307 lines
8.4 KiB
C
307 lines
8.4 KiB
C
/*
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2页菜单：1：设定速度、实时速度； 2：母线电压、电流显示。
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KEY1：按键切换速度及电压电流菜单
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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。
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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；
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电位器调速，切换到速度菜单，可以显示当前设定转速。
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Designed by Cache.lee from UET company
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Tel:18129915976
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*/
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#include "main.h"
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#include "motor.h"
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#include "globalv.h"
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#include "init.h"
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#include "pid.h"
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#include "compu.h"
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#include "control.h"
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//#include "OLED_I2C.h"
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unsigned int Menu=0;
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//UARTx
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#define DEBUG_USARTx CW_UART3
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#define DEBUG_USART_CLK RCC_APB1_PERIPH_UART3
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#define DEBUG_USART_APBClkENx RCC_APBPeriphClk_Enable1
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#define DEBUG_USART_BaudRate 115200
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#define DEBUG_USART_UclkFreq 64000000
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//UARTx GPIO
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#define DEBUG_USART_GPIO_CLK RCC_AHB_PERIPH_GPIOB
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#define DEBUG_USART_TX_GPIO_PORT CW_GPIOB
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#define DEBUG_USART_TX_GPIO_PIN GPIO_PIN_6
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#define DEBUG_USART_RX_GPIO_PORT CW_GPIOB
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#define DEBUG_USART_RX_GPIO_PIN GPIO_PIN_7
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//GPIO AF
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#define DEBUG_USART_AFTX PB06_AFx_UART3TXD()
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#define DEBUG_USART_AFRX PB07_AFx_UART3RXD()
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#ifdef __GNUC__
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/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
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set to 'Yes') calls __io_putchar() */
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#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
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#else
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#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
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#endif /* __GNUC__ */
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/**
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* @brief 配置UART
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*
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*/
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void UART_Configuration(void)
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{
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USART_InitTypeDef USART_InitStructure;
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GPIO_InitTypeDef GPIO_InitStructure;
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//外设时钟使能
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RCC_AHBPeriphClk_Enable(DEBUG_USART_GPIO_CLK, ENABLE);
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DEBUG_USART_APBClkENx(DEBUG_USART_CLK, ENABLE);
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//UART TX RX 复用
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DEBUG_USART_AFTX;
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DEBUG_USART_AFRX;
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GPIO_InitStructure.Pins = DEBUG_USART_TX_GPIO_PIN;
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GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
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GPIO_Init(DEBUG_USART_TX_GPIO_PORT, &GPIO_InitStructure);
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GPIO_InitStructure.Pins = DEBUG_USART_RX_GPIO_PIN;
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GPIO_InitStructure.Mode = GPIO_MODE_INPUT_PULLUP;
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GPIO_Init(DEBUG_USART_RX_GPIO_PORT, &GPIO_InitStructure);
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USART_InitStructure.USART_BaudRate = DEBUG_USART_BaudRate;
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USART_InitStructure.USART_Over = USART_Over_16;
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USART_InitStructure.USART_Source = USART_Source_PCLK;
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USART_InitStructure.USART_UclkFreq = DEBUG_USART_UclkFreq;
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USART_InitStructure.USART_StartBit = USART_StartBit_FE;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_Parity = USART_Parity_No ;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
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USART_Init(DEBUG_USARTx, &USART_InitStructure);
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}
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/**
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* @brief Retargets the C library printf function to the USART.
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*
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*/
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PUTCHAR_PROTOTYPE
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{
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USART_SendData_8bit(DEBUG_USARTx, (uint8_t)ch);
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while (USART_GetFlagStatus(DEBUG_USARTx, USART_FLAG_TXE) == RESET);
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return ch;
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}
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/******************************************************************************
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* EOF (not truncated)
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******************************************************************************/
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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void PowerOnDelay(void)
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{
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unsigned int i;
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for(i=0;i<60000;i++);
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for(i=0;i<60000;i++);
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for(i=0;i<60000;i++);
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for(i=0;i<60000;i++);
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for(i=0;i<60000;i++);
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for(i=0;i<60000;i++);
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KKN=(MAXSPEED-MINSPEED);
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KKN=KKN/(NMAXVD-NMINVD);
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}
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unsigned int hte=0;
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int main()
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{
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unsigned char DZCount=0;
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char temp_buff[100],temp_buff1[50];
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// unsigned char key_1=0;
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PowerOnDelay();
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RCC_Configuration(); //时钟配置
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UART_Configuration();
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GPIOInit(); //GPIO配置
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LEDON();
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ADC_Configuration(); //AD配置
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PWMtimer_init();
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BTIM_init();
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Halltimer_init();
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//printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
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PWM_AL_ON;
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PWM_BL_ON;
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PWM_CL_ON;
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TimeCountTemp=0;
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while(TimeCountTemp<50);
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TimeCountTemp=0;
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PWM_AL_OFF;
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PWM_BL_OFF;
