Revision 1:cbd6a3232d5b, committed 2018-04-05

Comitter:

heroistired

Date:

Thu Apr 05 01:37:17 2018 +0000

Parent:

0:5b4f19f8cd85

Commit message:

New

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GUI.cpp	Thu Apr 05 01:37:17 2018 +0000
@@ -0,0 +1,166 @@
+#include "GUI.h"
+
+int screen_buf1[140] = {};
+
+int screen_buf2[140] = {};
+
+int index = 0;
+
+void RefreshGUI(Serial *Screen, int freq, float kp, float ki, int goal, int pos)
+{
+    unsigned long int long_goal, long_pos;
+    long_goal = goal;
+    long_pos = pos;
+    SXY(Screen,8,35);
+    if(freq < 10)
+        DS16(Screen,90,20,int2string(freq)+"    ",3);
+    else
+        DS16(Screen,90,20,int2string(freq)+" ",3);
+    DS16(Screen,90,40,float2string(kp),3);
+    DS16(Screen,90,60,float2string(ki),3);
+    DS16(Screen,90,80,int2string(goal)+" ",3);
+    DS16(Screen,90,100,int2string(pos)+"  ",3);
+    
+    SXY(Screen,170,75);
+    PS(Screen,index,screen_buf1[index],0);
+    //screen_buf1[index] = 110-long_goal/(16383/110);
+    screen_buf1[index] = 110-goal/(16383/110);
+    PS(Screen,index,screen_buf1[index],3);
+    PS(Screen,index,screen_buf2[index],0);
+    //screen_buf1[index] = 110-long_pos/(16383/110);
+    screen_buf2[index] = 110-pos/(16383/110);
+    PS(Screen,index,screen_buf2[index],5);
+    index++;
+    if(index == 140)
+        index = 0;
+
+
+    SXY(Screen,0,0);
+    ExecuteInstruction(Screen);
+    //wait(0.1);
+}
+
+void InitGUI(Serial *Screen)
+{
+    char c1[18]={0xB1,0xD5,0xBB,0xB7,0xB2,0xBD,0xBD,0xF8,0xB5,0xE7,0xBB,0xFA,0xCA,0xD4,0xD1,0xE9,0xCC,0xA8};//闭环步进电机试验台
+    char c2[8]={0xBF,0xD8,0xD6,0xC6,0xD0,0xC5,0xCF,0xA2};//控制信息
+    char c3[4]={0xC6,0xB5,0xC2,0xCA};//频率
+    char c4[8]={0xB1,0xC8,0xC0,0xFD,0xCF,0xB5,0xCA,0xFD};//比例系数
+    char c5[8]={0xBB,0xFD,0xB7,0xD6,0xCF,0xB5,0xCA,0xFD};//积分系数
+    char c6[8]={0xC4,0xBF,0xB1,0xEA,0xCE,0xBB,0xD6,0xC3};//目标位置
+    char c7[8]={0xB5,0xB1,0xC7,0xB0,0xCE,0xBB,0xD6,0xC3};//当前位置
+    char c8[18] = {0xC7,0xE5,0xBB,0xAA,0xB4,0xF3,0xD1,0xA7,0xB4,0xB4,0xD0,0xC2,0xB9,0xA4,0xD7,0xF7,0xB7,0xBB};//清华大学创新工作坊
+    string str= "";
+
+    SXY(Screen,0,0);
+    CLS(Screen,0);
+    for(int i=0;i<18;i++) str+=c1[i];
+    DS16(Screen,90,4,str,12);
+    str= "";
+    PL(Screen,0,28,319,28,15);
+    PL(Screen,0,29,319,29,15);
+    PL(Screen,159,35,159,190,15);
+    PL(Screen,160,35,160,190,15);
+    SXY(Screen,8,35);
+    for(int i=0;i<8;i++) str+=c2[i];
+    DS16(Screen,30,0,str,2);
+    str= "";
+    for(int i=0;i<4;i++) str+=c3[i];
+    DS16(Screen,0,20,str,2);
+    str= "";
+    for(int i=0;i<8;i++) str+=c4[i];
+    DS16(Screen,0,40,str,2);
+    str= "";
+    for(int i=0;i<8;i++) str+=c5[i];
+    DS16(Screen,0,60,str,2);
+    str= "";
+    for(int i=0;i<8;i++) str+=c6[i];
+    DS16(Screen,0,80,str,2);
+    str= "";
+    for(int i=0;i<8;i++) str+=c7[i];
+    DS16(Screen,0,100,str,2);
+    str= "";
+    
+    SXY(Screen,170,35);
