/* 2页菜单：1：设定速度、实时速度； 2：母线电压、电流显示。 KEY1：按键切换速度及电压电流菜单 KEY2：方向切换按键。电机运行时也可以切换。LED2亮灭表示不同的方向。 KEY3：电机启停控制，LED3灯亮时，电机处于启动状态； LED3灯来时，电机处于停止状态； 电位器调速，切换到速度菜单，可以显示当前设定转速。 Designed by Cache.lee from UET company Tel:18129915976 */ #include "main.h" #include "motor.h" #include "globalv.h" #include "init.h" #include "pid.h" #include "compu.h" #include "control.h" //#include "OLED_I2C.h" unsigned int Menu=0; //UARTx #define DEBUG_USARTx CW_UART3 #define DEBUG_USART_CLK RCC_APB1_PERIPH_UART3 #define DEBUG_USART_APBClkENx RCC_APBPeriphClk_Enable1 #define DEBUG_USART_BaudRate 115200 #define DEBUG_USART_UclkFreq 64000000 //UARTx GPIO #define DEBUG_USART_GPIO_CLK RCC_AHB_PERIPH_GPIOB #define DEBUG_USART_TX_GPIO_PORT CW_GPIOB #define DEBUG_USART_TX_GPIO_PIN GPIO_PIN_6 #define DEBUG_USART_RX_GPIO_PORT CW_GPIOB #define DEBUG_USART_RX_GPIO_PIN GPIO_PIN_7 //GPIO AF #define DEBUG_USART_AFTX PB06_AFx_UART3TXD() #define DEBUG_USART_AFRX PB07_AFx_UART3RXD() #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__ */ /** * @brief 配置UART * */ void UART_Configuration(void) { USART_InitTypeDef USART_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; //外设时钟使能 RCC_AHBPeriphClk_Enable(DEBUG_USART_GPIO_CLK, ENABLE); DEBUG_USART_APBClkENx(DEBUG_USART_CLK, ENABLE); //UART TX RX 复用 DEBUG_USART_AFTX; DEBUG_USART_AFRX; GPIO_InitStructure.Pins = DEBUG_USART_TX_GPIO_PIN; GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStructure.Speed = GPIO_SPEED_HIGH; GPIO_Init(DEBUG_USART_TX_GPIO_PORT, &GPIO_InitStructure); GPIO_InitStructure.Pins = DEBUG_USART_RX_GPIO_PIN; GPIO_InitStructure.Mode = GPIO_MODE_INPUT_PULLUP; GPIO_Init(DEBUG_USART_RX_GPIO_PORT, &GPIO_InitStructure); USART_InitStructure.USART_BaudRate = DEBUG_USART_BaudRate; USART_InitStructure.USART_Over = USART_Over_16; USART_InitStructure.USART_Source = USART_Source_PCLK; USART_InitStructure.USART_UclkFreq = DEBUG_USART_UclkFreq; USART_InitStructure.USART_StartBit = USART_StartBit_FE; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No ; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(DEBUG_USARTx, &USART_InitStructure); } /** * @brief Retargets the C library printf function to the USART. * */ PUTCHAR_PROTOTYPE { USART_SendData_8bit(DEBUG_USARTx, (uint8_t)ch); while (USART_GetFlagStatus(DEBUG_USARTx, USART_FLAG_TXE) == RESET); return ch; } /****************************************************************************** * EOF (not truncated) ******************************************************************************/ #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 CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ void PowerOnDelay(void) { unsigned int i; for(i=0;i<60000;i++); for(i=0;i<60000;i++); for(i=0;i<60000;i++); for(i=0;i<60000;i++); for(i=0;i<60000;i++); for(i=0;i<60000;i++); KKN=(MAXSPEED-MINSPEED); KKN=KKN/(NMAXVD-NMINVD); } unsigned int hte=0; int main() { unsigned char DZCount=0; char temp_buff[100],temp_buff1[50]; // unsigned char key_1=0; PowerOnDelay(); RCC_Configuration(); //时钟配置 UART_Configuration(); GPIOInit(); //GPIO配置 LEDON(); ADC_Configuration(); //AD配置 PWMtimer_init(); BTIM_init(); Halltimer_init(); //printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]); PWM_AL_ON; PWM_BL_ON; PWM_CL_ON; TimeCountTemp=0; while(TimeCountTemp<50); TimeCountTemp=0; PWM_AL_OFF; PWM_BL_OFF; PWM_CL_OFF; // I2C_init(); //OLED