这几天一直都在捣鼓官方SDK中的例程,其中最令我兴奋的是找到了之前移植的个人工程失败的原因。原因是stm32f30x_it.c的SysTick_Handler()函数和stm32f30x_MC_it.c整个文件不能移除,必须被保留。SysTick_Handler()函数的作用是运用系统滴答定时器的计时溢出中断,周期性执行某个程序,如HAL_GPIO_TogglePin()翻转某个LED灯的电平状态,当然,SysTick_Handler()执行的间隔太短,肉眼是看不出LED翻转效果的。官方例程里面的SysTick_Handler()函数里面是TB_Scheduler()函数,涉及到一些电机状态控制和安全控制相关的函数,所以不能去掉。虽然不能去掉,但是可以把SysTick_Handler()整个搬到main.c的最下面,既方便修改,又减少了工程所包含文件的数量。至于stm32f30x_MC_it.c,里面的重要函数是一些定时器中断请求的函数如TIMx_UP_M2_IRQHandler(),也是非常重要不能去掉的。那么我是怎么发现这点的呢,是靠排除法发现的,我在进行STM32开发的时候最看不爽的就是XXXX_it.c结尾的中断服务函数源文件,一般情况下能删则删,不能删则一个个函数移植。在我操作官方SDK的时候不小心误删了stm32f30x_MC_it.c文件,然后电机也不转了,于是我就知道了stm32f30x_MC_it.c这个文件很重要,不能删。
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既然移植的工程没有任何问题,那自然就可以开始进行自己的开发了。俗话说调通串口好办事,首要做的肯定是先调通串口以便以后监控各个变量的情况。由于是标准库,我首先想到的是套用正点原子战舰F103ZE的例程,但是初期套用没法调通,花了我将近一个小时,后来我将官方库的串口初始化代码移植过来,总算是成功了。以下是串口初始化代码,供大家参考:6 F* x1 ]7 W( q% q l# F
- <font size="3">void USART2_Init(int baud): Z" l. T: ^) D0 _! P
- {
) Q N8 h! W2 \7 b - RCC_APB1PeriphClockCmd(RCC_AHBPeriph_GPIOA|# e5 w ^5 B( C$ x
- RCC_APB1Periph_USART2,ENABLE);6 a2 A9 S& R9 \; E
- 7 c& a' @6 S5 b( D
- USART_InitStructure.USART_BaudRate=115200;; m6 V( s8 K3 o+ P
- USART_InitStructure.USART_WordLength=USART_WordLength_8b;
# T; {% L. ?/ n3 o' V - USART_InitStructure.USART_StopBits=USART_StopBits_1;0 X( S+ n3 T- N" k- q
- USART_InitStructure.USART_Parity=USART_Parity_No;
" t% P2 c; ?' K2 s+ ?- b& ? - 0 | P6 E2 u* W) l) I
- : m+ i! w& w' G% R) V$ I+ B
- USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
) W( |- G: P$ E - USART_InitStructure.USART_Mode = USART_Mode_Rx|USART_Mode_Tx; N9 |" c: Z- n- [) n% |4 [& ~
- USART_Init(USART2,&USART_InitStructure);
; K* g! Y+ J5 ~5 {) z; ^/ V F - USART_Cmd(USART2, ENABLE);
8 f P4 v# R# Z! k' Z - ; B3 @# v7 N9 b
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;: R" w" s A5 ~3 C, i! u: D
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
4 E* S: j/ e/ n, i# p6 d - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;+ ~- h$ A2 C2 p3 r
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
! B: R+ u+ M! M$ n U - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;) F [% Z4 `2 t( M* C
-
4 t$ G, |$ X6 d4 }- [# N% u1 F( s - GPIO_Init(GPIOA,&GPIO_InitStructure);1 [1 |* X) j/ s1 b- s
