简易无刷电机上位机控制
对于这个简易无刷电机控制器，选用labwindows来进行设计，通讯选择使用串口进行通讯，其主要功能为显示电机的实际转速和设定电机的转速，电机的运行状态，同时设定PID值。 该应用为刚接触labwindows时所设计的，整体的设计不够精致，但能够满足需求。 其界面如下：
借助这个示例主要想讲一下labwindows的串口及它的中断回调函数，在labwindows中，串口的设置主要通过OpenComConfig这个函数，回调函数通过InstallComCallback来建立。
OpenComConfig函数
目的:
打开COM口，设置COM口参数。如果
inputQueueSize或outputQueueSize介于1和29之间，OpenComConfig强制将其设置为30。
OpenComConfig禁用XON/XOFF模式和CTS硬件握手。如果需要修改这些默认值，请参考SetXMode、SetCTSMode和SetComTime函数的描述。如果指定的端口已经打开，
OpenComConfig将关闭该端口，然后重新打开。有关更多信息，请参阅CloseCom函数描述。使用控制面板设置端口硬件I/O地址和中断级别。
您可以使用非标准波特率。所有波特率值都由comm驱动逐字解释。
函数原型：
1
int OpenComConfig (int Port_Number, char Device_Name[], long Baud_Rate, int Parity, int Data_Bits, int Stop_Bits, int Input_Queue_Size, int Output_Queue_Size);
参数解析：
portNumber：表示要在其上操作的COM端口的数字，有效范围: 1—1,000
deviceName：要打开的COM端口的名称，作为ASCII字符串传递，在windows和linux中的名称不一样，windows一般为”COM1”，在linux中是”/dev/ttyS0”
baudRate：所选端口的波特率，默认值:9600波特，取值范围:110、150、300、600、1200、2400、4,800、9,600、14,400、19,200、28,800、38,400、56,000、57,600、115200、128,000、256,000。
parity：所选端口的校验模式，默认值:0-no奇偶校验。有效值0 =无奇偶校验、1 =奇奇偶校验、2 =偶数奇偶、3 =标记奇偶性、4 =空间校验。
dataBits：所选端口的数据位数。默认值:7位数据位，取值范围:5、6、7、8位数据位。
stopBits：所选端口的停止位数。默认值:1位停止位，取值范围:1 ~ 2位停止位。
inputQueueSize：所选端口的输入队列的大小。
outputQueueSize：所选端口的输出队列的大小。如果设置0，则为512，设置小于30，则为30，理论上没有上限，但是NI不建议超过32767。
返回值：错误则返回负值，表示错误码。
InstallComCallback函数
目的： 允许您为特定COM端口安装同步回调函数。 在调用
InstallComCallback之后调用CloseCom会自动卸载回调函数。如果您随后调用OpenCom并希望使用回调函数，则必须再次调用InstallComCallback。
函数原型：
1
int InstallComCallback (int portNumber, int eventMask, int notifyCount, int eventCharacter, ComCallbackPtr callbackFunction, void *callbackData);
示例代码：
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notifyCount = 50; /* Wait for at least 50 bytes in queue. */
eventChar = 10; /* Wait for LF. */
eventMask = LWRS_RXFLAG | LWRS_TXEMPTY | LWRS_RECEIVE;
InstallComCallback (portNumber, eventMask, notifyCount, eventChar, ComCallback, NULL);
/* Callback Function */
void ComCallback(int portNumber, int eventMask, void *callbackdata)
{
if (eventMask & LWRS_RXFLAG)
printf("Received specified character\n");
if (eventMask & LWRS_TXEMPTY)
printf("Transmit queue now empty\n");
if (eventMask & LWRS_RECEIVE)
printf("50 or more bytes in input queue\n");
}
参数解析：
portNumber：表示要在其上操作的COM端口的数字。
eventMask：调用回调函数的事件。如果要禁用回调，则传递0。
| Bit | Hex Value | COM Port Event | Constant Name | Description |
|---|---|---|---|---|
| 0 | 0x0001 | Any character received. | LWRS_RXCHAR | Set when a character is received and placed in the input queue. |
| 1 | 0x0002 | Certain character in input queue. | LWRS_RXFLAG | Set when one or more instances of the event character are received and placed in the input queue. The event character is specified in eventCharacter. |
| 2 | 0x0004 | Transmit queue empty. | LWRS_TXEMPTY | Set when the last character in the output queue is sent. |
| 3 | 0x0008 | CTS changed state. | LWRS_CTS | Set when the CTS (clear-to-send) line changes state. |
| 4 | 0x0010 | DSR changed state. | LWRS_DSR | Set when the DSR (data-set-ready) line changes state. |
| 5 | 0x0020 | RLSD changed state. | LWRS_RLSD | Set when the RLSD (receive-line-signal-detect) line changes state. |
| 6 | 0x0040 | BREAK received. | LWRS_BREAK | Set when a break is detected on input. |
| 7 | 0x0080 | Line status error occurred. | LWRS_ERR | Set when a line-status error occurs. Line-status errors are CE_FRAME, CE_OVERRUN, and CE_RXPARITY. |
| 8 | 0x0100 | Ring signal detected. | LWRS_RING | Set to indicate that a ring indicator was detected. |