+    for(int i=0;i<8;i++) str+=c6[i];
+    DS16(Screen,0,0,str,2);
+    str= "";
+    for(int i=0;i<8;i++) str+=c7[i];
+    DS16(Screen,0,20,str,2);
+    str= "";
+    PL(Screen,80,5,140,5,3);
+    PL(Screen,80,6,140,6,3);
+    PL(Screen,80,25,140,25,5);
+    PL(Screen,80,26,140,26,5);
+    SXY(Screen,0,0);
+    PL(Screen,0,195,319,195,15);
+    PL(Screen,0,196,319,196,15);
+    for(int i=0;i<18;i++) str+=c8[i];
+    DS16(Screen,85,203,str,12);
+    str= "";
+    DS16(Screen,50,222,"Developed by C.H. Dep of EEA",2);
+    SXY(Screen,0,0);
+    ExecuteInstruction(Screen);
+    wait(0.2);
+}
+
+void DS16(Serial *Screen, int x, int y, string str, int color)
+{
+    string temp = "DS16("+int2string(x)+","+int2string(y)+",'"+str+"',"+int2string(color)+");";
+    Screen->printf(temp.c_str());
+}
+
+void DS24(Serial *Screen, int x, int y, string str, int color)
+{
+    string temp = "DS24("+int2string(x)+","+int2string(y)+",'"+str+"',"+int2string(color)+");";
+    Screen->printf(temp.c_str());
+}
+
+void SXY(Serial *Screen, int x, int y)
+{
+    string temp = "SXY("+int2string(x)+","+int2string(y)+");";
+    Screen->printf(temp.c_str());
+}
+
+void CLS(Serial *Screen, int color)
+{
+    string temp = "CLS("+int2string(color)+");";
+    Screen->printf(temp.c_str());
+}
+
+void PL(Serial *Screen, int x1, int y1, int x2, int y2, int color)
+{
+    string temp = "PL("+int2string(x1)+","+int2string(y1)+","+int2string(x2)+","+int2string(y2)+","+int2string(color)+");";
+    Screen->printf(temp.c_str());
+}
+
+void PS(Serial *Screen, int x1, int y1, int color)
+{
+    string temp = "PS("+int2string(x1)+","+int2string(y1)+","+int2string(color)+");";
+    Screen->printf(temp.c_str());
+}
+
+void ExecuteInstruction(Serial *Screen)
+{
+    Screen->printf("\r\n");
+}
+
+string int2string(int x)
+{
+    stringstream ss;
+    ss << x;
+    string str = ss.str();
+    return str;
+}
+
+string float2string(float x)
+{
+    int xx = x * 100;
+    float xxx = (float)xx / 100;
+    stringstream ss;
+    ss << xxx;
+    string str = ss.str() + ' ';
+    return str;
+}
+
+ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/GUI.h	Thu Apr 05 01:37:17 2018 +0000
@@ -0,0 +1,30 @@
+#ifndef __GUI_H
+#define __GUI_H
+#include "mbed.h"
+#include <string> 
+#include <sstream>
+
+void InitGUI(Serial *Screen);
+
+void RefreshGUI(Serial *Screen, int freq, float kp, float ki, int goal, int pos);
+
+void DS16(Serial *Screen, int x, int y, string str, int color);
+
+void DS24(Serial *Screen, int x, int y, string str, int color);
+
+void SXY(Serial *Screen, int x,int y);
+
+void CLS(Serial *Screen, int color);
+
+void ExecuteInstruction(Serial *Screen);
+
+void PL(Serial *Screen, int x1, int y1, int x2, int y2, int color);
+
+void PS(Serial *Screen, int x1, int y1, int color);
+
+string int2string(int x);
+
+string float2string(float x);
+
+
+#endif 
\ No newline at end of file

