有错误基于STM32F103单片机的三相电机控制程序，霍尔传感器版本

ID:640768 · 发表于 2023-11-21 16:59

单片机源程序如下:

#include "main.h"
/*********全局变量***********/
u8 Ref_Lcd_flag=0;
u8 state=0; // 运行主状态
u32 feedback_value=0; //速度反馈值
u32 TIMER=0;
u8 frequent_1=0; //踏频速率
vu16 I_Thrut[4]; //供电电压和三相电流 // I_Thrut[3]为电压
u8 Run_Pause=0;
u8 Speed_aver=0;
u16 Frequent_aver=0;
u16 Mileage_e0;
u8 Frame_flag=0;
u8 Start_flag=0;
u8 Cart_flag=0;
u8 ERROR_flag=0; //错误类型标志位
Pid_struct Main_pid;
u8 Assist; //档位
u8 Mileage;
u8 datatemp[2];
u8 Flash_Buff[2];
u8 V_BUS_Flag;
u8 begin;
u8 Key=0;
u32 Mileage_Single=0;
u8 d=0;
extern u16 Exti_speed_1;
extern u32 frequent_sum;
int main(void)
{
/***********IO时钟初始化*********************/
Rcc_init();
/********中断优先级设置********/
STMFLASH_Read(FLASH_SAVE_ADDR,(u16*)datatemp,2);
Mileage=datatemp[1];
// Assist=datatemp[0];
Assist=0;
Mileage_e0=Mileage;
NVIC_Config();
/**********屏幕初始化*****************/
delay_init();
SPI1_Init(); //SPI1初始化
LCD_Init();
POINT_COLOR=RED ;//设置字体为红色
LCD_ShowString(80,160,200,16,24,"WELCOME"); //写电量位置
FRAME_INIT();
/********BLDC设置初始化**********/
BLDC_GPIOConfig();
BLDC_TIM1Config();
BLDC_TIM3Config();
IR2136_EN_SET; // 使能 PB12 输出使能
/********串口/AD/定时器/外部中断初始化*************************/
USART1_GPIOConfig();
USART1_Config();
KEY_Init();
Adc_Init();
DMA_Configuration();
TIM4_Init(9999,71); // 10ms 编码器计时
TIM2_Init(4999,7199); // 0.5s 定时中断采样
EXTI1_Init(); // Pb9 踏频中断 J6
EXTI0_Init(); // Pb0 霍尔测速中断
EXTI10_Init(); //PC10 刹车中断 J4
Speed_PIDInit(&Main_pid); //PID初始化为起步设置一个固定速度
state=STOP;
delay_ms(1000);
while(1){
USART_Reci();
KEY_Scan();
if( Assist==0){ // 纯人力模式电机不运行
state=MANPOWER;
}
switch(state)
{
case MANPOWER: // 纯人力模式
BLDC_Stop(); // 关闭电机防止误操作
while(1){
KEY_Scan(); //按键跳出此模式
if(state==CART){ //不影响其它传感器中断运行仪表正常工作
state=CART;
break; // 跳出此循环
}
if(Assist!=0){ //不影响其它传感器中断运行仪表正常工作
state=START;
break; // 跳出此循环
}
Ref_LCD();
}
case CART: // 一键推车模式
while(state==CART){
TIM1->CCR1=450;
TIM1->CCR2=450;
TIM1->CCR3=450;
BLDC_Start1();
USART_Reci();
KEY_Scan(); //KEY修改标志位
Ref_LCD();
if(state!=CART){
d=0;
state=START;
BLDC_Stop();
break;
}
}
case START: //起步执行启动程序并转换到正常运行状态
// Run_Pause=1;
if(frequent_1!=0){
// Run_Pause=0;
Start_flag=1;
Speed_PIDInit(&Main_pid);
BLDC_Start1();
state=RUN;
}
break;
case RUN: // 助力状态逻辑检测电流/传感器参数
Adjust_Speed();
break;
case STOP:
BLDC_Stop();
break;
case FAULT:
while(1){
char f1[5];
sprintf(f1,"%d",ERROR_flag);
LCD_Clear(WHITE);
BLDC_Stop(); // 错误信息产生关闭电机防止误操作
POINT_COLOR=RED ;//设置字体为红色
LCD_ShowString(80,160,200,16,24,"ERROR"); //写电量位置
LCD_ShowString(160,160,200,16,24,f1); //写电量位置
Key=KEY_Scan1(0); //得到键值
if(Key==KEY0_l)
{
NVIC_SystemReset();
}
}
break;
}
Ref_LCD();
}
}
void Adjust_Speed(void)
{ u8 sw=0;
if(frequent_1==0){
state=START;
BLDC_Stop();
}
else if(frequent_1<=1){