| 15 | 0x8000 | notifyCount bytes in input queue. | LWRS_RECEIVE | Set to detect when at least notifyCount bytes are in the input queue. Once this event has occurred, it does not trigger again until the input queue falls below and then rises back above notifyCount bytes. |
notifyCount：在将LWRS_RECEIVE事件发送给回调函数之前，输入队列必须包含的最小字节数。默认值:0，有效范围:0到输入队列大小。
eventCharacter：触发LWRS_RXFLAG事件的字符或字节值。默认值:0，有效范围:0 ~ 255。
callbackFunction：处理COM端口事件回调的用户函数名。回调函数格式为:void CVICALLBACK CallbackFunctionName (int portNumber, int eventMask, void *callbackData);
callbackData：传递给回调函数的数据。
返回值：错误则返回负值，表示错误码。
对于建立回调函数，最重要的就是触发条件，如果设置每接收到字符都触发选择LWRS_RXCHAR，如果以固定字符作为结束符则选择LWRS_RXFLAG，接收固定长度的数据触发中断则选择LWRS_RECEIVE，其他的好像没怎么选择过。
全部代码如下
main.c
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#include <cvirte.h>
#include <userint.h>
#include "main.h"
#include <rs232.h>
#include <ansi_c.h>
#include <formatio.h>
#define Input_Queue_Size 512 //最大接受数据
#define Output_Queue_Size 512 //最大输出数据
#define TRUE 1
#define FALSE 0
static unsigned char SendBuf[7]={0}; //发送的数据
static unsigned char ReceiveBuf[512]={0}; //接收的数据
static int Com_port=4; //端口号
static long Baut_rate=115200; //波特率
static int Check_bit=0; //校验位
static int Data_bit=8; //数据位
static int Stop_bit=1; //停止位
static int Motor_rate=0; //电机的速度
static int panelHandle; //句柄
static char Uart_flag=0; //串口开关标志位，1表示打开，0表示关闭
void StartUart(void); //开启串口
char ShowSpeed(unsigned char Buf3,unsigned char Buf4); //显示速度
char DataDeal(void); //数据处理
void CVICALLBACK Event_Char_Func(int portNo,int eventMask,void * callbackData);
int main (int argc, char *argv[])
{
if (InitCVIRTE (0, argv, 0) == 0)
return -1; /* out of memory */
if ((panelHandle = LoadPanel (0, "main.uir", PANEL)) < 0)
return -1;
DisplayPanel (panelHandle);
RunUserInterface ();
DiscardPanel (panelHandle);
return 0;
}
void StartUart(void)
{
/* GetCtrlVal */
GetCtrlVal (panelHandle, PANEL_UART_NUM, &Com_port);
GetCtrlVal (panelHandle, PANEL_BAUD_RATE, &Baut_rate);
GetCtrlVal (panelHandle, PANEL_CHECK, &Check_bit);
GetCtrlVal (panelHandle, PANEL_DATA_BIT, &Data_bit);
GetCtrlVal (panelHandle, PANEL_STOP_BIT, &Stop_bit);
/* Open and Configure Com port */
OpenComConfig (Com_port, "", Baut_rate, Check_bit, Data_bit, Stop_bit, Input_Queue_Size, Output_Queue_Size);
/* Turn off Hardware handshaking (loopback test will not function with it on) */
SetCTSMode (Com_port, LWRS_HWHANDSHAKE_OFF);
InstallComCallback (Com_port, LWRS_RECEIVE, 7, 0, Event_Char_Func, 0); //绑定串口事件回调函数
/* Make sure Serial buffers are empty */
FlushInQ (Com_port);
FlushOutQ (Com_port);
Uart_flag=1;
SetCtrlVal (panelHandle, PANEL_LED_UART, 1);
}
void CVICALLBACK Event_Char_Func(int portNo,int eventMask,void * callbackData)
{
int strLen;
static char return_value=0;
strLen = GetInQLen (Com_port);
ComRd (Com_port, (char*)ReceiveBuf, strLen);
// ComRd (Com_port, (char*)ReceiveBuf, 7);
return_value=DataDeal();
if(return_value==TRUE)
SetCtrlVal (panelHandle, PANEL_LED_2, 1);
else
SetCtrlVal (panelHandle, PANEL_LED_2, 0);
FlushInQ (Com_port);
}
int CVICALLBACK quit (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
QuitUserInterface (0);
break;
}
return 0;
}
int CVICALLBACK START_UART (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
StartUart();
break;
}
return 0;
}
int CVICALLBACK STOP_UART (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
CloseCom (Com_port);
SetCtrlVal (panelHandle, PANEL_LED_UART, 0);
Uart_flag=0;
break;
}
return 0;
}
int CVICALLBACK START_MOTOR (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x01;
/* 内容 */
SendBuf[3]=0x01;
SendBuf[4]=0x00;