- ( P4 [6 W# ~# P) ?7 S
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
$ _9 V. B9 Q2 H - GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;6 ^& U P: P7 D* Q& m
- GPIO_InitStructure.GPIO_OType=GPIO_OType_OD;* U' h r9 o# u% g: h: I
- GPIO_Init(GPIOA,&GPIO_InitStructure);
0 o' Z4 D, f+ g: Z: X - ) k3 N8 r! R" \8 a$ k7 v' ^' Y# a
- GPIO_PinAFConfig(GPIOA,GPIO_PinSource2,GPIO_AF_7);
% K: `+ [0 U3 t( X6 q9 Y - GPIO_PinAFConfig(GPIOA,GPIO_PinSource3,GPIO_AF_7);
( v" j6 ]2 M3 o9 K+ C+ V2 v -
9 e- l( d5 c6 V, V/ A M1 V+ W" F - NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;& W! j( x$ ?( U* m; W
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;
9 ]9 q3 h% G$ L0 K' ]& U - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
" I$ N7 ~7 I: L9 k4 h$ b b0 d0 W6 l - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;8 a5 ]1 G- [0 a8 b v
- NVIC_Init(&NVIC_InitStructure);
9 p8 g/ f* ?" r4 W5 Y - }</font>
复制代码
2 ~* m! ?$ V) }3 Y1 I; X这里顺便提提,官方的串口初始化函数是用结构体函数指针进行初始化的,串口的各种参数如波特率、校验位、停止位等等,串口的PORT脚和引脚等等都经过三层封装,放在三个不同的文件里,这点跟ST官方的Disco系列开发板的外设初始化程序很像:
/ n1 l" A# f9 @7 `" t! H另外,初始化函数多次提到了object(对象)这个单词,很容易让人联想到8月22日电机套件直播的时候主持人提到的【面向对象初始化】,并且官方FOC例程里面有诸多类似于XXXX_class.c(对象的实现)、XXXX_private.h(对象的声明)、XXXX_class.h(接口)三大类型文件的分别存放,很容易可以让开发者知道官方想要进行纯C环境下的面向对象开发的意图。这点是好还是不好呢,我也不想作过多评价,免得被社区里某些所谓的【自认为是老工程师的人】指指点点。0 D7 c- A/ ?) E
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现在我就贴出部分官方初始化串口的函数:6 r) W8 _* s. @/ q2 M0 t" _! s
- <font size="3">const USART_InitTypeDef UFCInitHW_str = ) {6 z0 s" c2 U$ _5 d
- {! x7 q& t8 ^3 b, M/ ^
- USART_SPEED, //USART_BaudRate
% [1 b- {5 h% e) f1 F - USART_WordLength_8b, //USART_WordLength
! t: d, `' \+ Z% e( C9 _ - USART_StopBits_1, //USART_StopBits) E! _5 V8 j+ F+ H; Y
- USART_Parity_No, //USART_Parity
0 i _; h H% }8 \ - USART_Mode_Tx, //USART_Mode5 @* _3 q5 a1 ]. W
- USART_HardwareFlowControl_None //USART_HardwareFlowControl4 k" m0 Y) i5 g3 H% V5 ?
- };# b, ]7 y) k4 @1 ~7 i5 x5 i
- 0 G4 p; \1 b5 O- H; u9 ^ }$ y
- USARTParams_t USARTParams_str =
$ U6 C& W0 {* ? - {7 B9 D- p: c3 A4 R
- USART, // USART' b1 D0 l) j' h4 L# q6 d# ]& T* W$ K" ]
- USART_GPIO_REMAP,
" G; ~4 M! S! A, N7 @ - // USART_REMAP GPIO_NoRemap_USART1 or GPIO_Remap_USART1 ...
