嵌入式，现在把我的程序和设计思路分享给大家。
软件所用版本如下
Proteus版本 SP 8.7
STM32CubeMX 版本 5.4.0
HAL固件库版本 1.8.0
Keil 版本 uVison5
一、设计思路： 使用STM32CubeMX软件进行资源初始化（Cube资源配置很方便），使用HAL库进行程序设计。 图1 资源配置图 二、系统功能介绍：
三、软件设计说明： - 可调转速通过可调电阻和STM32的ADC功能，实现500-4596范围的速度调节。使用的是简单的比例控制，并未使用复杂的PID控制（太难了，一直调不好）。
- 通过定时器1的PWM互补输出六路PWM控制电机的转动，驱动器使用L293D和IRF540 MOS管。
- 换向使用的是外部中断，测速使用的是定时器2的三鹿输入捕获，这里有一个坑，proteus中三路输入捕获无法同时工作，本来打算三路都做测速逻辑，但是速度变化很大，所以最后只使用了一路作为测速通道。
- 正反转使用的是外部中断。
- 显示转速和目标转速使用的是lcd1602，在proteus仿真中，显示转速有一定的延时和误差（其实是proteus的仿真太慢了，多开一个任务就慢的要死）
6、使用ucosii进入分功能多任务处理。
四、调试及运行结果 图2 电机刚启动，速度未达到最小速度500
速度未达到最小速度时加载很快，大概加载到300rpm左右开始pid控制。
图3 仿真过程中 图4 仿真过程中
图5 反转时的调速过程
仿真过程中可以看到定时器PWM输出之间的切换以及脉宽的变化。 图6 接近稳定时
图7 反转时接近稳定
图8 稳定后增大转速
由于proteus中stm32 的定时器计时很坑，延时根本不对，需要修改芯片的时钟源频率，改大了仿真慢，改小了又不准，所以ADC采样值和转速之间只能近似转换，也造成了目标转速和实际转速的误差。 图9 整体电路图 五、心得体会 在这次设计过程中，期间遇到许许多多问题，对电机的控制不熟悉导致换向失败，仿真过程不收敛，定时器不起作用，引脚之间相互干扰，输入捕获无法同时进行，pwm模式设置错误导致pid控制越调速度越快等等问题，最后都比较好的解决了这些问题，当然程序和设计中还存在一些问题，由于时间关系无法全部解决，在以后的学习过程中，如果有机会会继续深入学习。
单片机源程序如下:
- /* USER CODE END Header */
- /* Includes ------------------------------------------------------------------*/
- #include "main.h"
- #include "adc.h"
- #include "tim.h"
- #include "gpio.h"
- /* Private includes ----------------------------------------------------------*/
- /* USER CODE BEGIN Includes */
- #include "includes.h"
- #include "lcd.h"
- /* USER CODE END Includes */
- /* Private typedef -----------------------------------------------------------*/
- /* USER CODE BEGIN PTD */
- /* USER CODE END PTD */
- /* Private define ------------------------------------------------------------*/
- /* USER CODE BEGIN PD */
- #define HALL_GPIO GPIOA
- //START 任务
- //设置任务优先级
- #define START_TASK_PRIO 10 //开始任务的优先级设置为最低
- //设置任务堆栈大小
- #define START_STK_SIZE 64
- //任务堆栈
- OS_STK START_TASK_STK[START_STK_SIZE];
- //任务函数
- void start_task(void *pdata);
-
- //LED0任务
- //设置任务优先级
- #define LED0_TASK_PRIO 2
- //设置任务堆栈大小
- #define LED0_STK_SIZE 64
- //任务堆栈
- OS_STK LED0_TASK_STK[LED0_STK_SIZE];
- //任务函数
- void led0_task(void *pdata);
- //Speed_ADC 任务
- //设置任务优先级
- #define SPEED_ADC_TASK_PRIO 1
- //设置任务堆栈大小
- #define SPEED_ADC_STK_SIZE 64
- //任务堆栈
- OS_STK SPEED_ADC_TASK_STK[SPEED_ADC_STK_SIZE];
- //任务函数
- void speed_adc_task(void *pdata);
- /* USER CODE END PD */
- /* Private macro -------------------------------------------------------------*/
- /* USER CODE BEGIN PM */
- /* USER CODE END PM */
- /* Private variables ---------------------------------------------------------*/
- /* USER CODE BEGIN PV */
- //定时器2捕获通道参数
- /* Private variables ---------------------------------------------------------*/
- uint16_t Channel1HighTime, Channel2HighTime, Channel3HighTime; //高电平时间
- uint16_t Channel1Period, Channel2Period, Channel3Period; //周期
- uint8_t Channel1Edge = 0, Channel2Edge = 0, Channel3Edge = 0; //上升沿
- uint16_t Channel1Percent, Channel2Percent, Channel3Percent; //占空比
- uint16_t Channel1PercentTemp[3] = {0, 0, 0};
- uint8_t Channel1TempCount = 0;
- uint16_t Channel1RisingTimeLast=0, Channel1RisingTimeNow, Channel1FallingTime;
- uint16_t Channel2RisingTimeLast=0, Channel2RisingTimeNow, Channel2FallingTime;
- uint16_t Channel3RisingTimeLast=0, Channel3RisingTimeNow, Channel3FallingTime;
- extern int motor_period;
- extern int motor_duty;
- extern int clock_wise;
- int current_speed = 0;
- int ADC_Speed = 500; //555 / 90% = 500
- int ADC_Value = 555; //
- BOOLEAN state = 0; // 0 关闭中 1 启动中
- /* USER CODE END PV */
- /* Private function prototypes -----------------------------------------------*/
- void SystemClock_Config(void);
- /* USER CODE BEGIN PFP */
- /* USER CODE END PFP */
