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  • 大小: 4.12MB
    文件類型: .rar
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    發布日期: 2023-10-11
  • 語言: 其他
  • 標簽: 電機驅動??CAN??

資源簡介

電機驅動程序基于STM32F1

資源截圖

代碼片段和文件信息

#include??“init.h“

void?CAN_Thread1?(void?const?*argument);?//CAN數據接收
osThreadId?T_CAN_ID1;
osThreadDef(CAN_Thread1?osPriorityHigh?1?512);

void?Transfer_Thread1?(void?const?*argument);?//CAN數據接收
osThreadId?T_Transfer_ID1;
osThreadDef(Transfer_Thread1?osPriorityNormal?1?512);

void?LED_Thread1?(void?const?*argument);?
osThreadId?T_LED_ID1;
osThreadDef(LED_Thread1?osPriorityNormal?1?128);

void?ID_Thread1?(void?const?*argument);?
osThreadId?T_ID_ID1;
osThreadDef(ID_Thread1?osPriorityLow?1?128);

osSemaphoreId_t?CAN_Semaphore;?//?
osSemaphoreDef(CAN_Semaphore);


u16?CAN_ID=0;
u32?Revice_State=0Revice_State_Last=0;?//接收CAN信號狀態??無信號則停止電機輸出??

u8?xy;
u8?WorkState=WORK;
extern??int??encoder;
/*RTXKernelStartInit?and?Task?Creak*/
void?KernelTaskInit(void)
{
/************************************************/
//外設初始化過程
/************************************************/
????TIM4_PWM_Init(8003-1);??//10KHZ
?? CANID_GPIOinit();?????//GPIO初始化?
????ID_init();
??CANTransfer_Init(CANID);//CAN通信初始化?
//??USART1_Init(115200);????//串口查看?
????Led_OutputInit();?????//led燈初始化
//??USART1_Printf();??????//串口打印模塊信息
??Encoder_Configuration(Encoderdata-10);?
????Encoder_init(2000-1240-1); //20ms采集
??my_delayms(CAN_ID&0x0f);//根據ID號延時啟動??
?? NVIC_StateInit();
???if(osKernelInitialize()!=osOK)
?{ while(1);
?}
???CAN_Semaphore=osSemaphoreNew(10osSemaphore(CAN_Semaphore));
?T_CAN_ID1=osThreadCreate(osThread(CAN_Thread1)NULL);
?T_Transfer_ID1=osThreadCreate(osThread(Transfer_Thread1)NULL);
?T_LED_ID1=osThreadCreate(osThread(LED_Thread1)NULL);
?T_ID_ID1=osThreadCreate(osThread(ID_Thread1)NULL);

???if(?osKernelStart()!=osOK)?//Start?Task?Running
?{
???while(1);?
?}
}
void?ID_init(void)
{
?u8?id=0;

?CAN_ID=(ID_CAN|Read_CanID());
???id=(CAN_ID&0x0f);?
???switch(id)
?{
???case?1:{x=0y=1;}break;
???case?2:{x=2y=3;}break;
?case?3:{x=4y=5;}break;
?case?4:{x=6y=7;}break;
?case?5:{x=0y=1;}break;
???case?6:{x=2y=3;}break;
?case?7:{x=4y=5;}break;
?case?8:{x=6y=7;}break;
?
?default:{?Motor_Pwm=0;?WorkState=WARING;}break;
?}

}
//中斷優先級定義
void?NVIC_StateInit(void?)
{
????NVIC_InitTypeDef? Nvic_InitStructure;
?? /*?Configure?one?bit?for?preemption?priority?*/
?? NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
/*中斷設置*/
Nvic_InitStructure.NVIC_IRQChannel?=?USB_LP_CAN1_RX0_IRQn; ???//CAN1?RX0中斷
Nvic_InitStructure.NVIC_IRQChannelPreemptionPriority?=?0; ???//搶占優先級0
Nvic_InitStructure.NVIC_IRQChannelSubPriority?=?0; ???//子優先級為0
Nvic_InitStructure.NVIC_IRQChannelCmd?=?ENABLE;
NVIC_Init(&Nvic_InitStructure);