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushInQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
// SetCtrlVal (panelHandle, PANEL_LED, 1);
break;
}
return 0;
}
int CVICALLBACK STOP_MOTOR (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x01; //
/* 内容 */
SendBuf[3]=0x00; //关机
SendBuf[4]=0x00; //
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushInQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
// SetCtrlVal (panelHandle, PANEL_LED, 0);
break;
}
return 0;
}
int CVICALLBACK SET_SPEED (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
switch (event)
{
case EVENT_COMMIT:
GetCtrlVal (panelHandle, PANEL_MOTOR_SET_RATE, &Motor_rate);
if((Motor_rate>0)&&(Motor_rate<500))
{
Motor_rate=500;
}
if((Motor_rate<0)&&(Motor_rate>-500))
{
Motor_rate=-500;
}
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x02; //
/* 速度 */
if(Motor_rate>=0)
{
SendBuf[3]=Motor_rate/256;
SendBuf[4]=Motor_rate%256;
}
else
{
Motor_rate=0-Motor_rate;
SendBuf[3]=Motor_rate/256;
SendBuf[3]|=0x80;
SendBuf[4]=Motor_rate%256;
}
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushInQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
break;
}
return 0;
}
int CVICALLBACK SET_PID (int panel, int control, int event,
void *callbackData, int eventData1, int eventData2)
{
float pid_p=0;
float pid_i=0;
float pid_d=0;
int i=0;
int j=0;
switch (event)
{
case EVENT_COMMIT:
GetCtrlVal (panelHandle, PANEL_PID_P, &pid_p);
GetCtrlVal (panelHandle, PANEL_PID_I, &pid_i);
GetCtrlVal (panelHandle, PANEL_PID_D, &pid_d);
pid_p=pid_p*100;
pid_i=pid_i*100;
pid_d=pid_d*100;
//发送P值
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x03; //
SendBuf[3]=(unsigned char)pid_p;
SendBuf[4]=0x00;
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushOutQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
for(i=0;i<10000;i++)
for(j=0;j<1000;j++);
//发送I值
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x04; //
SendBuf[3]=(unsigned char)pid_i;
SendBuf[4]=0x00;
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushOutQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
for(i=0;i<10000;i++)
for(j=0;j<1000;j++);
//发送D值
/* 报头 */
SendBuf[0]=0xaa;
/* 主从机 */
SendBuf[1]=0x01;
/* 命令行 */
SendBuf[2]=0x05; //
SendBuf[3]=(unsigned char)pid_d;
SendBuf[4]=0x00;
/* 报尾 */
SendBuf[5]=0x11;
/* 校验位 */
SendBuf[6]=SendBuf[0]+SendBuf[1]+SendBuf[2]+SendBuf[3]+SendBuf[4]+SendBuf[5];
FlushOutQ (Com_port);
ComWrt (Com_port, (char*)SendBuf, 7);
break;
}
return 0;
}
char DataDeal(void)
{
char check_bit=0;
char z=0;
check_bit=ReceiveBuf[0]+ReceiveBuf[1]+ReceiveBuf[2]+ReceiveBuf[3]+ReceiveBuf[4]+ReceiveBuf[5];
if(check_bit==ReceiveBuf[6])//校验正确，数据可以使用
{
if(ReceiveBuf[1]==0x02) //从机发来的数据
{
if(ReceiveBuf[2]==0x01)//开关机命令
{
if(ReceiveBuf[3]==0x01)//开机
{
SetCtrlVal (panelHandle, PANEL_LED, 1);
}
else if(ReceiveBuf[3]==0x00)//关机
{
SetCtrlVal (panelHandle, PANEL_LED, 0);
SetCtrlVal (panelHandle, PANEL_MOTOR_SHOW_SPEED, 0);
}
}
if(ReceiveBuf[2]==0x02)//速度命令
{
ShowSpeed(ReceiveBuf[3],ReceiveBuf[4]);
}
}
for(z=0;z<10;z++)
{
ReceiveBuf[z]=0x00;
}
return TRUE;
}
else
{
z=0;
while(ReceiveBuf[z]!=0xaa)
{
z++;
if(z>10)
break;
}
if((ReceiveBuf[z+1]==0x02)&&(z<5)) //从机
{
if(ReceiveBuf[z+2]==0x02)//速度命令
{
ShowSpeed(ReceiveBuf[z+3],ReceiveBuf[z+4]);
}
if(ReceiveBuf[z+2]==0x01)//开关机命令
{
if(ReceiveBuf[z+3]==0x01)
{
SetCtrlVal (panelHandle, PANEL_LED, 1);
}
else
{
SetCtrlVal (panelHandle, PANEL_LED, 0);
}
}
return TRUE;
}
for(z=0;z<10;z++)
{
ReceiveBuf[z]=0x00;
}
return FALSE;
}
}
char ShowSpeed(unsigned char Buf3,unsigned char Buf4)
{
int motor_speed=0;