- /* Private user code ---------------------------------------------------------*/
- /* USER CODE BEGIN 0 */
- /* USER CODE END 0 */
- /**
- * @brief The application entry point.
- * @retval int
- */
- int main(void)
- {
- /* USER CODE BEGIN 1 */
- HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
- OSInit();
- OSTaskCreate(start_task,(void *)0,(OS_STK *)&START_TASK_STK[START_STK_SIZE-1],START_TASK_PRIO );//创建起始任务
- /* USER CODE END 1 */
-
- /* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
- /* USER CODE BEGIN Init */
- /* USER CODE END Init */
- /* Configure the system clock */
- SystemClock_Config();
- /* USER CODE BEGIN SysInit */
-
- /* USER CODE END SysInit */
- /* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_TIM1_Init();
- MX_ADC1_Init();
- MX_TIM2_Init();
- /* USER CODE BEGIN 2 */
- OSStart();
- /* USER CODE END 2 */
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- }
- /* USER CODE END 3 */
- }
- /**
- * @brief System Clock Configuration
- * @retval None
- */
- void SystemClock_Config(void)
- {
- RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
- /** Initializes the CPU, AHB and APB busses clocks
- */
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
- RCC_OscInitStruct.HSEState = RCC_HSE_ON;
- RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
- RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
- RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
- RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL2;
- if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
- {
- Error_Handler();
- }
- /** Initializes the CPU, AHB and APB busses clocks
- */
- RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
- |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
- RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
- RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
- RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
- RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
- if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
- {
- Error_Handler();
- }
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
- PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
- if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
- {
- Error_Handler();
- }
- }
- /* USER CODE BEGIN 4 */
- //开始任务
- void start_task(void *pdata)
- {
- // //设置通道1的脉宽。 width = (1000 - 500) / 1000 = 50%
- __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, motor_duty);
- __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, motor_duty);
- __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, motor_duty);
-
- //打开定时器2通道 ， 中断使能
- HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
- HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
- HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
- HAL_Delay(100);
- //开启定时器1的通道1
- HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
- HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
- HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);
- //
- HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
- HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
- HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
-
- //
- uint16_t hall_read = (HALL_GPIO->IDR)&0x0007; // 获取霍尔传感器状态 pin0 1 2__IO uint8_t uwStep = 0;
- BLDC_PHASE_CHANGE(hall_read); // 驱动换相
-
- //PID初始化
- Speed_PIDInit();
-
- OS_CPU_SR cpu_sr=0;
- OS_ENTER_CRITICAL(); //进入临界区(无法被中断打断)
- OSTaskCreate(led0_task,(void *)0,(OS_STK*)&LED0_TASK_STK[LED0_STK_SIZE-1],LED0_TASK_PRIO);
- OSTaskCreate(speed_adc_task,(void *)0,(OS_STK*)&SPEED_ADC_TASK_STK[SPEED_ADC_STK_SIZE-1],SPEED_ADC_TASK_PRIO);
- OSTaskSuspend(START_TASK_PRIO); //挂起起始任务.
