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: 9 J4 k- _7 ^: T 2、程序代码,在上篇实现的代码的基础上,修改代码如下:! k% h/ U& C, ?2 t main.c程序里面添加内容 //----------------------------- U7 N1 i5 D8 {/ n/ j. l //定义变量 /* USER CODE BEGIN PV */ /* Private variables ---------------------------------------------------------*/ static uint32_t delay_cnt=0; //延时计数 ) I/ }; Y5 u% R: f6 d3 V$ L static uint32_t delay_cnt1=0; ?4 b. @1 y" n5 q static uint8_t delay_start_flag=0x30; //延时启动标志位2 g- K/ O3 r& f/ e2 f( E1 O- A4 @$ j 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% E* x* N- P* u, W& [! w9 Q /* USER CODE END PV */ //函数定义 /* USER CODE BEGIN 0 */ //定时器处理 void Delay_Handler(void)0 B2 P; F2 J Q) k" f: ]/ ` { K# W6 S/ F$ S9 i: P; z delay_cnt++; if(delay_cnt>2000) //1s计时 {: I/ ?0 Y" J7 U% U delay_cnt=0;4 E1 m" e; Q ~! C5 W HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_9); //定义示波器看时引脚) f& U; F" ?# P0 T9 z v //----------------------------------------: [5 y4 _) r% @+ }8 K* c } if(delay_start_flag==0x30) //启动10s计时; r; X7 f& K+ G {) e8 o3 x) q7 u' R( E3 @) T delay_cnt1++;* L6 x5 |; u' A a1 K2 A if(delay_cnt1>9) //10S; M% l9 t' n2 s [ {' D. S$ a! s4 v! e% P delay_cnt1=0; delay_start_flag=0x20; % {2 k# E, T) h( x4 y delay_10s_flag=1; //10S时间到标志位! T _) R6 L' R: f } , G! E4 K5 ]* F( g } else if(delay_start_flag==0x20) //启动5s计时 { delay_cnt1++; if(delay_cnt1>4) //5S {7 \9 E" o+ [* L: l delay_cnt1=0;$ k! r: \! }- E" M delay_start_flag=0x30;5 U( t" Q4 ~9 |7 e/ N& f delay_5s_flag=1; //5S时间到标志位 } } 5 r3 F% Y9 r1 I ^7 C7 } }0 B8 I$ j, N/ @( f5 a6 W } int main(void) { /* USER CODE BEGIN 1 */7 t+ f8 l, k: h8 V" F - ]; ^9 x/ E& D0 ?: f* b/ L 1 }2 d. R% p. d5 i7 N /* USER CODE END 1 */ /* MCU Configuration----------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */2 Y. b4 H2 |' [! c3 r0 s/ Y HAL_Init(); & B2 Z2 R0 E. b: @1 V) K3 R 8 _ a- m+ R8 X3 ? /* USER CODE BEGIN Init */% x- C' @2 ~5 u5 ]0 t4 s) u ' `( Y+ O" S% ~5 ?: W# F6 [ + z; r2 z$ E& l; H7 ]/ J/ q( z: h% J /* USER CODE END Init */ 6 ?/ l% U0 N0 f /* Configure the system clock */ SystemClock_Config();! Y( I: R+ d/ D 8 X2 ?; a* k+ C. s. E' @: u& m3 W + b* ~( J' y, s" @5 L/ r% H /* USER CODE BEGIN SysInit */ , q/ e5 n9 O3 M6 _ /* USER CODE END SysInit */ /* Initialize all configured peripherals */4 w# d5 \6 |% t MX_GPIO_Init();& |/ Z1 r9 F* Z MX_ADC1_Init();$ D$ [4 i( q) ]% ^+ C2 ?