& f( t" h9 p- \3 m7 v4 I! Z2 A - USART_CLK, // USART_CLK4 G5 ]" T8 w ]+ F
- USART_RX_GPIO_PORT, // USART_RxPort$ u7 e' f, p: s5 c
- USART_RX_GPIO_PIN, // USART_RxPin
* x, z2 Q3 b- O* n' [, b4 ` - USART_TX_GPIO_PORT, // USART_TxPort
7 o/ W5 s0 h- X# U - USART_TX_GPIO_PIN, // USART_TxPin0 `. E2 m+ e- T. H( o
- UI_IRQ_USART, // IRQ Number# t# X: Q( t p9 e" T
- (USART_InitTypeDef*)(&USARTInitHW_str), // USART_InitStructure" C+ Q$ S8 o8 |7 F9 \: V+ g
- (NVIC_InitTypeDef*)(&NVICInitHW_str) // NVIC_InitStructure$ c1 W. o% q- T( }3 [9 T) O" Z; a8 }! W
- };</font>
复制代码- <font size="3">CUSART_COM USART_NewObject(pUSARTParams_t pUSARTParams)
0 l7 c2 o- g7 k C- B { - {
7 ?0 f! Z* ?7 t6 I f - _CCOM _oCOM;8 F* N& d) i) l, c) C! h; k
- _CUSART _oUSART;
* J4 L5 A3 I* q6 S& Z9 j3 Y - - |$ M7 Z' Q! g1 V: I( a# D0 R
- _oCOM = (_CCOM)COM_NewObject();+ a7 ~$ \2 T0 J
- & e: u( r& Q. r# q
- #ifdef MC_CLASS_DYNAMIC0 j/ V8 o. H+ G' e
- _oUSART = (_CUSART)calloc(1,sizeof(_CUSART_t));
; I6 {. p2 k; }" I - #else
; K& I9 V% u( q - if (USART_COM_Allocated < MAX_USART_COM_NUM)
, y* \2 a5 I B$ s% c- T4 E - {
* m7 f9 B, t* I- m5 s - _oUSART = &USART_COMpool[USART_COM_Allocated++];
1 H( P+ T. ~7 y - }
" V& u8 T7 _+ f8 t - else
3 \) [2 C o- M! |' M2 J& j) V- B - {: k0 a8 z1 T r
- _oUSART = MC_NULL;3 a* F& m0 N1 q" g4 G
- }
' b8 L9 X$ S* R' k+ O# C - #endif( X J# r0 I- J! m0 [8 `" ?8 |
- 8 X# f* P% k9 D$ {
- _oUSART->pDParams_str = pUSARTParams;
) g6 r& u4 i6 i' f! r6 I( E - _oCOM->DerivedClass = (void*)_oUSART;) n6 R) B3 S# ^; d8 f9 v+ f
- _oCOM->Methods_str.pStartReceive = &USART_StartReceive;3 _+ X& b7 M, U! f, X1 ~
- _oCOM->Methods_str.pStartTransmit = &USART_StartTransmit;6 }8 v9 {+ C2 J+ ?2 v7 M5 f6 K
-
: ?4 ] T, I7 ^# d - _oCOM->Methods_str.pIRQ_Handler = &USART_IRQ_Handler;
+ D/ k, n& K3 D# y% w3 i3 v. n; H4 e - Set_UI_IRQ_Handler(pUSARTParams->bUIIRQn, (_CUIIRQ)_oCOM);9 w& I4 d1 w n! T* Q5 K9 M6 j
-
}' X3 i* Z+ K" x9 q- _# ? - //Init Struct communication$ j2 N0 `- N$ y7 q y
- COM_ResetTX((CCOM)_oCOM);1 Y! i' V+ t5 {' ^
- COM_ResetRX((CCOM)_oCOM);
/ V0 j" [7 K0 A, ` -
0 U3 p* |& c2 S! g - USART_HWInit(pUSARTParams);
! d2 g: e0 ]# h+ ]! O3 m) P' Y -
3 P5 x7 s- B7 n$ o - return ((CUSART_COM)_oCOM);
( `: E% V2 ?* u# {* a1 u! \ - }
+ K. f% ^# p: r* z - % l$ P, s" j4 N U/ C2 T, r
- void USART_HWInit(pUSARTParams_t pUSARTParams)
3 v# }7 J, D2 y) {- ]5 { - {
4 A# P5 s l1 d9 h - GPIO_InitTypeDef GPIO_InitStructure;7 {1 X! i( a7 w3 x! a4 S
-
( z+ o: f( z) T) K* \1 X7 F5 h - /* Enable USART clock: UASRT1 -> APB2, USART2-5 -> APB1 */
3 R, J8 Y3 C$ @' B q8 I3 N - if (pUSARTParams->wUSARTClockSource == RCC_APB2Periph_USART1)8 t& X) `; t7 q0 [/ l7 E/ ^6 G