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PWM_CL_OFF;
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// I2C_init(); //OLED init
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// I2C_OLED_Init();
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// I2C_OLED_Clear(1);
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// I2C_OLED_UPdata();
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//
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printf("Update %s %s\r\n",__DATE__,__TIME__);
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printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
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SampleVI(); //采集电压电流
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startflag=1;
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EnDirCheck();
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DIin=0x500; //偏置电流设定 0.9V-1.1V中间，认为正确
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if(SampleData[1]>1117&&SampleData[1]<=1500)DIin=SampleData[1];
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else printf("Current read err\r\n");
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if(SampleData[2]>3000|| SampleData[2]<700) printf("Speed read err\r\n");
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if(HALL_Check()==0|| HALL_Check()==7) printf("HALL Read Err\r\n");
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if(CanshuV<30) printf("Votage read err\r\n");
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sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //输出显示占空比
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sprintf(temp_buff,"Real:%4d RPM ",RealS); //显示电机转速
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printf("%s\r\n",temp_buff);
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printf("%s\r\n",temp_buff1);
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sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //输出显示占空比
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sprintf(temp_buff,"I(MA):%d ",CanshuI); //显示电机转速
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printf("%s\r\n",temp_buff);
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printf("%s\r\n",temp_buff1);
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GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_SET); //12V输出
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while(1)
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{
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if(TimeCountCompuSpeed>20) //20MS采集一次速度设定值,并检查HALL是否有误
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{
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TimeCountCompuSpeed=0;
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SampleSpeed();
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HALL_Check();
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}
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if(TimeCountVI>=200)//100MS计算一次电压电流,并作一次实时速度计算
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{
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printf("ADC[0]:%d ADC[1]:%d ADC[2]:%d ADC[3]:%d\r\n",SampleData[0],SampleData[1],SampleData[2],SampleData[3]);
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TimeCountVI=0;
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SampleVI();
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RealS=hte*50/MPolePairs;//HALLcount1*10*60/6/MPolePairs; 100MS存储一次霍尔边沿数
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if(MOTORSTATE==STATESTARTPID||MOTORSTATE==STATERUNPID)
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{
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if(RealS==0)
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{
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DZCount++;
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if(DZCount>=10)//2S保护
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{
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DZCount=0;ErrorCode=7;//堵转
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}
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}
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else DZCount=0;
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}
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}
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if(ErrorCode!=0&&MOTORSTATE!=STATEERROR&&MOTORSTATE!=STATEERROROVER)//发生故障
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{
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MOTORSTATE=STATEERROR;
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printf("ErrorCode=%d\r\n",ErrorCode);
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GPIO_WritePin(VOUT_EN_GPIO_PORT,VOUT_EN_GPIO_PIN,GPIO_Pin_RESET); //12V输出
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}
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if(TimeCountkey>=500) //500ms刷新显示
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{
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LEDTOG();
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TimeCountkey=0;
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// if(Menu==0)
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// {
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sprintf(temp_buff1,"Set :%4d RPM ",SetSpeed); //输出显示占空比
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sprintf(temp_buff,"Real:%4d RPM ",RealS); //显示电机转速
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printf("%s\r\n",temp_buff);
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printf("%s\r\n",temp_buff1);
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// }
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// else
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// {
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sprintf(temp_buff1,"Vbus :%d.%d V ",CanshuV/10,CanshuV%10); //输出显示占空比
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sprintf(temp_buff,"I(MA):%d ",CanshuI); //显示电机转速
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// }
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printf("%s\r\n",temp_buff);
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printf("%s\r\n",temp_buff1);
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// printf("MOTORSTATE=%d\r\n",MOTORSTATE);
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// I2C_OLED_ShowString(0,0,temp_buff1);
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// I2C_OLED_ShowString(0,15,temp_buff);
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// I2C_OLED_UPdata();
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}
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MotorBreak();
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EnDirCheck();
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//状态机
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switch(MOTORSTATE)
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{
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case STATESTARTCHECK:
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MotorStartCheck();
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break;
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case STATESTARTPID:
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MotorStartPID();
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break;
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case STATERUNPID:
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MotorRunPID();
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break;
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case STATESTOP: MotorStop();break;
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case STATEERROR: MotorError();break;
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case STATEERROROVER: MotorErrorOver();break;
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}
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}
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}
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//1ms 定时器
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void BTIM1_IRQHandler(void)
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{
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/* USER CODE BEGIN */
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if(BTIM_GetITStatus(CW_BTIM1, BTIM_IT_OV))
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{ //1MS timer
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BTIM_ClearITPendingBit(CW_BTIM1, BTIM_IT_OV);
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TimeCountTemp++;
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TimeCountCompuSpeed++; //计算速度
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TimeCountRealSpd++; //瞬时速度
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if(TimeCountAvgSpd>=200){hte=HALLcount1;HALLcount1=0;TimeCountAvgSpd=0;}//用于显示的速度值
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if(TimeCountRealSpd>=20){HALLcountTemp=HALLcount;HALLcount=0;TimeCountRealSpd=0;}
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TimeCountPID++; //PID
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TimeCountAvgSpd++; //平均速度
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TimeCountVI++;//计算电压电流
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TimeCountkey++;
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}
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/* USER CODE END */
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}
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