/ y MX_DAC_Init();/ {6 F/ T5 d4 o MX_TIM1_Init();1 l6 H* P' e [! W8 @ MX_USART2_UART_Init();- \+ ?) l7 M4 ]+ u& N! d MX_MotorControl_Init(); 7 E- R9 O; l4 f$ U3 F; K , j" I4 K+ j) J4 E' d /* Initialize interrupts */ MX_NVIC_Init(); /* USER CODE BEGIN 2 */ MC_StartMotor1(); //启动电机" I2 |$ a5 I* @8 \; _: U% j MC_ProgramSpeedRampMotor1(3000/6,1000); //1s内加速到3000RPM& V2 f' f6 m) A B /* USER CODE END 2 */6 a9 ]) C) m2 R8 X6 Q* g ! ^& [% S/ X& ]. k /* Infinite loop */* e2 d- n( U$ Y$ N7 L /* USER CODE BEGIN WHILE */! f( Y. Q; p& w while (1)5 R! k& J. Z2 c3 T2 v5 T/ E { ( Q1 W6 g, ^; Q9 P8 \0 `4 G 2 i8 T4 D( {% |2 z9 X" t /* USER CODE END WHILE */ * L, ^/ K X& x. s t! u! m) m /* USER CODE BEGIN 3 */ if(delay_10s_flag==1) //10S { MC_StopMotor1(); //停止电机运行/ \3 n- E% V/ x* w+ M delay_10s_flag=0; }1 J$ T% P( i' p/ n if(delay_5s_flag==1) //5S7 T- Z: P6 ] C. p% f0 R { E6 d4 `" E* ^7 M' X% R MC_StartMotor1(); delay_5s_flag=0; }' I/ H U: c; v: A( X7 a : g; m% u" N5 w9 n }# a0 i+ S, [- A+ W' V: I /* USER CODE END 3 */4 ~2 x8 q2 ^0 [/ z $ |: @/ @4 p. v+ {: q, K }( J2 k: U" l- Z- s 4 A' ?0 I# V% v; f8 S9 R f 2 F2 x: e7 ]; ]; z# j / Z1 ~. Y% c. t2 E, U: z6 d F /* USER CODE END 0 */ ( e' |! K' w! V, A7 N4 [' Z8 K; o. e 4 G' [7 j0 D9 U; | c 6 v6 @5 d$ p* [: M/ Q- ` 5 i( U3 y$ \) d6 b) e( J stm32f30x_mc_it.c 程序里面添加内容:( x% X8 z+ n' H; F9 k( T 在滴答定时中断程序里面调用定义的函数 void SysTick_Handler(void) {5 w, X6 U" S. } ^' c #ifdef MC_HAL_IS_USED5 z5 J3 R- D0 E* A" g static uint8_t SystickDividerCounter = SYSTICK_DIVIDER; /* USER CODE BEGIN SysTick_IRQn 0 */ 0 i( y. U& e8 u, c0 i$ M( [ . `- M+ Z7 E/ \0 k" i9 ~ /* USER CODE END SysTick_IRQn 0 */+ M" b5 G. p' o: V if (SystickDividerCounter == SYSTICK_DIVIDER)5 j, F, E( W% J4 X+ i8 K% P { HAL_IncTick(); HAL_SYSTICK_IRQHandler(); SystickDividerCounter = 0;2 T4 `8 r' Z, o j1 q0 L+ d } SystickDividerCounter ++; #endif /* MC_HAL_IS_USED */, C2 h2 B, _& F. \ " f5 x- l4 g/ r+ y: ^ /* USER CODE BEGIN SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */: \5 d* x$ }( I1 @2 Z MC_RunMotorControlTasks(); /* USER CODE BEGIN SysTick_IRQn 2 */ Delay_Handler();2 X8 @. ^* p! r4 ]6 i7 }0 q% C$ y /* USER CODE END SysTick_IRQn 2 */* |9 [5 V' x. k. _/ |+ @ u* R }* j/ d2 m7 H' E# Z + S, H1 E ? W: e; H8 g: f7 s$ G $ U, y0 s& L5 I 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: % v3 _- l( f' ?1 A 监控电机运行的图片:. u6 h( p/ R6 A( b" Q5 L, [ " w% I# E; d E% R' ~! _; B4 b6 L 1 g# N# W' P% T1 \4 O- m/ D) d ) O4 ?+ p6 L7 J: v( z J6 @ }* P" g; M. n4 a- E, s & V0 k& d% c6 L9 |6 p # N; k) X& Z, c# o7 A 3 ?/ k+ e+ ], U' y5 G % Q, q$ F# O L5 t2 o; ^; O+ ^ & Z7 F9 d" [+ r ' M8 }7 O! I5 o8 e! w0 q% s% K ) Y$ @5 r6 N0 P+ t & [, ^" Y; v% \, k- m8 K- a) L/ V' \ |
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