STM32例程+升降桌控制板

3万 · 2017-9-23 14:12

升降桌控制板：主要市场为海外市场，1年市场容量在10亿；
目前做的比较好：比如浙江捷昌（上市公司）；

产品用途：主要面向久坐的办公一族，可以有效的调整坐姿和站姿，轻松实现坐站交替的健康办公模式。
除此之外它还支持实时显示高度、位置**等功能，更带有遇阻反弹、过载、过压、欠压等保护功能。

控制板主要分：操作器和控制器2大部分；
操作器：主要用由数码管显示，按键，MCU采用STM32F051C8T6；
控制器：主要控制电机的升降，温度，位置检测等，MCU采用STM32F051C8T6；
软件使用平台都是：KEIL MDK;
STM32F051官网链接：http://www.st.com/content/st_com ... x1/stm32f051c8.html

操作器和控制器自己采用：串口通讯的方式进行通讯；下图为操作器

下图为控制器

3万 · 2017-9-23 17:04

操作器部分简易框图：

主要由主控单元；与主控单元输入端连接的电源单元、按键输入单元；与主控单元双向连接的通讯单元；以及与主控单元输出端连接的显示单元。

3万 · 2017-9-23 17:06

控制器框图如下图所示：

3万 · 2017-9-23 17:08

本帖最后由 mmuuss586 于 2018-2-12 16:36 编辑

控制器主程序部分：

//       IWDG_Open();
      main_cycle_count = SystemTimeTickGet();
      while(1)
      {
//       TIM_SetCompare1(TIM1, (uint16_t)TIM_CCR_VALUE(pwm_on_rite));       //0%
//       TIM_SetCompare1(TIM1, (1.0-pwm_on_rite)*(PWM_T-1));       //
            CommuicationWork();

      //每2ms处理一次采样数据
      if(1 /* (PastTick(main_cycle_count) % 10 == 0) */)
      {
         ProtectCheckRun();
      }

      Motor1ParamCheckRun();

      MotorControlWorking();

      #if(__TEST_MAIN__)
      main_run_time++;
      //实测通常情况下12us一个循环周期 2016.8.13
      if(main_run_time >= 10000)
      {
         temp_arry[ii++] = PastTick(main_cycle_count);
         main_run_time = 0;
         main_cycle_count = SystemTimeTickGet();
         if(ii >= 100)
         {
            ii = 0;
         }
      }
      #else
      //每500ms喂狗
            if(PastTick(main_cycle_count) >= FEED_IWDG_TIME)
            {
                        IWDG_Feed();
                     main_cycle_count = SystemTimeTickGet();
                     LED_toggle_flag=(FlagStatus)!LED_toggle_flag;
                     LED_ToggleRun1(LED_toggle_flag);

         #if(0)
         if(pwm_on_rite < 100)
         {
            pwm_on_rite += 10;
            TIM_SetCompare1(TIM1, (uint16_t)TIM_CCR_VALUE(pwm_on_rite));
         }
         if(pwm_on_rite == 100)
         {
            pwm_on_rite = 200;
            TIM_SetCompare1(TIM1, (uint16_t)TIM_CCR_VALUE(0));       //0%
         }
         #endif
               }
      #endif
      }
}

3万 · 2017-9-23 17:10

static void USART1_AnswerNormal(u8 cdk_address, u8 cdk_cmd)
{
uint8_t count = 0;
uint8_t send_buf[SEND_NORMAL_PACKAGE_LEN];

send_buf[count++] = CMD_START;
send_buf[count++] = cdk_address;
send_buf[count++] = cdk_cmd;
send_buf[count++] = UART1_SEND_NORMAL_LEN;
send_buf[count++] = RESERVE_NORMAL_DATA;
{
      uint16_t crc16_temp = CRC16(&send_buf[DATA_POS],send_buf[DATA_LEN_POS]);
      send_buf[count++] = crc16_temp/256;
      send_buf[count++] = crc16_temp%256;
}
send_buf[count] = CMD_END;

for(count = 0; count < SEND_NORMAL_PACKAGE_LEN; count++)
{
USART1->TDR = send_buf[count];
while(!(USART1->ISR & USART_ISR_TC));//等待发送完
}
}