Speed_PIDAdjust(&Main_pid,2000+Assist*1000);
}
else if(frequent_1<=3){
Speed_PIDAdjust(&Main_pid,2500+Assist*1000);
}
else if(frequent_1<=5){
Speed_PIDAdjust(&Main_pid,3500+Assist*1000);
}
else if(frequent_1<=7){
Speed_PIDAdjust(&Main_pid,4500+Assist*1000);
}
if((float)(720*1.0/Exti_speed_1)>25){
BLDC_Stop();
sw=1;
}
if(sw==1&&(float)(720*1.0/Exti_speed_1)<20){
BLDC_Start1();
sw=0;
}
}
void KEY_Scan(void)
{
Key=KEY_Scan1(0); //得到键值
switch(Key)
{
case KEY0_s:
if(Frame_flag==0){ //Frame_flag=0 正常显示界面
FRAME_INIT1();
Mileage_Single=Mileage_e0-Mileage;
Speed_aver=(float)((Mileage_Single*1.0/(TIMER*1.0))*6); //单位转换
Frame_flag=1;
Frequent_aver=frequent_sum/TIMER;
mes_show1((float)Mileage_e0*0.1,(float)Mileage_Single*0.1,TIMER,(float)Speed_aver,frequent_sum/8,Frequent_aver/8);
}
else{ //Frame_flag=0 第二页面
BLDC_Stop();
Flash_Buff[0]=Assist;
Flash_Buff[1]=Mileage;
STMFLASH_Write(FLASH_SAVE_ADDR,(u16*)Flash_Buff,2);
POINT_COLOR=RED ;
LCD_Clear(WHITE);
LCD_ShowString(40,160,200,16,24,"WRITE SUCCESS"); //写电量位置
FRAME_INIT();
Frame_flag=0;
}
break;
case KEY0_l:
NVIC_SystemReset();
break;
case KEY1_s: //下键
if(Assist!=0){
Assist--;
if(Assist<1){
Assist=0;
}
}
break;
case KEY1_l:
Assist=0;
// BLDC_Stop();
// Flash_Buff[0]=Assist;
// Flash_Buff[1]=Mileage;
// STMFLASH_Write(FLASH_SAVE_ADDR,(u16*)Flash_Buff,2);
// POINT_COLOR=RED ;
// LCD_Clear(WHITE);
// LCD_ShowString(40,160,200,16,24,"WRITE SUCCESS"); //写电量位置
// delay_ms(1000);
// LCD_Clear(WHITE);
// FRAME_INIT();
break;
case KEY2_s: // 上键
if(state==CART){
BLDC_Stop();
state=START;
}
Assist++;
if(Assist>4){
Assist=5;
}
break;
case KEY2_l: //长按上键进入推车模式
state=CART;
break;
default: break;
}
}
/*****************简陋版，需要配套写解析函数*********************/
void USART_Reci(void)
{
if(USART1_RX_STA) //接收到一次数据了
{
if(USART1_RX_BUF[0]=='s')
{
Mileage_Single=Mileage-Mileage_e0;
Speed_aver=(float)(Mileage_Single/TIMER)*6; //单位转换
Frequent_aver=frequent_sum/TIMER;
uprintf(USART1,"s%.1fs\n",Speed_aver);
}
else if(USART1_RX_BUF[0]=='m')
{
// uprintf(USART1,"me%.1fme\n",Mileage_Single*0.1);
uprintf(USART1,"m%.1fm\n",Mileage*0.1);
}
else if(USART1_RX_BUF[0]=='f')
{
uprintf(USART1,"f%d\nf",frequent_sum/8);
// uprintf(USART1,"f1%d\nf1",Frequent_aver/8);
}
else if(USART1_RX_BUF[0]=='a')
{
Assist++;
// uprintf(USART1,"f1%d\nf1",Frequent_aver/8);
} else if(USART1_RX_BUF[0]=='b')
{
Assist--;
uprintf(USART1,"f1%d\n",state);
}
USART1_RX_STA=0;
}
}
/***********************************************
/////中断优先级刹车EXTI5-9 00 接受串口 04 霍尔 02 踏频 03
***********************************************/
void NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure; //复位NVIC寄存器为默认值
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置中断优先级组
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =0; // 刹车