- OS_EXIT_CRITICAL(); //退出临界区(可以被中断打断)
- }
- //LED0任务
- void speed_adc_task(void *pdata)
- {
- lcd_system_reset();
- unsigned char temp_table[16] ={"Cur_Speed:"};
- unsigned char temp_table1[16] ={"Tar_Speed:"};
- for(uint8_t i=0;i<10;i++)
- {
- lcd_char_write(i,0,temp_table[i]);
- lcd_char_write(i,1,temp_table1[i]);
- }
- HAL_ADC_Start(&hadc1);
- while(1)
- {
- HAL_ADC_PollForConversion(&hadc1,0); //等待转换完成,第二个参数代表最长等待时间ms
- if(HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc1), HAL_ADC_STATE_REG_EOC))
- {
- ADC_Value = HAL_ADC_GetValue(&hadc1); // 读取ADC数据 ，4096 -> 3.3V
- ADC_Speed = ADC_Value + 500; //转换公式 0-4096 -> 500 - 4596
- // if(ADC_Speed > 100){
- // HAL_GPIO_TogglePin(led_GPIO_Port, led_Pin);
- // }
- }
- //当前速度
- temp_table[10]=current_speed/1000+'0';
- temp_table[11]=current_speed/100%10+'0';
- temp_table[12]=current_speed/10%10+'0';
- temp_table[13]=current_speed%10+'0';
- //目标速度
- temp_table1[10]=ADC_Speed/1000+'0';
- temp_table1[11]=ADC_Speed/100%10+'0';
- temp_table1[12]=ADC_Speed/10%10+'0';
- temp_table1[13]=ADC_Speed%10+'0';
- for(uint8_t i=10;i<14;i++)
- {
- lcd_char_write(i,0,temp_table[i]);
- lcd_char_write(i,1,temp_table1[i]);
- }
- }
- }
- //speed adc 采样函数
- void led0_task(void *pdata)
- {
- while(1)
- {
- HAL_GPIO_WritePin(led_GPIO_Port, led_Pin, GPIO_PIN_SET);
- OSTimeDly(10);
- HAL_GPIO_WritePin(led_GPIO_Port, led_Pin, GPIO_PIN_RESET);
- OSTimeDly(10);
- }
- }
- //外部中断服务函数
- void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
- {
- if(!state)
- {
- __IO uint8_t uwStep = 0;
- uint16_t hall_read=(HALL_GPIO->IDR)&0x0007; // 获取霍尔传感器状态 pin0 1 2
- uwStep = hall_read;
- BLDC_PHASE_CHANGE(uwStep); // 驱动换相
-
- }
- uint16_t key_read =(Start_GPIO_Port->IDR)&0x00e0;
- if(key_read == 0x00c0)
- {
- // state = !state;
- // HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
- // HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
- // HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3);
- //
- // //BLDC_PHASE_CHANGE(7);
- // HAL_TIM_Base_MspDeInit(&htim1);
- //
- // HAL_Delay(300);
- // HAL_TIM_Base_MspDeInit(&htim1);
- // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
- // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
- // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
- // BLDC_PHASE_CHANGE(7);
- //HAL_GPIO_TogglePin(led_GPIO_Port, led_Pin);
- }else if(key_read == 0x00a0)
- {
- clock_wise = 0;
- }else if(key_read == 0x0060)
- {
- clock_wise = 1;
- }
- }
- //定时器2中断函数
- //溢出时间为1s
- //溢出值1000 每个点为1ms
- void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
- {
-
- if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) //捕获中断
- {
- /*
- 测速逻辑
- 1、中断产生，先判断是否为第一次上升沿
- 2、捕获到上升沿后，将时间点存入变量，切换捕获下降沿
- 3、捕获到下降沿后，记下时间点，切换为捕获上升沿
- 4、捕获到上升沿后，记下时间点
- 5、计算周期和占空比
- 6、问题如果经过多个周期才有一次上升沿和下降沿怎么办，需要记录溢出次数
- 如果溢出的时候有上升沿标志位
-