3万 · 2017-9-23 17:11

电机控制部分：
/*******************************************************************************************
Function Name    : MotorControlWorking

Object             :

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
void MotorControlWorking(void)
{
u16    u16_temp;

if(!MotorControlExstartReady())
{
      return;
}
if(!MotorControlStopingReady())
{
      return;
}

//运行状态下
if(pwm_ctl_motor_ctx.grop_flag.move_flag)
{
      MotorWorkForRoundConstCircle();
      GetMotorRunCurrPwmRitio();

      if(pwm_ctl_motor_ctx.grop_flag.add_speed_flag)
      {
         u16_temp = PastTick(pwm_ctl_motor_ctx.add_time_tick);
         if(u16_temp >= pwm_ctl_motor_ctx.add_time_normal) //加速时间到
         {
            pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 0;
            pwm_ctl_motor_ctx.curr_speed = pwm_ctl_motor_ctx.set_speed;
            pwm_ctl_motor_ctx.add_time_tick = 0;
         }
         else                      //匀加速
         {
            pwm_ctl_motor_ctx.curr_speed = pwm_ctl_motor_ctx.add_start_speed +    \
            (pwm_ctl_motor_ctx.set_speed-pwm_ctl_motor_ctx.add_start_speed)*u16_temp/pwm_ctl_motor_ctx.add_time_normal;
         }
      }
      //减速标志位
      else if(pwm_ctl_motor_ctx.grop_flag.dec_speed_flag)
      {
         u16_temp = PastTick(pwm_ctl_motor_ctx.dec_time_tick);
         if(u16_temp >= DEC_TIME_NORMAL)
         {
            MotorControlStop();
            if(pwm_ctl_motor_ctx.grop_flag.stop_flag)
            {
                  pwm_ctl_motor_ctx.grop_flag.stop_flag = 0;
                  pwm_ctl_motor_ctx.grop_flag.move_flag = 0;
            }
            pwm_ctl_motor_ctx.dec_time_tick = 0;
            pwm_ctl_motor_ctx.grop_flag.dec_speed_flag = 0;
//             pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 1;       //加速标志位
            pwm_ctl_motor_ctx.add_time_tick = 0;       //加速计数
            pwm_ctl_motor_ctx.curr_speed = pwm_ctl_motor_ctx.dec_start_speed;
         }
         else                   //匀减速
         {
            pwm_ctl_motor_ctx.curr_speed = pwm_ctl_motor_ctx.set_speed - (pwm_ctl_motor_ctx.set_speed-pwm_ctl_motor_ctx.dec_start_speed)*u16_temp/DEC_TIME_NORMAL;
         }
      }
      else
      {
      }

      if(pwm_ctl_motor_ctx.curr_speed)
      {
         MotorControlMove(pwm_ctl_motor_ctx.curr_speed);
      }

      //停车检测
      MotorWorkForBrakeCheck();

      MotorWorkForStopJudge();
}
else
{
   // MotorControlStop();

      //保护标志位没有清除之前，不执行任何操作，自学习状态除外
      if(protect_check_grop_flag.u8[0] && !pwm_ctl_motor_ctx.self_learn_status)
      {
         return;
      }

      //以下程序顺序不可颠倒 xxz 2016.8.13
      MotorWorkForSelfLearn();

      MotorWorkForAdjustBaseHigh();

      MotorWorkForMemoryPlace();

      MotorWorkForManualCtl();

      MotorWorkForRecoundProtect();

      if(system_user_normal_data.aa.sys_user_flag.bit.working_mode)
      {
         MotorWorkForFatigueTest();
      }

      MotorControlStoppedFinish();

      GetMotorRoundConstCircle();

      MotorWorkForStartJudge();
}
}

3万 · 2017-9-23 17:12

/*******************************************************************************************
Function Name    : MotorWorkForMemoryPlace