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //霍尔中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority =1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn; // 10ms 中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0 ;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = ADC1_2_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;//抢占优先级3
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //子优先级3
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
// NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn; // 踏频中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn; // 霍尔测速中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority =0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority =2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = TIM1_TRG_COM_IRQn; //开TIM1触发中断
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; // 30s 定时中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/**************************************************
//// SPI仪表显示界面
***************************************************/
//局部刷屏幕 Res_Lcd在TIM2 里计数，每2s 局部刷新一次
void Ref_LCD(void)
{
if(Ref_Lcd_flag>50)
{
if(Frame_flag==0){
if(Exti_speed_1==0){
mes_show(TIMER,(float)Mileage_e0*0.1,Assist,0,frequent_1*8);
}else{
mes_show(TIMER,(float)Mileage_e0*0.1,Assist,(float)(720*1.0/Exti_speed_1),frequent_1*8);
}
}
Ref_Lcd_flag=0;
}
}
void mes_show(u16 a,float b,u8 c,float d,u8 e)
{ u8 h=0;
char a1[5];
char b1[8];
char c1[5];
char d1[5];
char e1[5];
char f1[5];
h=a/60;
a=a-h*60;
sprintf(a1,"%.1d",a);
sprintf(b1,"%.1f",b);
sprintf(c1,"%d",c);
sprintf(d1,"%.1f",d);
sprintf(e1,"%d",e);
sprintf(f1,"%d",h);
if(a<=9){
LCD_ShowString(65,222,200,16,24,"0"); //TIME
LCD_ShowString(77,222,200,16,24,a1); //TIME
}
else if(a>9&&a<=59){
LCD_ShowString(65,222,200,16,24,a1); //TIME
}
if(h<=9){
LCD_ShowString(32,222,200,16,24,"0"); //TIME
LCD_ShowString(44,222,200,16,24,f1); //TIME
}else if(h>9&&h<=59){
LCD_ShowString(32,222,200,16,24,f1); //TIME
}
LCD_ShowString(25,287,200,16,24,b1); //MILE
LCD_ShowString(20,90,200,16,96,c1); //ASSIST
LCD_ShowString(110,100,200,16,48,d1); //SPEED
LCD_ShowString(140,230,200,16,48,e1); //FRE
// if(I_Thrut[3]<=160){
//
// }else if(I_Thrut[3]>=195){
// LCD_Fill(21,19,26,27,BLACK); //电池图标
// }else if(I_Thrut[3]<=180){
// LCD_Fill(21,19,26,27,BLACK); //电池图标
// LCD_Fill(28,19,33,27,BLACK); //电池图标
// }
// LCD_Fill(21,19,26,27,BLACK); //电池图标
// LCD_Fill(28,19,33,27,BLACK); //电池图标
// LCD_Fill(35,19,40,27,BLACK); //电池图标
// LCD_Fill(42,19,47,27,BLACK); //电池图标
}
void mes_show1(float a,float b,u8 c,float d,u16 e,u16 f)
{ u8 h=0;
char a1[5];
char b1[8];
char c1[5];
char d1[5];
char e1[5];
char f1[5];
char g1[5];
h=c/60;
c=c-h*60;
sprintf(a1,"%.1f",a);
sprintf(b1,"%.1f",b);
sprintf(c1,"%d",c);
sprintf(d1,"%.1f",d);
sprintf(e1,"%d",e);
