求助:雕刻機馬達PWM驅動電路之後續問題

antlu · 發表於 2016-7-3 01:27:06

本文章最後由 antlu 於 2016-7-3 01:28 AM 編輯

//----- 20160702 取消一次 15個數量的數位濾波改成累進方式
//-------20160701 改回原程式因為中斷會造成控制不良為無中斷模式
//-------20160622 VV--------------------- 非常重要使用中斷 TIM4 main.c 最後要加一些宣告!!
//----20160630 修改啟動程序先顯示後驅動
#include "stm8s.h"
#include "stm8s_tim1.h"
#include "stm8s_tim4.h"
#include "stm8s_clk.h"
#include "stm8s_delay.h"
#include "stm8s_adc1.h"
#define VR_Channel ADC1_CHANNEL_0// stm8s103k3 pin 16
#define LG12002PORT GPIOC//GPIOC
#define DIN GPIO_PIN_7 //new PIN_4 old version PIN_1
#define Clk GPIO_PIN_6 //new PIN_3 old version PIN_2
#define STB GPIO_PIN_5 //new PIN_1 old version PIN_4
#define Motor_port GPIOC
#define Motor_out GPIO_PIN_1 //PC1 pwm motor driver
u8 a,b,c,d;
u16 VR_data =0;
u8 AD_read_count;//0~3 輪流read out AD count
u8 adc_update_flag;//ADC 更新1次的旗標
u16 pwmwidth = 1;
//u16 ADCValue[15]={0};//電壓值平均用減少誤差雜訊
u16 ADCValueA;
u16 DataADC=0;//最後的電壓值
u8 display_2table[20]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef};
u16 prev_VR_data;//previous VR data
u8 inc_flag;//prev_VR_data < VR_data
u16 dif_PWM;//prev_VR_data - VR_data
u16 motor_base = 200;//motor PWM base
u32 ADCtemp=0;
u8 display_time;
void GPIOinit(void)
{
GPIO_Init(Motor_port,Motor_out,GPIO_MODE_OUT_PP_HIGH_FAST);//motor drive
GPIO_Init(LG12002PORT,DIN|STB|Clk,GPIO_MODE_OUT_PP_HIGH_FAST);//for pt6961 driver
}
void tim4init(void)
{
TIM4_TimeBaseInit(TIM4_PRESCALER_32,250);//4.05ms TIM4_PRESCALER_32
TIM4_SetCounter(250);
TIM4_ITConfig(TIM4_IT_UPDATE,ENABLE);//2Mhz/32/250=4ms
TIM4_Cmd(ENABLE);
}
void Delay_us(u16 ust)//uS Delay
{
while(ust !=0)
{
ust--;
}
}
void DelayMs(u16 mst)//mS delay
{
while( mst !=0)
{
Delay_us(400);
mst--;
}
}
void Send6961_Data(u8 Dat)
{
u8 i;
GPIO_WriteLow(LG12002PORT,STB);
for (i=0;i<8;i++)
{
if((Dat & 0x01)!=0)// SER=Dat & 0x80;
{
GPIO_WriteHigh(LG12002PORT,DIN);
}
else
{
GPIO_WriteLow(LG12002PORT,DIN);
}
Dat>>=1;
GPIO_WriteLow(LG12002PORT,Clk);// GPIO_WriteLow(LEDPORT,Clk);
GPIO_WriteHigh(LG12002PORT,Clk);
}
GPIO_WriteLow(LG12002PORT,STB);
}
/*
20141116 send command byte
*/
void Send6961_Cmd(u8 Dat)
{
u8 i;
GPIO_WriteHigh(LG12002PORT,STB);
GPIO_WriteLow(LG12002PORT,STB);
for (i=0;i<8;i++)
{
if((Dat & 0x01)!=0)// SER=Dat & 0x80;
{
GPIO_WriteHigh(LG12002PORT,DIN);
}
else
{
GPIO_WriteLow(LG12002PORT,DIN);
}
Dat>>=1;
GPIO_WriteLow(LG12002PORT,Clk);// Clk=0;