--- a/main.cpp	Fri Mar 30 12:03:12 2018 +0000
+++ b/main.cpp	Thu Apr 05 01:37:17 2018 +0000
@@ -2,17 +2,23 @@
 
 #include "mbed.h"
 #include "as5047.h"
+#include "GUI.h"
 #include <string> 
 #include <sstream>
 
 // software ssel
-SPI motor_encoder(D11, D12, D13); // mosi, miso, sclk
-DigitalOut motor_encoder_cs(D3); // ssel
-DigitalOut motor_dir(D2); // ssel
-Serial pc(SERIAL_TX, SERIAL_RX);
+SPI motor_encoder(PB_15, PB_14, PB_13); // mosi, miso, sclk
+DigitalOut motor_encoder_cs(PB_12); // ssel
+DigitalOut motor_dir(PA_11); // ssel
+Serial pc(PA_2, PA_3,9600);
+Serial screen(PB_10, PB_11,115200);
 MotorType Motor;
 Ticker PIDInterrupt;  //PID中断 500Hz
 
+int counter = 0;
+
+DigitalIn Mode(PA_12);
+
 void PIDInterruptIRQ(); 
 
 
@@ -20,28 +26,44 @@
 {
     string UartBuf = "";
     char temp = 0;
+    InitGUI(&screen);
     StepMotorInit(&Motor, &motor_dir, &motor_encoder_cs, &motor_encoder);
     Encoder_Init(&Motor);
     PIDInterrupt.attach(&PIDInterruptIRQ, 0.002);
     Motor.Goal = 5000;
     while(1)
     {
-        if(pc.readable())
+        if(pc.readable())// && (Mode.read() != 0))
         {
             temp = pc.getc();
-            if((temp != 'i') && (temp != ';') && ((temp < '0') || (temp > '9')))   //收到的非法字符
+            if((temp != 'p') && (temp != 'i') && (temp != 'x') && (temp != ';') && ((temp < '0') || (temp > '9')))   //收到的非法字符
                 continue;
-            else if(temp == 'i')  //请求信息
-                pc.printf("Position : %d, PWM Freq : %d, Goal : %d\r\n", Motor.Encoder, Motor.PIDControl, Motor.Goal);
+            else if(temp == 'x')  //请求信息
+                pc.printf("Position : %d, PWM Freq : %d, Goal : %d Kp : %.2f Ki : %.2f\r\n", Motor.Encoder, Motor.PIDControl, Motor.Goal, Motor.Kp, Motor.Ki);
             else if((temp >= '0') && (temp <= '9'))  //收到0-9
                 UartBuf = UartBuf + temp;
-            else  //收到 ;
+            else if (temp == ';') //收到 ;
             {
                 Motor.Goal = atoi(UartBuf.c_str());
                 pc.printf("Goal is set at %d\r\n", Motor.Goal);
                 UartBuf = "";
+                counter = 0;
+            }
+            else if (temp == 'p') //收到 ;
+            {
+                Motor.Kp = (float)atoi(UartBuf.c_str())/10;
+                pc.printf("Kp is set at %.2f\r\n", Motor.Kp);
+                UartBuf = "";
+            }
+            else if (temp == 'i') //收到 ;
+            {
+                Motor.Ki = (float)atoi(UartBuf.c_str())/10;
+                pc.printf("Ki is set at %.2f\r\n", Motor.Ki);
+                UartBuf = "";
             }
         }
+        if(counter < 1500)
+            RefreshGUI(&screen, Motor.PIDControl, Motor.Kp, Motor.Ki, Motor.Goal, Motor.Encoder);
         //pc.printf("Angle : %d, PID Value : %d, Difference : %d\r\n", Motor.Encoder, Motor.PIDControl, Motor.Difference);
     }
 }
@@ -59,6 +81,15 @@
     MotorPIDController(&Motor);
     //更新脉冲频率
     StepMotorSetFreq(&Motor);
+    /*if(Mode.read() == 0)
+    {
+        MotorPIDController(&Motor);
+        //更新脉冲频率
+        StepMotorSetFreq(&Motor);
+    }*/
+    counter++;
+    if(counter > 60000)
+        counter = 2001;
 }
 
 

--- a/motor.cpp	Fri Mar 30 12:03:12 2018 +0000
+++ b/motor.cpp	Thu Apr 05 01:37:17 2018 +0000
@@ -8,7 +8,7 @@
 //////////////////////////////////////////////////////////////////////////////////
 void StepMotorInit(MotorType *Motor, DigitalOut *MotorDirPin, DigitalOut *EncoderCsPin, SPI *SPI_EncoderObj)
 {
-    RCC->APB1ENR|=1<<0;     //TIM2时钟使能   
+    /*RCC->APB1ENR|=1<<0;     //TIM2时钟使能   
     RCC->APB2ENR|=1<<2;     //GPIOA时钟使能 
     GPIOA->CRL&=0XFFFFFF0F; //PA1清除之前的设置
     GPIOA->CRL|=0X000000B0; //复用功能输出 
@@ -21,7 +21,24 @@
     TIM2->CCER|=1<<4;       //OC2 输出使能  
 