- {
# Q% ^9 H% m; H1 a - RCC_APB2PeriphClockCmd(pUSARTParams->wUSARTClockSource, ENABLE);$ s V. p B7 X
- }! c; I7 z$ m' B" N/ ?/ l" v# O( ^
- else
1 i" M: L. ?% s - {
' A9 B- E! Q5 r0 _, r - RCC_APB1PeriphClockCmd(pUSARTParams->wUSARTClockSource, ENABLE);7 _ _) W* U) ]8 y$ R/ d
- } 6 I6 K, |6 F4 d/ y7 _0 P
-
4 L( o# g2 I- [3 z - /* USART Init structure */
0 d0 W& G( ^+ L4 J" e - /* Configure USART */( p0 ?& {4 v1 y" q
- USART_Init(pUSARTParams->USARTx, pUSARTParams->USART_InitStructure);4 d, }: t, z! V* s1 J9 ]
- $ P2 S, P: w) [ ~
- GPIO_PinAFConfig(pUSARTParams->hRxPort, USART_GPIOPin2Source(pUSARTParams->hRxPin), USART_AF(pUSARTParams->USARTx));2 q1 v/ a2 M* Q7 [ r+ `
- GPIO_PinAFConfig(pUSARTParams->hTxPort, USART_GPIOPin2Source(pUSARTParams->hTxPin), USART_AF(pUSARTParams->USARTx));
$ i2 T" |7 {8 M - ! M, S' \) r6 |
- /* Configure Rx, Tx pins */
* X) v# r# N+ u! k% S* | - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;! e* C- U; V- W' t/ q5 g: V& q
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;/ V0 I& r+ d7 Q! f
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;4 R, X) O& f6 |% m5 E
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
4 k! f# z' W _* B) T2 R- P D -
' Z1 }3 \6 r6 G - GPIO_InitStructure.GPIO_Pin = pUSARTParams->hRxPin;; i x% ~: v, p) z. a
- GPIO_Init(pUSARTParams->hRxPort, &GPIO_InitStructure);
! ^; e9 G* e1 \' B2 d) Y/ p. M$ ^" A -
/ c5 W1 b3 X! f9 H: C - GPIO_InitStructure.GPIO_Pin = pUSARTParams->hTxPin;& y% L3 y y% l9 h& a- O! I
- GPIO_Init(pUSARTParams->hTxPort, &GPIO_InitStructure);
& k: g' b' h% W$ H - / Z# ]: A& h' a% s. a! s( b
- if (pUSARTParams->NVIC_InitStructure->NVIC_IRQChannelCmd == ENABLE)
2 I6 H' F' j `$ g - {
$ a v6 u8 d4 H( a$ G* ^, o B4 w - /* Enable USART Receive and Transmit interrupts */
' p G; }- y, b - if ((pUSARTParams->USART_InitStructure->USART_Mode & USART_Mode_Rx) == USART_Mode_Rx)! s, H2 [& H% H! {+ Z
- {
/ Z' l H* w! L; i' V- j. Q - USART_ITConfig(pUSARTParams->USARTx, USART_IT_RXNE, ENABLE);
+ h) r; z! _- m$ b - }
# l6 _1 [& y! I' ^) F& y+ |' @6 l - if ((pUSARTParams->USART_InitStructure->USART_Mode & USART_Mode_Tx) == USART_Mode_Tx)
8 v& t8 z U0 r& S& Q - {' ~' m; J9 W; m H. R8 I5 Y- U
- USART_ITConfig(pUSARTParams->USARTx, USART_IT_TXE, DISABLE);
8 b# h7 `7 z, K3 r) v" y - }
% V7 W' r, v% s5 f$ M - /* Enable the USARTy Interrupt */1 H) a9 W% V" b. p# ?' l& j
- NVIC_Init(pUSARTParams->NVIC_InitStructure);
7 g6 y( u3 H- w5 M1 z7 K- c6 \ - }" P4 Y* u( c3 u* E, N& H( w
- ! }/ Z. S2 t) T$ o
- /* Enable the USART */
+ s: J' J; W' Y9 X - USART_Cmd(pUSARTParams->USARTx, ENABLE);3 ~2 x$ [# P: n; t