GPIO_WriteHigh(LG12002PORT,Clk);
}
GPIO_WriteHigh(LG12002PORT,STB);
}
void PT6961_Init(void) // 8bit mode
{
DelayMs(200);
Send6961_Cmd(0x40);//CMD 2 fix address normal mode
Send6961_Cmd(0xc0);//CMD 3 address=0
Send6961_Data(0x0);
Send6961_Data(0x00);
Send6961_Data(0x00);
Send6961_Data(0x00);
Send6961_Cmd(0x02);//CMD 1 6digit 12segment
Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
DelayMs(1);
}
void LGC12002_display(void)
{
Send6961_Cmd(0x40);//CMD 2 fix address normal mode
Send6961_Cmd(0xc0);//CMD 3 address=0
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[a]);//5
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[b]);//5
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[c]);//2
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[d]);//4
Send6961_Cmd(0x02);//CMD 1 6digit 12segment
Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
DelayMs(1);
}
void TransData(void)// VR_data>> a b c d
{
u16 result;
result = VR_data;
if (result >= 1000)
{
a=1;b=0;c=0;d=0;
}
else
{
a=0;
b= result/100;
c= (result%100)/10;
d= result %10;
}
}
//-------20160622 ^^----------------
void ADConvert(void)//轉換類比信號成為數位信號
{
unsigned char ADCcount =0;
ADC1->CR1|=0x02;
ADC1_StartConversion();
/*
while(ADCcount<15)//10>>13
{
while(ADC1_GetFlagStatus(ADC1_FLAG_EOC)==RESET);
ADC1_ClearFlag(ADC1_FLAG_AWS0);
ADCValue[ADCcount]=ADC1_GetConversionValue();
ADCcount++;
}
*/
//new change VVVVV
while(ADC1_GetFlagStatus(ADC1_FLAG_EOC)==RESET);
ADC1_ClearFlag(ADC1_FLAG_AWS0);
ADCValueA = ADC1_GetConversionValue();
//new change ^^^^
ADC1->CR1 &= ~0x02;
}
//------ newADCfilter with digital filter 2016 0630
void newDigitalFiltering(void)//把類比信號的10組資料作中間的6組平均
{
// u8 i=0;
// ADCtemp=0;
// for(i=0; i<15;i++)
{
// ADCtemp = ADCtemp-(ADCtemp/4)+ADCValue[i];
ADCtemp = ADCtemp-(ADCtemp/4)+ADCValueA;
DataADC = (ADCtemp/4);
}
}
/*
void DigitalFiltering(void)//把類比信號的10組資料作中間的6組平均
{
unsigned char i,j;
unsigned char cptemp;
for(i=10;i>=1;i--)
{
for(j-0;j<(i-1);j++)
{
if(ADCValue[j]>ADCValue[j+1])
{
cptemp=ADCValue[j];
ADCValue[j]=ADCValue[j+1];
ADCValue[j+1]=cptemp;
}
}
}
DataADC=0;
for(i=2;i<=7;i++)
{
DataADC +=ADCValue[i];
}
DataADC /=6;
}
*/
unsigned int ADC1Set(ADC1_Channel_TypeDef ADC_Channel)//讀取不同的AD通道經過類比轉成數位再經過10取6平均送出結果
{
u16 ADresult;
{