Object             : 电机控制到达**位置

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForMemoryPlace(void)
{
if(uart1_comm_flag.place_called_flag && system_user_normal_data.aa.set_object_high)
{
      switch(pwm_ctl_motor_ctx.mhc_status)
      {
         case MHC_ZERO:
            if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
            {
                  pwm_ctl_motor_ctx.mhc_status = MHC_START;
            }
            break;

         case MHC_START:
            pwm_ctl_motor_ctx.mhc_status = MHC_RUNING;
            pwm_ctl_motor_ctx.adjust_high_dist = abs(system_user_normal_data.aa.set_object_high - system_user_normal_data.aa.curr_real_high);
            if(system_user_normal_data.aa.set_object_high > system_user_normal_data.aa.curr_real_high)
            {
                  pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
                  MotorControlDir(UPWARD);
            }
            else if(system_user_normal_data.aa.set_object_high < system_user_normal_data.aa.curr_real_high)
            {
                  pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
                  MotorControlDir(DOWN);
            }
            else
            {
                  pwm_ctl_motor_ctx.mhc_status = MHC_FINISH;
            }
            break;

         case MHC_RUNING:
            if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
            {
                  pwm_ctl_motor_ctx.mhc_status = MHC_FINISH;
            }
            break;

         case MHC_FINISH:
            uart1_comm_flag.place_called_flag = 0;
            pwm_ctl_motor_ctx.mhc_status = MHC_ZERO;
            pwm_ctl_motor_ctx.adjust_high_dist = 0;
            break;

         default:
            break;
      }
}
}

/*******************************************************************************************
Function Name    : MotorWorkForManualCtl

Object             : 电机手动控制

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForManualCtl(void)
{
if(uart1_comm_flag.manual_mode_ctl_upward)
{
      if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
      {
         pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
         MotorControlDir(UPWARD);
      }
}
else if(uart1_comm_flag.manual_mode_ctl_down)
{
      if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
      {
         pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
         MotorControlDir(DOWN);
      }
}
}

/*******************************************************************************************
Function Name    : MotorWorkForRecoundProtect

Object             : 反弹保护操作

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForRecoundProtect(void)
{
if(protect_check_grop_flag.bit.recound_power_flag)
{
      if(pwm_ctl_motor_ctx.grop_flag.motor_last_status == UPWARD)
      {
         if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
         {
            pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
            MotorControlDir(DOWN);
         }
      }
      else if(pwm_ctl_motor_ctx.grop_flag.motor_last_status == DOWN)
      {
         if(!pwm_ctl_motor_ctx.grop_flag.move_flag)
         {
            pwm_ctl_motor_ctx.grop_flag.move_flag = 1;
            MotorControlDir(UPWARD);
         }
      }
}
}

/*******************************************************************************************
Function Name    : MotorWorkForStartJudge

Object             : 电机启动条件预判

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForStartJudge(void)
{
if(pwm_ctl_motor_ctx.grop_flag.move_flag && \
   !pwm_ctl_motor_ctx.grop_flag.stop_flag && \
   !pwm_ctl_motor_ctx.grop_flag.add_speed_flag && \
   (pwm_ctl_motor_ctx.grop_flag.motor_curr_status != STOP))
{
      pwm_ctl_motor_ctx.grop_flag.move_enable_flag = 1;
      pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 1;
      pwm_ctl_motor_ctx.grop_flag.dec_speed_flag = 0;
      pwm_ctl_motor_ctx.add_time_tick = SystemTimeTickGet();
}
}

/*******************************************************************************************
Function Name    : MotorWorkForStopJudge

Object             : 电机停止条件预判

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForStopJudge(void)
{
if(pwm_ctl_motor_ctx.grop_flag.stop_flag && \
   !pwm_ctl_motor_ctx.grop_flag.dec_speed_flag && \
   (pwm_ctl_motor_ctx.grop_flag.motor_curr_status != STOP))
{
      pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 0;
      pwm_ctl_motor_ctx.grop_flag.dec_speed_flag = 1;
      pwm_ctl_motor_ctx.dec_time_tick = SystemTimeTickGet();
}
}

/*******************************************************************************************
Function Name    : MotorWorkForBrakeCheck