- }</font>
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好不好用大家心中有数,大家喜欢正点原子风格还是官方Disco风格,自己决定吧。
/ H; D6 x' ]4 Y! ^- ? 除了串口以外,外部中断也是必须调通的一个外设。官方例程的按键处理程序是while轮询,但是我认为,电机控制这种事情,还是用外部中断最好。顺便说说F3XX的外部中断,用SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC,EXTI_PinSource13)函数替代了F103的GPIO_EXTILineConfig(GPIO_PortSourceGPIOC,GPIO_PinSource13),为了找相关资料,又忙活了一下午。以下是外部中断初始化和中断服务函数:0 x1 a4 p: }; r: J$ n9 O* F/ q
- <font size="3">void EXTI13_Init()) T l6 \/ j1 U8 y
- {
1 j$ M- u" F3 S+ i9 k) A. b! j - EXTI_InitTypeDef EXTI_InitStructure;
% \- f) @9 S; w: l0 Q& _' m - NVIC_InitTypeDef NVIC_InitStructure;
' X0 \$ @8 V5 w. Y - GPIO_InitTypeDef GPIO_InitStructure;
; S7 X. X' O, j( G -
# A: Q( ]0 X) \: ~& g6 T/ n& q - RCC_APB2PeriphClockCmd(RCC_AHBPeriph_GPIOC|
) N% Y% \7 s: O) o& ]0 r - RCC_APB2Periph_SYSCFG, ENABLE);
& D/ y7 O( R$ x( Q. u - GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;
1 e8 O ]( y: W! p" |% @ - GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;* `/ s4 D# p# ?! t
- GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13;% i" A `# Y. f5 }% c, Q. L
- GPIO_Init(GPIOC,&GPIO_InitStructure);
3 U+ S! L7 }. } - : {* ~4 X4 ]' v3 q7 ?4 p
- SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOC,EXTI_PinSource13);: ]4 b/ M9 _* e4 J3 c4 E- ~, B7 |
- EXTI_InitStructure.EXTI_Line=EXTI_Line13;
+ v2 l4 O2 \+ e2 j: U2 z& P2 l* y - EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt; ! a, N" [ x+ O. @1 G/ x) o
- EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Falling;* `: f$ S* G) _3 e( s5 B( `' N
- EXTI_InitStructure.EXTI_LineCmd=ENABLE;
5 r4 E( L7 ?& H5 ] - EXTI_Init(&EXTI_InitStructure);
# s4 n. l" ? |) e0 g; u
7 J5 c+ L& @" N7 l3 g0 j( `: W" Y1 k- NVIC_InitStructure.NVIC_IRQChannel=EXTI15_10_IRQn;3 l$ x* |! A2 d; h. X5 K9 x: r& S* g5 P. l
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;$ L# X; |) @% V# F
- NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;
0 Q& U% ]( k7 g3 o: t0 _ - NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; . t. V6 M, e8 k- }8 c
- NVIC_Init(&NVIC_InitStructure);
2 ?, l! D' q% a s% T' {# N6 a - }8 [6 {& M {* W8 K
- </font>
复制代码- <font size="3">void EXTI15_10_IRQHandler()/ J9 ?9 t! B1 @4 Y) l
- { 3 _! r8 m1 S: t
- if(EXTI_GetITStatus(EXTI_Line13) != RESET)
2 P. n/ n; v$ _3 K - { k$ O& M2 l) g4 w9 d8 u/ K* c% B
- flag=0;
# z6 g; m1 V' P% f ], O+ I3 Z- u9 s - cont++;: m( A% D8 X( l! D
- if(cont>5)cont=0;. h. q4 M4 D9 ~
- printf("进入外部中断,cont=%d\n",cont);
6 T9 V* p. L. Y0 M# o - EXTI_ClearITPendingBit(EXTI_Line13);' O3 E; Q/ v9 a7 T; p
- }
/ h3 h9 b5 d. t. Y3 J; h* P- M - }</font>
复制代码 & K9 `) a* R3 f7 S9 Q