Nvic_InitStructure.NVIC_IRQChannel?=?TIM2_IRQn; ???
Nvic_InitStructure.NVIC_IRQChannelPreemptionPriority?=?1; ???//搶占優先級1
Nvic_InitStructure.NVIC_IRQChannelSubPriority?=?0; ???//子優先級為0
Nvic_InitStructure.NVIC_IRQChannelCmd?=?ENABLE;
NVIC_Init(&Nvic_InitStructure);
}
/*
CAN接收中斷線程??CAN接收成

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4867??2018-01-04?16:53??直流電機驅動\BSPInit\init.c

?????文件????????493??2017-12-21?22:37??直流電機驅動\BSPInit\init.h

?????文件????????136??2017-10-29?15:18??直流電機驅動\BSPInit\main.c

?????文件?????633941??2011-03-10?10:51??直流電機驅動\BSPInit\stm32f10x.h

?????文件???????3287??2017-04-22?21:36??直流電機驅動\BSPInit\stm32f10x_conf.h

?????文件???????2432??2015-03-18?18:49??直流電機驅動\BSPInit\stm32f10x_it.c

?????文件???????1983??2011-04-04?18:57??直流電機驅動\BSPInit\stm32f10x_it.h

?????文件???????2208??2017-11-17?19:12??直流電機驅動\Devicer\data_transfer.c

?????文件????????222??2017-04-23?11:44??直流電機驅動\Devicer\data_transfer.h

?????文件???????2955??2017-11-17?00:03??直流電機驅動\Devicer\encoder.c

?????文件????????228??2017-11-17?00:12??直流電機驅動\Devicer\encoder.h

?????文件????????441??2017-11-17?19:12??直流電機驅動\Devicer\led.c

?????文件????????307??2017-11-10?18:43??直流電機驅動\Devicer\led.h

?????文件???????5049??2017-12-28?23:31??直流電機驅動\Devicer\motor_devicer.c

?????文件????????608??2018-01-04?15:25??直流電機驅動\Devicer\motor_devicer.h

?????文件????????254??2017-12-26?19:42??直流電機驅動\Devicer\mydelay.c

?????文件????????126??2016-05-10?12:13??直流電機驅動\Devicer\mydelay.h

?????文件????????426??2017-10-29?18:31??直流電機驅動\Devicer\Read_GPIOID.c

?????文件????????184??2017-04-28?19:59??直流電機驅動\Devicer\Read_GPIOID.h

?????文件???????7339??2017-12-22?11:29??直流電機驅動\Devicer\transfer_can.c

?????文件????????383??2018-01-04?17:03??直流電機驅動\Devicer\transfer_can.h

?????文件???????6956??2015-12-10?17:06??直流電機驅動\Project\DebugConfig\Motor_STM32F103T8.dbgconf

?????文件????????339??2018-01-04?16:52??直流電機驅動\Project\EventRecorderStub.scvd

?????文件??????17324??2018-01-04?15:12??直流電機驅動\Project\Listings\irq_cm3.lst

?????文件?????329886??2018-01-04?17:03??直流電機驅動\Project\Listings\Motor.map

?????文件??????55146??2017-11-11?20:33??直流電機驅動\Project\Listings\startup_stm32f10x_hd.lst

?????文件??????45134??2018-01-04?15:12??直流電機驅動\Project\Listings\startup_stm32f10x_md.lst

????.......????175009??2018-01-04?17:12??直流電機驅動\Project\Motor.uvguix.Administrator

?????文件?????176107??2017-11-11?20:35??直流電機驅動\Project\Motor.uvguix.Administrator.bak

????.......????176189??2017-12-28?23:31??直流電機驅動\Project\Motor.uvguix.Listen

............此處省略159個文件信息

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