if((Buf3&0x80)==0x80)
{
motor_speed=(Buf3&0x7f)*256;
motor_speed=motor_speed+Buf4;
motor_speed=-motor_speed;
SetCtrlVal (panelHandle, PANEL_MOTOR_SHOW_SPEED, motor_speed);
// SetCtrlVal (panelHandle, PANEL_STRIPCHART, motor_speed);
PlotStripChartPoint(panelHandle, PANEL_STRIPCHART, motor_speed);
}
else
{
motor_speed=Buf3*256;
motor_speed=motor_speed+Buf4;
SetCtrlVal (panelHandle, PANEL_MOTOR_SHOW_SPEED, motor_speed);
// SetCtrlVal (panelHandle, PANEL_STRIPCHART, motor_speed);
PlotStripChartPoint(panelHandle, PANEL_STRIPCHART, motor_speed);
}
return TRUE;
}
main.h
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/**************************************************************************/
/* LabWindows/CVI User Interface Resource (UIR) Include File */
/* */
/* WARNING: Do not add to, delete from, or otherwise modify the contents */
/* of this include file. */
/**************************************************************************/
#include <userint.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Panels and Controls: */
#define PANEL 1
#define PANEL_COMMANDBUTTON 2 /* control type: command, callback function: quit */
#define PANEL_UART_NUM 3 /* control type: ring, callback function: (none) */
#define PANEL_BAUD_RATE 4 /* control type: ring, callback function: (none) */
#define PANEL_CHECK 5 /* control type: ring, callback function: (none) */
#define PANEL_DATA_BIT 6 /* control type: ring, callback function: (none) */
#define PANEL_STOP_BIT 7 /* control type: ring, callback function: (none) */
#define PANEL_START_BUTTON 8 /* control type: command, callback function: START_UART */
#define PANEL_STOP_BUTTON 9 /* control type: command, callback function: STOP_UART */
#define PANEL_START_MOTOR 10 /* control type: command, callback function: START_MOTOR */
#define PANEL_STOP_MOTOR 11 /* control type: command, callback function: STOP_MOTOR */
#define PANEL_LED 12 /* control type: LED, callback function: (none) */
#define PANEL_SET_SPEED 13 /* control type: command, callback function: SET_SPEED */
#define PANEL_MOTOR_SET_RATE 14 /* control type: scale, callback function: (none) */
#define PANEL_MOTOR_SHOW_SPEED 15 /* control type: scale, callback function: (none) */
#define PANEL_LED_UART 16 /* control type: LED, callback function: (none) */
#define PANEL_LED_2 17 /* control type: LED, callback function: (none) */
#define PANEL_PID_P 18 /* control type: numeric, callback function: (none) */
#define PANEL_PID_I 19 /* control type: numeric, callback function: (none) */
#define PANEL_PID_D 20 /* control type: numeric, callback function: (none) */
#define PANEL_SET_PID 21 /* control type: command, callback function: SET_PID */
#define PANEL_STRIPCHART 22 /* control type: strip, callback function: (none) */
/* Control Arrays: */
/* (no control arrays in the resource file) */
/* Menu Bars, Menus, and Menu Items: */
/* (no menu bars in the resource file) */
/* Callback Prototypes: */
int CVICALLBACK quit(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK SET_PID(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK SET_SPEED(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK START_MOTOR(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK START_UART(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK STOP_MOTOR(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
int CVICALLBACK STOP_UART(int panel, int control, int event, void *callbackData, int eventData1, int eventData2);
#ifdef __cplusplus
}
#endif
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