();          //获取电机任务状态
if(ste==FAULT_OVER)                            //电机报错
{
   MC_AcknowledgeFaultMotor1();          //清除故障

}
else if(ste == IDLE)                               //恢复故障后，电机负3000转运行
{
   MC_StartMotor1();
   MC_ProgramSpeedRampMotor1(MC_GetLastRampFinalSpeedMotor1(), 1000);
}

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
//State t sts_motor1 = MCI_GetSTMStateMotor1();
//STM_GetFaultState(&STM[M1]);

  }
  /* USER CODE END 3 */

}

三、执行结果：