调通了外部中断之后,就可以结合之前的电机调速Task,进行实验了。每按一次按键,电机速度提升3000转,到了13000转之后速度重新归为1000转:- <font size="3">int main()
4 |! ~# l& `8 u J; U& f - {
6 \, r3 l( P, S( ?5 W - STM32F3_64MHz_Internal();7 h- V* H( x! j; {; g+ \3 i* t3 t
- MCboot(oMCI,oMCT);
; Q) T+ g. H' T, m; E A+ z9 F' T - SysTick_Configuration();
2 o* v* v; ^/ N4 @' Q - EXTI13_Init();
4 Z% Z' Z! z0 m8 L s0 ? Y - USART2_Init(115200);& H, J. }9 ~8 T& r7 v8 X1 O, l( ^
- printf("STM32社区 电机套件试用活动\n");
) \' j' U. y4 |. j" T* i9 ] - //MCI_StartMotor(oMCI[M1]);
, Z) N% L+ j$ N0 m( A - while(1)4 h. K. i' i { h8 C2 k& S
- { ) k+ a; W \, b( [
-
& Z1 b: F& e3 o& R4 R( {! x; d - switch(cont)) B J6 p+ o1 I, R( O8 i
- {
2 e/ c# B* i' N6 ^ - case 1:" k. F8 ~. H% A- k2 i
- if(flag==0)- E( c4 V5 O7 I; {
- {: d5 T! M, S( {) C# a3 I. o! y* e
- flag=1;
. T* @0 X1 o% `( o - MCI_StartMotor(oMCI[M1]);3 o; t: |6 d. ~" N0 X/ V
- MCI_ExecSpeedRamp(oMCI[0],1000/6,1000);
+ X& N) X3 w' z - printf("设置电机转速为1000\n");
) Q" b$ p7 c( J! `5 t) K& D! u - }
; Y- W) D4 F* _ - break;
, |- Y9 P5 v/ W1 r2 _8 f - case 2:
: ?- k9 n4 K0 G1 p1 c - if(flag==0)
5 F& ^! `) e0 A: u3 W% a h - {8 H" n# e6 L& r% B
- flag=1;/ X7 g3 x2 d+ h0 e4 {$ J; H1 [
- MCI_StartMotor(oMCI[M1]);
& T5 R0 a' @- [ - MCI_ExecSpeedRamp(oMCI[0],4000/6,1000);, h* O" A8 Q9 c
- printf("设置电机转速为4000\n");1 Z5 Q2 H5 M& m. |% }; Q% K
- }& u7 }$ F7 Q' q* p4 x8 F
- break;
; D' F9 Y4 c. }- O, h - case 3:
2 d; g. T0 J( `; Y( y, Y - if(flag==0)
+ Z& A- O/ i) f0 i; x; u! x - {
9 T( U' y# s5 Q( |; M - flag=1;- x/ T2 l# b( u. ~" [
- MCI_StartMotor(oMCI[M1]);
- d G( C5 t v - MCI_ExecSpeedRamp(oMCI[0],7000/6,1000);
3 w% o: B% N3 ]: t4 I8 x - printf("设置电机转速为7000\n");3 s1 N# e- c& x! ~7 A H; g4 W8 `& q% Q
- }
! |! l, R9 C8 k1 c2 f% Z - break;
( O1 ?% {8 n! j9 L - case 4:
- |8 @! H$ z+ Y6 D - if(flag==0)
, F8 u/ A* T2 J+ w1 h, w - {$ q n0 t* @6 X! n
- flag=1;
- g# u" z- f( O0 |. T8 S8 p - MCI_StartMotor(oMCI[M1]);) _( [4 g4 Q p( e# T+ G
- MCI_ExecSpeedRamp(oMCI[0],10000/6,1000);7 u1 g G3 R2 v: s, C
- printf("设置电机转速为10000\n");
: O7 Z' v0 a. O& V - }. Z$ Z2 M7 D$ W9 m( M/ X! O+ }2 [
- break;& T6 M# z+ ~: J( _8 C3 O3 t, {" `
- case 5:
9 c. [& ^' \* b& W' u - if(flag==0)
$ h, e' h5 l$ Q - {
) {8 \! T5 U; h/ ^) n2 t - flag=1;
7 q# I/ e7 b, H0 c0 y1 L- I - MCI_StartMotor(oMCI[M1]);4 q: y+ f: D: L2 b% d# j% Q6 N; R
- MCI_ExecSpeedRamp(oMCI[0],13000/6,1000);
: N1 ]9 o4 r1 i, t - printf("设置电机转速为13000\n");& c/ l& \# @1 [* j. c2 ~+ W5 _& b5 O3 c
- }
8 o, T3 D! {4 B, {% m - break;
( `5 J& l" |: H; d/ J. O2 ~! y+ m; @* F - }
+ F i: a$ T! l4 ^ - + i% G/ `2 i& S1 y' b
- }
. m% \- s% o2 h" O - }</font>
复制代码 1 N+ d9 j0 O' O" G
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