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: * Q& _5 R; F$ F- Y3 l0 v 2、程序代码,在上篇实现的代码的基础上,修改代码如下: main.c程序里面添加内容2 h; X" d& Q8 o' Z //----------------------------- //定义变量 /* USER CODE BEGIN PV */ /* Private variables ---------------------------------------------------------*/ static uint32_t delay_cnt=0; //延时计数 static uint32_t delay_cnt1=0;6 o4 A- W( ?/ F8 H* c, `0 Q static uint8_t delay_start_flag=0x30; //延时启动标志位 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1 X' s$ E. ^7 J* E" H+ [1 ~ /* USER CODE END PV */) ]; x9 P0 x0 m) ]( [ + z1 S9 x" ~& [: t9 D% T //函数定义 /* USER CODE BEGIN 0 */ //定时器处理 void Delay_Handler(void)* u5 p- a2 g+ g% R$ G( K6 P {7 h9 p" ?; C' E0 Q% n+ I/ |+ U delay_cnt++; if(delay_cnt>2000) //1s计时2 M" A' u) P$ ?! ?) N" |' i+ {# R { delay_cnt=0;7 G, [0 ?! @5 }+ O4 U L HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_9); //定义示波器看时引脚, z6 R( E4 N) }" \8 V //---------------------------------------- if(delay_start_flag==0x30) //启动10s计时 {( E6 m; E) o C delay_cnt1++;# D2 m2 X" _% {8 W9 G# P2 y# R if(delay_cnt1>9) //10S {) |! k8 n. ?3 ]6 Z delay_cnt1=0;: |2 k. x% _7 S( }( v. ` delay_start_flag=0x20; " a( _/ y+ I% B% V$ f delay_10s_flag=1; //10S时间到标志位 } }9 q2 B r: ?; R$ z' l else if(delay_start_flag==0x20) //启动5s计时. F$ l8 F+ Y2 m( P4 G { delay_cnt1++;: e$ E6 y1 R& ^2 @& [ if(delay_cnt1>4) //5S% r5 @9 i" R. \ { delay_cnt1=0; delay_start_flag=0x30;5 L( G) m* Q7 s' {+ e* v# U' n7 I delay_5s_flag=1; //5S时间到标志位 } } }! P& G$ o( ^6 Z- p. r# h& o } int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration----------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */: J" r0 r' i. o4 d h; [# n6 P l HAL_Init(); 0 h% _( l1 N# M" w% L0 \ v2 x 2 j. W8 T5 u" I /* USER CODE BEGIN Init */9 @' ?. e, v# M5 v# ^ ' X' s+ c# D; j( @9 W/ l /* USER CODE END Init */2 [7 N# R z8 V2 K/ l4 y * {8 q; g+ `4 A4 R' i /* Configure the system clock */ SystemClock_Config(); . u" ~7 X& f5 i/ g2 a- e/ n /* USER CODE BEGIN SysInit */ ( Y ~( e) y6 V9 r" ~! o3 [ [# J /* USER CODE END SysInit */ - @2 P6 @3 `, F( B * ^6 L5 v" _: H) X! n3 D7 l, _ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_ADC1_Init();0 K+ o% e+ x. j, }: u MX_DAC_Init();1 w1 R& ~7 K1 @4 @& @ MX_TIM1_Init();& {$ } k1 L+ j MX_USART2_UART_Init();9 u: ~+ @: }% k. N6 g- K( } MX_MotorControl_Init(); `1 b" C0 v: @/ l ' o) |/ L; E5 f8 d /* Initialize interrupts */- i/ M0 e) T! {! O/ _. Z: X+ ^7 F& F MX_NVIC_Init(); /* USER CODE BEGIN 2 */ MC_StartMotor1(); //启动电机) g: s, {" d! K+ k$ o4 E MC_ProgramSpeedRampMotor1(3000/6,1000); //1s内加速到3000RPM" S4 N5 e1 P& I /* USER CODE END 2 */ 2 v' L; j* o, `, e3 o' A$ ? \ ! ^ \ {- x/ x7 X /* Infinite loop */# X- T9 b( c9 K2 [- U /* USER CODE BEGIN WHILE */ while (1)! u# E: T% U/ P! t9 H {/ |2 ?' o+ a7 ^9 O0 K /* USER CODE END WHILE */+ y7 ^& ^5 k5 ^ u ) a! B4 }$ \0 F+ ~: e6 R /* USER CODE BEGIN 3 */ if(delay_10s_flag==1) //10S { MC_StopMotor1(); //停止电机运行2 p d0 A' ?6 e: X+ D delay_10s_flag=0; } if(delay_5s_flag==1) //5S {1 [% b* a% z9 O1 O MC_StartMotor1(); delay_5s_flag=0; } 5 \/ {! U F5 \- L" W- Z * j6 W$ f8 m: Z l" T } /* USER CODE END 3 */" q# i: W M5 S# w 3 x. T! J3 U) J$ F9 u1 l } /* USER CODE END 0 */; x2 p s; \) S 2 }1 x* A4 }/ y; u! J2 V 6 s, g% X! A$ V% T7 c. w / |5 Q3 v& R8 i b stm32f30x_mc_it.c 程序里面添加内容: 在滴答定时中断程序里面调用定义的函数 void SysTick_Handler(void) { #ifdef MC_HAL_IS_USED static uint8_t SystickDividerCounter = SYSTICK_DIVIDER;' ?! a% e$ |* @$ b /* USER CODE BEGIN SysTick_IRQn 0 */ . w8 g0 g0 Q1 p1 T* |4 n2 ]" v 1 T, T( m, {! ?: p) [" D /* USER CODE END SysTick_IRQn 0 */" a% \- G7 _# i0 Z5 e/ d# c# z if (SystickDividerCounter == SYSTICK_DIVIDER) { HAL_IncTick();& O7 V. b7 E) b$ A! a! @: R4 q HAL_SYSTICK_IRQHandler(); SystickDividerCounter = 0; }0 P6 M t* [7 i1 ^. _' Z SystickDividerCounter ++; #endif /* MC_HAL_IS_USED */ ) }2 C8 M! m# [* Q3 C % a1 _% }+ a* Y0 z: L) I /* USER CODE BEGIN SysTick_IRQn 1 */+ L) F! p) U% y1 B% a /* USER CODE END SysTick_IRQn 1 */ MC_RunMotorControlTasks(); /* USER CODE BEGIN SysTick_IRQn 2 */* R! x1 k! W- P Delay_Handler(); /* USER CODE END SysTick_IRQn 2 */ } 2 K8 X/ z( `, G2 L& Y* g) G" X , ^+ J0 u3 n# Q) t7 o 3、测试波形:/ P t. Z' F: j/ _" I6 R6 _& U 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: 6 q* y3 `9 Q" J) V 监控电机运行的图片:: }6 h, X2 R% E' N! q3 K+ w ! `% [6 b9 m+ }: Z/ N 7 L: D7 q) }8 J $ W( z8 |5 q* b X: _ 8 x$ k; K7 y$ _' d, U4 _0 f2 c: M& b 1 } x3 [# V6 X$ D& i# p$ E: M% l # r) R0 c( @7 D5 q % Z3 I: `. M$ o& O/ z 2 N/ m7 e+ K( d7 f9 z9 R' h 8 t' F4 n& J. V5 v |
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