ADC1_Init(ADC1_CONVERSIONMODE_CONTINUOUS,ADC_Channel,ADC1_PRESSEL_FCPU_D2,ADC1_EXTTRIG_TIM,DISABLE,ADC1_ALIGN_RIGHT,ADC1_SCHMITTTRIG_CHANNEL0,DISABLE);
ADConvert();
newDigitalFiltering();
//DigitalFiltering();
ADresult=DataADC;
DataADC=0;
adc_update_flag=0;
}
return ADresult;
}
void update_TIM1_Config(u8 sw)
{
switch(sw)
{
case 0:
TIM1_OC1Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,(pwmwidth+motor_base),TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
case 1:
TIM1_OC2Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
case 2:
TIM1_OC3Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth+20,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
}
TIM1_Cmd(ENABLE);
TIM1_CtrlPWMOutputs(ENABLE);
}
void CLK_Config(void)
{
CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV8);
}
void tim4svc(void)
{
display_time++;
if(display_time==60)//240ms
{
VR_data = ADC1Set(VR_Channel);//channel 0 pin16
TransData();
LGC12002_display();
display_time=0;
}
TIM4_ClearITPendingBit(TIM4_IT_UPDATE);
}
main()
{
/*
一開始要關閉pwm輸出
接下來要把馬達的輸出設為60% 這樣啟動才不會有問題
馬達的PWM輸出不能過小必須有基本的電壓目前先定20%
PWM 0%電壓為2V 100%為10V 因此輸出電壓平均為2V~10V
調整VR的%顯示應該放在不會受影響的程式裡考慮放在中斷裡作顯示
*/
GPIOinit();
GPIO_WriteLow(Motor_port,Motor_out);// 防止一通電就馬達暴衝
TIM1_DeInit();
TIM1_TimeBaseInit(1,TIM1_COUNTERMODE_UP,1400,0); //1400 full range from 200~1200 total 1.4ms
// tim4init();
CLK_Config();
PT6961_Init();//LGC12002 initial
prev_VR_data = 200;//set initial VR data;
pwmwidth = 240;//initial motor drive set 60% power and keep 2秒
// rim();
VR_data = ADC1Set(VR_Channel);//先顯示VR值再啟動馬達240+200=440的速度若VR=0則會回到最低速200
TransData();
LGC12002_display();
update_TIM1_Config(0);
DelayMs(2000);
while (1)
{
VR_data = ADC1Set(VR_Channel);//channel 0 pin16
TransData();
LGC12002_display();
if(prev_VR_data >= VR_data)//inc_flag =0 ---prev_VR_data >= VR_data 要減少pwm
{
inc_flag = 0;
dif_PWM = (prev_VR_data - VR_data);
}
else
{
inc_flag =1;
dif_PWM = (VR_data - prev_VR_data);
}
if( dif_PWM > 5)// excute PWM change
{
while(dif_PWM)
{
if(inc_flag)
{
pwmwidth = prev_VR_data+1;
}
else
{
pwmwidth = prev_VR_data-1;
}
update_TIM1_Config(0);
DelayMs(5);//加速度
dif_PWM -=1;
}
prev_VR_data = VR_data;//加減速完成更新速度設定
}
else
{
pwmwidth = VR_data;
update_TIM1_Config(0);
}
}
}
@far @interrupt void TIM4_OVF_IRQ(void)
{
tim4svc();
}
#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(u8* file, u32 line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