     TIM2->CR1=0x0080;       //ARPE使能
-    TIM2->CR1|=0x01;        //使能定时器2
+    TIM2->CR1|=0x01;        //使能定时器2*/
+    
+    RCC->APB2ENR|=1<<11;    //TIM1时钟使能    
+    RCC->APB2ENR|=1<<2;     //GPIOA时钟使能 
+    GPIOA->CRH&=0XFFFFFFF0; //PA8清除之前的设置
+    GPIOA->CRH|=0X0000000B; //复用功能输出 
+    
+    TIM1->ARR=899;          //设定计数器自动重装值 
+    TIM1->PSC=999;          //预分频器设置
+  
+    TIM1->CCMR1|=7<<4;      //CH1 PWM2模式         
+    TIM1->CCMR1|=1<<3;      //CH1预装载使能   
+    TIM1->CCER|=1<<0;       //OC1 输出使能    
+
+    TIM1->BDTR|=1<<15;      //MOE 主输出使能    
+
+    TIM1->CR1=0x0080;       //ARPE使能 
+    TIM1->CR1|=0x01;        //使能定时器1                                       
     
     //初始胡电机控制结构体
     Motor->Encoder = 0;
@@ -89,7 +106,7 @@
     Motor->ChangeRateDifference = Motor->Difference - Motor->Difference_pre;
     
     //切换参数
-    if(Math_abs(Motor->Difference) <= ApproachDistance)  //很接近目标距离了
+    /*if(Math_abs(Motor->Difference) <= ApproachDistance)  //很接近目标距离了
     {
         Motor->Ki = MotorKi_End;
         Motor->Kp = MotorKp_End;
@@ -109,7 +126,7 @@
         Motor->Kp = MotorKp;
         Motor->V_Ki = MotorVKi;
         Motor->V_Kp = MotorVKp;
-    }
+    }*/
         
         Motor->Integral += Motor->Difference;  //计算积分量
         if(Motor->Integral>15000)   Motor->Integral=15000; //积分限幅
@@ -220,7 +237,7 @@
     //500-100 720k
     //100-1 72k
     //Motor->PIDControl = 5000;
-    if(Motor->PIDControl > PulseFreqLimit)
+    /*if(Motor->PIDControl > PulseFreqLimit)
         Motor->PIDControl = PulseFreqLimit;
     else if((Motor->PIDControl <= PulseFreqLimit) && (Motor->PIDControl > 5000))
         TIM2->PSC=0;            //预分频器设置
@@ -239,9 +256,30 @@
     }
     
     Motor_ARR = APB2Freq / (TIM2->PSC+1) / Motor->PIDControl;
+    TIM2->ARR = Motor_ARR;
+    TIM2->CCR2 = Motor_ARR/2;*/
+    if(Motor->PIDControl > PulseFreqLimit)
+        Motor->PIDControl = PulseFreqLimit;
+    else if((Motor->PIDControl <= PulseFreqLimit) && (Motor->PIDControl > 5000))
+        TIM1->PSC=0;            //预分频器设置
+    else if((Motor->PIDControl <= 5000) && (Motor->PIDControl > 1000))
+        TIM1->PSC=1;            //预分频器设置
+    else if((Motor->PIDControl <= 1000) && (Motor->PIDControl > 500))
+        TIM1->PSC=35;           //预分频器设置
+    else if((Motor->PIDControl <= 5000) && (Motor->PIDControl > 100))
+        TIM1->PSC=99;           //预分频器设置
+    else if((Motor->PIDControl <= 100) && (Motor->PIDControl > 0))
+        TIM1->PSC=999;          //预分频器设置
+    else
+    {
+        Motor->PIDControl = 1;
+        TIM1->PSC=999;          //预分频器设置
+    }
+    
+    Motor_ARR = APB2Freq / (TIM1->PSC+1) / Motor->PIDControl;
     //printf("ll%dll \r\n", Motor_ARR);
-    TIM2->ARR = Motor_ARR;
-    TIM2->CCR2 = Motor_ARR/2;
+    TIM1->ARR = Motor_ARR;
+    TIM1->CCR1 = Motor_ARR/2;
 }
 
 //控制接口