Object             : 电机刹车停止检测

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForBrakeCheck(void)
{
//没有车速，目标到达，或者立即停车标志有效，直接停止
if(!pwm_ctl_motor_ctx.curr_speed ||    \
      pwm_ctl_motor_ctx.grop_flag.now_stop_flag || \
      protect_check_grop_flag.bit.motor1_top_flag ||  \
      protect_check_grop_flag.bit.motor1_bottom_flag || \
      protect_check_grop_flag.u8[0])
{
      MotorControlStop();

      pwm_ctl_motor_ctx.grop_flag.move_flag = 0;
      pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 0;
      pwm_ctl_motor_ctx.add_time_tick = 0;
      if(pwm_ctl_motor_ctx.grop_flag.stop_flag)
      {
         pwm_ctl_motor_ctx.grop_flag.stop_flag = 0;
         pwm_ctl_motor_ctx.grop_flag.dec_speed_flag = 0;
         pwm_ctl_motor_ctx.dec_time_tick = 0;
      }
      if(pwm_ctl_motor_ctx.grop_flag.now_stop_flag)
      {
         pwm_ctl_motor_ctx.grop_flag.adjust_round_flag = 0;
         pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 0;
      }
}

//电机转速为0，且电流为0，时间到了
if(!system_user_normal_data.aa.curr_motor1_rpm && !motor_pwm_speed_check.curr_motor1_rpm2 && \
   !system_user_normal_data.aa.curr_sample_I1 && !pwm_ctl_motor_ctx.grop_flag.stop_flag)
{
      if(!pwm_ctl_motor_ctx.motor1_stopped_tick)
      {
         pwm_ctl_motor_ctx.motor1_stopped_tick = SystemTimeTickGet();
      }
      else if(PastTick(pwm_ctl_motor_ctx.motor1_stopped_tick) >= PARAM_CHECK_ZERO_DELAY_MIN)
      {
         MotorControlStop();

         pwm_ctl_motor_ctx.grop_flag.move_flag = 0;
         pwm_ctl_motor_ctx.grop_flag.add_speed_flag = 0;
         pwm_ctl_motor_ctx.add_time_tick = 0;
         pwm_ctl_motor_ctx.motor1_stopped_tick = 0;
      }
      if(pwm_ctl_motor_ctx.motor1_stopped_tick && !pwm_ctl_motor_ctx.grop_flag.move_flag)
      {
         pwm_ctl_motor_ctx.motor1_stopped_tick = 0;
      }
}
else
{
      pwm_ctl_motor_ctx.motor1_stopped_tick = 0;
}

//手动停止了或者保护
if(uart1_comm_flag.manual_mode_ctl_stop_flag)
{
      pwm_ctl_motor_ctx.grop_flag.stop_flag = 1;
      uart1_comm_flag.manual_mode_ctl_stop_flag = 0;
}
}

/*******************************************************************************************
Function Name    : GetMotorRoundConstCircle

Object             : 获取电机旋转固定的圈数

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void GetMotorRoundConstCircle(void)
{
//到顶、底后反向调整圈数
if(!system_user_normal_data.aa.set_object_circles && \
   (protect_check_grop_flag.bit.motor1_top_flag || protect_check_grop_flag.bit.motor1_bottom_flag))
{
      if(protect_check_grop_flag.bit.motor1_top_flag)
      {
         system_user_normal_data.aa.set_object_circles = TO_TOP_OR_BOTTOM_RETERN_NUM;
      }
      //距离取整
      else if(protect_check_grop_flag.bit.motor1_bottom_flag)
      {
         system_user_normal_data.aa.set_object_circles = TO_TOP_OR_BOTTOM_RETERN_NUM;
         if((system_user_normal_data.aa.curr_run_circles_count % TWO_UNIT_CIRCLE_NUM) != 0)
         {
            system_user_normal_data.aa.set_object_circles = system_user_normal_data.aa.curr_run_circles_count % TWO_UNIT_CIRCLE_NUM;
         }
      }