複製代碼

xiaolaba 發表於 2016-7-2 09:36 PM
LU大 ADC讀取不是由你的主程序自己主動要求的嗎

你的程序裡面好像也是這樣寫, 269行,while (1) {readadc. ...

xiaolaba 大:
謝謝,DIGITAL FILTER 我改好了,驗證也OK了!!
後續要試試中斷的問題!! 再次感謝!!

xiaolaba · 發表於 2016-7-3 11:21:08

本文章最後由 xiaolaba 於 2016-7-3 11:48 AM 編輯

antlu 發表於 2016-7-3 01:27 AM
xiaolaba 大:
謝謝,DIGITAL FILTER 我改好了,驗證也OK了!!
後續要試試中斷的問題!! 再次感謝!! ...

//讀取不同的AD通道經過類比轉成數位再經過10取6平均送出結果
unsigned int ADC1Set(ADC1_Channel_TypeDef ADC_Channel) {
u16 ADresult;
{
ADC1_Init(ADC1_CONVERSIONMODE_CONTINUOUS,ADC_Channel,ADC1_PRESSEL_FCPU_D2,ADC1_EXTTRIG_TIM,DISABLE,ADC1_ALIGN_RIGHT,ADC1_SCHMITTTRIG_CHANNEL0,DISABLE); //這個應該是初始化ADC, 應該不用每次都用在ADC轉換的開頭, 開機設定一次就夠, 除非每次轉換設定不同參數或者不同CHANNEL設定不同, 不過看來參數都是常數, 沒有變動.
ADConvert(); //這個實際執行ADC轉換, 等待2.3us
newDigitalFiltering(); //ADC完畢, 濾波輸出值存在, DataADC, 現在的tempDAC 不動, 也不需要變動, 留著下一次用
//DigitalFiltering();
ADresult=DataADC;
DataADC=0; // 注釋掉這行, 執行OK 嗎, 如果可以就不用這個, 開機設定一次就夠. 因為你每次調用ADC, 輸出控制 PWM, 讀值後然後馬上把結果資料清零, 其實作用不大, 不確定想的對不對. 實機實驗最簡單.
adc_update_flag=0;
}
return ADresult;
}

複製代碼

antlu · 發表於 2016-7-3 13:03:39

xiaolaba 發表於 2016-7-3 11:21 AM

xiaolaba 大:
我把DataADC=0 取消了,結果好像也沒變,目前我就先這樣了!! 謝謝!!
我把中斷加進去旗標計數做定期顯示用卻發現每隔 377us 會有 9us的下降脈衝...

VR=0

VR=50

VR=50放大

VR=210

VR=700

VR=850 之前

VR=850 目前

VR=1000

antlu · 發表於 2016-7-3 13:19:17

目前測試結果加減速度很不錯,感謝 xiaolaba 大一直不斷的指導和協助修改程式,受益良多!! 感恩!!