sprintf(f1,"%d",f);
sprintf(g1,"%d",h);
if(c<=9){
LCD_ShowString(137,128,200,16,24,"0"); //TIME
LCD_ShowString(149,128,200,16,24,c1); //TIME
}
else if(a>9&&a<=59){
LCD_ShowString(137,128,200,16,24,c1); //TIME
}
if(h<=9){
LCD_ShowString(105,128,200,16,24,"0"); //TIME
LCD_ShowString(117,128,200,16,24,g1); //TIME
}else if(h>9&&h<=59){
LCD_ShowString(105,128,200,16,24,g1); //TIME
}
LCD_ShowString(130,68,200,16,24,a1); //Mile_Sum
LCD_ShowString(130,98,200,16,24,b1); //Mile_sin
// LCD_ShowString(120,128,200,16,24,c1); //Timer
LCD_ShowString(120,160,200,16,24,d1); //Speed
LCD_ShowString(130,188,200,16,24,e1); //Fre_Sum
LCD_ShowString(130,218,200,16,24,f1); //Fre_Aver
}
void FRAME_INIT(void){
LCD_Clear(WHITE);
POINT_COLOR=BLACK ;
LCD_DrawLine(2,2,2,318); //左右边界
LCD_DrawLine(238,2,238,318);
LCD_DrawLine(2,2,238,2); // 上下边界
LCD_DrawLine(2,318,238,318);
// LCD_DrawLine(0,70,238,70);
LCD_DrawLine(10,40,230,40); //横一
//LCD_DrawLine(80,220,238,220);
LCD_DrawLine(10,190,230,190); // 横二
//LCD_DrawLine(80,70,80,318);
LCD_DrawLine(87,45,87,185); // 竖一
LCD_DrawLine(120,200,120,310); // 竖二
LCD_DrawLine(10,255,118,255); // 横三
LCD_DrawLine(17,16,52,16);
LCD_DrawLine(17,16,17,31);
LCD_DrawLine(17,31,52,31);
LCD_DrawLine(52,16,52,21);
LCD_DrawLine(52,21,55,21);
LCD_DrawLine(55,21,55,26);
LCD_DrawLine(52,26,55,26);
LCD_DrawLine(52,26,52,31);
LCD_ShowString(10,50,200,24,24,"ASSIST");
LCD_ShowString(100,50,200,24,24,"SPEED");
LCD_ShowString(180,155,200,24,24,"KM/h");
LCD_ShowString(11,200,200,16,16,"TIME");
LCD_ShowString(55,221,200,16,24,":");
LCD_ShowString(11,265,200,16,16,"MILE");
LCD_ShowString(85,295,200,16,16,"KM");
LCD_ShowString(135,200,200,16,24,"FRE");
LCD_ShowString(185,275,200,16,24,"RPM");
}
void FRAME_INIT1(void){
LCD_Clear(WHITE);
POINT_COLOR=BLACK ;
LCD_DrawLine(2,2,2,318); //左右边界
LCD_DrawLine(238,2,238,318);
LCD_DrawLine(2,2,238,2); // 上下边界
LCD_DrawLine(2,318,238,318);
LCD_DrawLine(20,65,220,65); // 第一线
LCD_DrawLine(20,95,220,95);
LCD_DrawLine(20,125,220,125);
LCD_DrawLine(20,155,220,155);
LCD_DrawLine(20,185,220,185);
LCD_DrawLine(20,215,220,215);
LCD_DrawLine(20,245,220,245);
LCD_DrawLine(20,275,220,275);
LCD_DrawLine(20,65,20,245); // 竖线
LCD_DrawLine(220,65,220,245);
LCD_ShowString(25,68,200,16,24,"Mile_Sum");
LCD_ShowString(25,98,200,16,24,"Mile_Sin");
LCD_ShowString(25,128,200,16,24,"Timer");
LCD_ShowString(127,128,200,16,24,":"); //TIME
LCD_ShowString(25,158,200,16,24,"Speed");
LCD_ShowString(25,188,200,16,24,"Fre_Sum");
LCD_ShowString(25,218,200,16,24,"Fre_Aver");
LCD_ShowString(200,72,200,16,16,"Km");
LCD_ShowString(200,102,200,16,16,"Km");
LCD_ShowString(190,132,200,16,16,"Min");
LCD_ShowString(180,162,200,16,16,"Km/h");
LCD_ShowString(190,192,200,16,16,"RPM");
LCD_ShowString(190,222,200,16,16,"RPM");
}