      pwm_ctl_motor_ctx.grop_flag.adjust_round_flag = 1;
      protect_check_grop_flag.bit.motor1_top_flag = protect_check_grop_flag.bit.motor1_bottom_flag = 0;
}
//反弹保护反向调整圈数
else if(!system_user_normal_data.aa.set_object_circles && protect_check_grop_flag.bit.recound_power_flag)
{
      system_user_normal_data.aa.set_object_circles = TWO_UNIT_CIRCLE_NUM - pwm_ctl_motor_ctx.motor1_circle_set;
      pwm_ctl_motor_ctx.grop_flag.adjust_round_flag = 1;
      protect_check_grop_flag.bit.recound_power_flag = 0;
}
//其它调整圈数
else if(!system_user_normal_data.aa.set_object_circles && pwm_ctl_motor_ctx.adjust_high_dist)
{
      system_user_normal_data.aa.set_object_circles = MOTOR_ROUND_CIRCLE(pwm_ctl_motor_ctx.adjust_high_dist * 10);
      pwm_ctl_motor_ctx.grop_flag.adjust_round_flag = 1;
}
}

/*******************************************************************************************
Function Name    : MotorWorkForRoundConstCircle

Object             : 电机旋转固定圈数

Input Parameters : None
Output Parameters : None
*******************************************************************************************/
static void MotorWorkForRoundConstCircle(void)
{
u16 rst_temp = 0;

//调整状态下，缓慢加速
if(pwm_ctl_motor_ctx.grop_flag.adjust_round_flag)
{
      pwm_ctl_motor_ctx.add_time_normal = ADD_TIME_NORMAL * ADD_TIME_FACTOR;//ADD_TIME_FACTOR
}
else
{
      pwm_ctl_motor_ctx.add_time_normal = ADD_TIME_NORMAL;
}

if(system_user_normal_data.aa.set_object_circles && pwm_ctl_motor_ctx.grop_flag.adjust_round_flag)
{
      rst_temp = system_user_normal_data.aa.set_object_circles - MOTOR_STOP_CIRCLE_ERR;
      if(system_user_normal_data.aa.curr_circles_this_start >= rst_temp)
      {
         pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 1;
      }
      //双条件保障
      if(pwm_ctl_motor_ctx.mhc_status)
      {
         if(system_user_normal_data.aa.curr_real_high == system_user_normal_data.aa.set_object_high)
         {
            pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 1;
         }
         //修正
         else if(pwm_ctl_motor_ctx.grop_flag.now_stop_flag)
         {
            system_user_normal_data.aa.curr_real_high = system_user_normal_data.aa.set_object_high;
         }
      }
}
else
{
      //距离到达优先级最高
      if(!pwm_ctl_motor_ctx.self_learn_status &&  \
         (system_user_normal_data.aa.curr_real_high == system_user_normal_data.aa.set_base_high))
      {
         //到底后不允许再向下
         if(pwm_ctl_motor_ctx.grop_flag.motor_curr_status == DOWN)
         {
            pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 1;
         }
      }

      if(system_user_normal_data.aa.up_to_down_run_circles && !pwm_ctl_motor_ctx.self_learn_status)
      {
         //到顶后不允许再向上
         if(((system_user_normal_data.aa.curr_run_circles_count >= system_user_normal_data.aa.up_to_down_run_circles) ||  \
            (system_user_normal_data.aa.curr_real_high == system_user_normal_data.aa.self_learn_top_high)) &&  \
            (pwm_ctl_motor_ctx.grop_flag.motor_curr_status == UPWARD))
         {
            pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 1;
            system_user_normal_data.aa.curr_run_circles_count = system_user_normal_data.aa.up_to_down_run_circles;
            system_user_normal_data.aa.curr_real_high = system_user_normal_data.aa.self_learn_top_high;
         }
         //到底后不允许再向下
         else if((!system_user_normal_data.aa.curr_run_circles_count ||    \
                  (system_user_normal_data.aa.curr_real_high == system_user_normal_data.aa.set_base_high)) && \
                  (pwm_ctl_motor_ctx.grop_flag.motor_curr_status == DOWN))
         {
            pwm_ctl_motor_ctx.grop_flag.now_stop_flag = 1;
            system_user_normal_data.aa.curr_real_high = system_user_normal_data.aa.set_base_high;
            system_user_normal_data.aa.curr_run_circles_count = 0;
         }
      }
}
}