//------20160703 嘗試再使用中斷顯示
//----- 20160702 取消一次 15個數量的數位濾波改成累進方式
//-------20160701 改回原程式因為中斷會造成控制不良為無中斷模式
//-------20160622 VV--------------------- 非常重要使用中斷 TIM4 main.c 最後要加一些宣告!!
//----20160630 修改啟動程序先顯示後驅動
#include "stm8s.h"
#include "stm8s_tim1.h"
#include "stm8s_tim4.h"
#include "stm8s_clk.h"
#include "stm8s_delay.h"
#include "stm8s_adc1.h"
#define VR_Channel ADC1_CHANNEL_0// stm8s103k3 pin 16
#define LG12002PORT GPIOC//GPIOC
#define DIN GPIO_PIN_7 //new PIN_4 old version PIN_1
#define Clk GPIO_PIN_6 //new PIN_3 old version PIN_2
#define STB GPIO_PIN_5 //new PIN_1 old version PIN_4
#define Motor_port GPIOC
#define Motor_out GPIO_PIN_1 //PC1 pwm motor driver
u8 a,b,c,d;
u16 VR_data =0;
u8 AD_read_count;//0~3 輪流read out AD count
u8 adc_update_flag;//ADC 更新1次的旗標
u16 pwmwidth = 1;
u16 ADCValueA;
u16 DataADC=0;//最後的電壓值
u8 display_2table[20]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef};
u16 prev_VR_data;//previous VR data
u8 inc_flag;//prev_VR_data < VR_data
u16 dif_PWM;//prev_VR_data - VR_data
u16 motor_base = 200;//motor PWM base
u32 ADCtemp=0;
u8 display_time;//中斷顯示用_計時器
u8 display_flag;//中斷產生的顯示旗標
void GPIOinit(void)
{
GPIO_Init(Motor_port,Motor_out,GPIO_MODE_OUT_PP_HIGH_FAST);//motor drive
GPIO_Init(LG12002PORT,DIN|STB|Clk,GPIO_MODE_OUT_PP_HIGH_FAST);//for pt6961 driver
}
void tim4init(void)
{
TIM4_TimeBaseInit(TIM4_PRESCALER_32,250);//4.05ms TIM4_PRESCALER_32
TIM4_SetCounter(250);
TIM4_ITConfig(TIM4_IT_UPDATE,ENABLE);//2Mhz/32/250=4ms
TIM4_Cmd(ENABLE);
}
void Delay_us(u16 ust)//uS Delay
{
while(ust !=0)
{
ust--;
}
}
void DelayMs(u16 mst)//mS delay
{
while( mst !=0)
{
Delay_us(400);
mst--;
}
}
void Send6961_Data(u8 Dat)
{
u8 i;
GPIO_WriteLow(LG12002PORT,STB);
for (i=0;i<8;i++)
{
if((Dat & 0x01)!=0)// SER=Dat & 0x80;
{
GPIO_WriteHigh(LG12002PORT,DIN);
}
else
{
GPIO_WriteLow(LG12002PORT,DIN);
}
Dat>>=1;
GPIO_WriteLow(LG12002PORT,Clk);// GPIO_WriteLow(LEDPORT,Clk);
GPIO_WriteHigh(LG12002PORT,Clk);
}
GPIO_WriteLow(LG12002PORT,STB);
}
/*
20141116 send command byte
*/
void Send6961_Cmd(u8 Dat)
{
u8 i;
GPIO_WriteHigh(LG12002PORT,STB);
GPIO_WriteLow(LG12002PORT,STB);
for (i=0;i<8;i++)
{
if((Dat & 0x01)!=0)// SER=Dat & 0x80;
{
GPIO_WriteHigh(LG12002PORT,DIN);
}
else
{
GPIO_WriteLow(LG12002PORT,DIN);
}
Dat>>=1;
GPIO_WriteLow(LG12002PORT,Clk);// Clk=0;
GPIO_WriteHigh(LG12002PORT,Clk);
}
GPIO_WriteHigh(LG12002PORT,STB);
}
void PT6961_Init(void) // 8bit mode
{
DelayMs(200);
Send6961_Cmd(0x40);//CMD 2 fix address normal mode
Send6961_Cmd(0xc0);//CMD 3 address=0
Send6961_Data(0x0);
Send6961_Data(0x00);
Send6961_Data(0x00);
Send6961_Data(0x00);
Send6961_Cmd(0x02);//CMD 1 6digit 12segment
Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
DelayMs(1);
}
void LGC12002_display(void)
{
Send6961_Cmd(0x40);//CMD 2 fix address normal mode
Send6961_Cmd(0xc0);//CMD 3 address=0
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[a]);//5
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[b]);//5
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[c]);//2
Send6961_Data(0xf0);//空白
Send6961_Data(display_2table[d]);//4
Send6961_Cmd(0x02);//CMD 1 6digit 12segment
Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
DelayMs(1);
}
void TransData(void)// VR_data>> a b c d
{
u16 result;