init // I2C_OLED_Init(); // I2C_OLED_Clear(1); // I2C_OLED_UPdata(); // printf("Update %s %s\r\n",__DATE__,__TIME__); printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]); SampleVI(); //采集电压电流 startflag=1; EnDirCheck(); DIin=0x500; //偏置电流设定 0.9V-1.1V中间，认为正确 if(SampleData[1]>1117&&SampleData[1]<=1500)DIin=SampleData[1]; else printf("Current read err\r\n"); if(SampleData[2]>3000|| SampleData[2]<700) printf("Speed read err\r\n"); if(HALL_Check()==0|| HALL_Check()==7) printf("HALL Read Err\r\n"); if(CanshuV<30) printf("Votage read err\r\n"); sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //输出显示占空比 sprintf(temp_buff,"Real:%4d RPM ",RealS); //显示电机转速 printf("%s\r\n",temp_buff); printf("%s\r\n",temp_buff1); sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //输出显示占空比 sprintf(temp_buff,"I(MA):%d ",CanshuI); //显示电机转速 printf("%s\r\n",temp_buff); printf("%s\r\n",temp_buff1); GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_SET); //12V输出 while(1) { if(TimeCountCompuSpeed>20) //20MS采集一次速度设定值,并检查HALL是否有误 { TimeCountCompuSpeed=0; SampleSpeed(); HALL_Check(); } if(TimeCountVI>=200)//100MS计算一次电压电流,并作一次实时速度计算 { printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]); TimeCountVI=0; SampleVI(); RealS=hte*50/MPolePairs;//HALLcount1*10*60/6/MPolePairs; 100MS存储一次霍尔边沿数 if(MOTORSTATE==STATESTARTPID||MOTORSTATE==STATERUNPID) { if(RealS==0) { DZCount++; if(DZCount>=10)//2S保护 { DZCount=0;ErrorCode=7;//堵转 } } else DZCount=0; } } if(ErrorCode!=0&&MOTORSTATE!=STATEERROR&&MOTORSTATE!=STATEERROROVER)//发生故障 { MOTORSTATE=STATEERROR; printf("ErrorCode=%d\r\n",ErrorCode); GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_RESET); //12V输出 } if(TimeCountkey>=500) //500ms刷新显示 { LEDTOG(); TimeCountkey=0; // if(Menu==0) // { sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //输出显示占空比 sprintf(temp_buff,"Real:%4d RPM ",RealS); //显示电机转速 printf("%s\r\n",temp_buff); printf("%s\r\n",temp_buff1); // } // else // { sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //输出显示占空比 sprintf(temp_buff,"I(MA):%d ",CanshuI); //显示电机转速 // } printf("%s\r\n",temp_buff); printf("%s\r\n",temp_buff1); // printf("MOTORSTATE=%d\r\n",MOTORSTATE); // I2C_OLED_ShowString(0,0,temp_buff1); // I2C_OLED_ShowString(0,15,temp_buff); // I2C_OLED_UPdata(); } MotorBreak(); EnDirCheck(); //状态机 switch(MOTORSTATE) { case STATESTARTCHECK: MotorStartCheck(); break; case STATESTARTPID: MotorStartPID(); break; case STATERUNPID: MotorRunPID(); break; case STATESTOP: MotorStop();break; case STATEERROR: MotorError();break; case STATEERROROVER: MotorErrorOver();break; } } } //1ms 定时器 void BTIM1_IRQHandler(void) { /* USER CODE BEGIN */ if(BTIM_GetITStatus(CW_BTIM1, BTIM_IT_OV)) { //1MS timer BTIM_ClearITPendingBit(CW_BTIM1, BTIM_IT_OV); TimeCountTemp++; TimeCountCompuSpeed++; //计算速度 TimeCountRealSpd++; //瞬时速度 if(TimeCountAvgSpd>=200){hte=HALLcount1;HALLcount1=0;TimeCountAvgSpd=0;}//用于显示的速度值 if(TimeCountRealSpd>=20){HALLcountTemp=HALLcount;HALLcount=0;TimeCountRealSpd=0;} TimeCountPID++; //PID TimeCountAvgSpd++; //平均速度 TimeCountVI++;//计算电压电流 TimeCountkey++; } /* USER CODE END */ }