- 问题：proteus三路输入捕获计算，测转速时，如果第一个上升沿和第二个上升沿不在一个定时器计数周期，会计算失败
- */
- if(Channel1Edge == 0)
- {
- //获取通道1上升沿时间点
- Channel1RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1);
- Channel1Edge = 1;//捕获上升沿置位
- Channel1RisingTimeLast = Channel1RisingTimeNow;
- }else if(Channel1Edge == 1)
- {
- Channel1RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1);
- if(Channel1RisingTimeNow > Channel1RisingTimeLast)
- {
- Channel1Period = Channel1RisingTimeNow - Channel1RisingTimeLast;
- }
- else
- {
- //Channel2Period = Channel2RisingTimeNow + 1000 - Channel2RisingTimeLast + 1;
- }
- Channel1Edge = 0;
- //pid计算
- // current_speed = 60*1000 / Channel1Period; //转速计算
- // current_speed = current_speed * 5; //速度调整系数
- // motor_duty = Speed_PIDAdjust(current_speed);
- }
- }else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
- {
- if(Channel2Edge == 0)
- {
- Channel2RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
- Channel2Edge = 1;
-
- Channel2RisingTimeLast = Channel2RisingTimeNow;
- }
- else if(Channel2Edge == 1)
- {
- Channel2RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
- if(Channel2RisingTimeNow > Channel2RisingTimeLast)
- {
- Channel2Period = Channel2RisingTimeNow - Channel2RisingTimeLast;
- }
- else
- {
- //Channel2Period = Channel2RisingTimeNow + 1000 - Channel2RisingTimeLast + 1;
- }
- current_speed = 60*1000 / Channel2Period;
- current_speed = current_speed * 5; //速度调整系数
- motor_duty = Speed_PIDAdjust(current_speed);
- Channel2Edge = 0;
- }
- }
- else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
- {
- if(Channel3Edge == 0)
- {
- Channel3RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
- Channel3Edge = 1;
- Channel3RisingTimeLast = Channel3RisingTimeNow;
- }
- else if(Channel3Edge == 1)
- {
- Channel3RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
- if(Channel3RisingTimeNow > Channel3RisingTimeLast)
- {
- Channel3Period = Channel3RisingTimeNow - Channel3RisingTimeLast;
- }
- else
- {
- //Channel3Period = Channel3RisingTimeNow + 1000 - Channel3RisingTimeLast + 1;
- }
- // current_speed = 60*1000 / Channel3Period;
- // current_speed = current_speed * 5; //速度调整系数
- // motor_duty = Speed_PIDAdjust(current_speed);
- Channel3Edge = 0;
- }
- }
- }
- /* USER CODE END 4 */
- /**
- * @brief This function is executed in case of error occurrence.
- * @retval None
- */
- void Error_Handler(void)
- {
- /* USER CODE BEGIN Error_Handler_Debug */
- /* User can add his own implementation to report the HAL error return state */
- /* USER CODE END Error_Handler_Debug */
- }
- #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 */
- /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
所有资料51hei提供下载:
Proteus.zip
(102.55 KB, 下载次数: 554)
文档.docx
(758.47 KB, 下载次数: 378)
uCos_ii_Demo.7z
(5.21 MB, 下载次数: 497)
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