result = VR_data;
if (result >= 1000)
{
a=1;b=0;c=0;d=0;
}
else
{
a=0;
b= result/100;
c= (result%100)/10;
d= result %10;
}
}
//-------20160622 ^^----------------
void ADConvert(void)//轉換類比信號成為數位信號
{
unsigned char ADCcount =0;
ADC1->CR1|=0x02;
ADC1_StartConversion();
//new change VVVVV
while(ADC1_GetFlagStatus(ADC1_FLAG_EOC)==RESET);
ADC1_ClearFlag(ADC1_FLAG_AWS0);
ADCValueA = ADC1_GetConversionValue();
//new change ^^^^
ADC1->CR1 &= ~0x02;
}
//------ newADCfilter with digital filter 2016 0630
void newDigitalFiltering(void)//把類比信號的10組資料作中間的6組平均
{
{
ADCtemp = ADCtemp-(ADCtemp/4)+ADCValueA;
DataADC = (ADCtemp/4);
}
}
unsigned int ADC1Set(ADC1_Channel_TypeDef ADC_Channel)//讀取不同的AD通道經過類比轉成數位再經過10取6平均送出結果
{
u16 ADresult;
{
ADC1_Init(ADC1_CONVERSIONMODE_CONTINUOUS,ADC_Channel,ADC1_PRESSEL_FCPU_D2,ADC1_EXTTRIG_TIM,DISABLE,ADC1_ALIGN_RIGHT,ADC1_SCHMITTTRIG_CHANNEL0,DISABLE);
ADConvert();
newDigitalFiltering();
ADresult=DataADC;
adc_update_flag=0;
}
return ADresult;
}
void update_TIM1_Config(u8 sw)
{
switch(sw)
{
case 0:
TIM1_OC1Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,(pwmwidth+motor_base),TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
case 1:
TIM1_OC2Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
case 2:
TIM1_OC3Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth+20,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
break;
}
TIM1_Cmd(ENABLE);
TIM1_CtrlPWMOutputs(ENABLE);
}
void CLK_Config(void)
{
CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV8);
}
void tim4svc(void)
{
display_time++;
if(display_time==60)//240ms
display_flag=1;
TIM4_ClearITPendingBit(TIM4_IT_UPDATE);
}
main()
{
/*
一開始要關閉pwm輸出
接下來要把馬達的輸出設為60% 這樣啟動才不會有問題
馬達的PWM輸出不能過小必須有基本的電壓目前先定20%
PWM 0%電壓為2V 100%為10V 因此輸出電壓平均為2V~10V
調整VR的%顯示應該放在不會受影響的程式裡考慮放在中斷裡作顯示
*/
GPIOinit();
GPIO_WriteLow(Motor_port,Motor_out);// 防止一通電就馬達暴衝
TIM1_DeInit();
TIM1_TimeBaseInit(1,TIM1_COUNTERMODE_UP,1400,0); //1400 full range from 200~1200 total 1.4ms
tim4init();
CLK_Config();
PT6961_Init();//LGC12002 initial
prev_VR_data = 200;//set initial VR data;
pwmwidth = 240;//initial motor drive set 60% power and keep 2秒
rim();
VR_data = ADC1Set(VR_Channel);//先顯示VR值再啟動馬達240+200=440的速度若VR=0則會回到最低速200
TransData();
LGC12002_display();
update_TIM1_Config(0);
DelayMs(2000);
while (1)
{
VR_data = ADC1Set(VR_Channel);//channel 0 pin16
if(display_flag==1)//當中斷旗標成立時後才顯示並且清除中斷旗標和再次計時
{
TransData();
LGC12002_display();
display_flag=0;
display_time=0;
}
if(prev_VR_data >= VR_data)//inc_flag =0 ---prev_VR_data >= VR_data 要減少pwm
{
inc_flag = 0;
dif_PWM = (prev_VR_data - VR_data);
}
else
{
inc_flag =1;
dif_PWM = (VR_data - prev_VR_data);
}
if( dif_PWM > 5)// excute PWM change
{
while(dif_PWM)
{
if(inc_flag)
{
pwmwidth = prev_VR_data+1;
}
else
{
pwmwidth = prev_VR_data-1;
}
update_TIM1_Config(0);
DelayMs(5);//加速度
dif_PWM -=1;
}
prev_VR_data = VR_data;//加減速完成更新速度設定
}
else
{
pwmwidth = VR_data;
update_TIM1_Config(0);
}
}
}
@far @interrupt void TIM4_OVF_IRQ(void)
{
tim4svc();
}
#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(u8* file, u32 line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif

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求助:雕刻機馬達PWM驅動電路之後續問題

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