直流电机调速驱动

【实例简介】

通过485通讯控制直流电机实现：正反转控制、速度调节、位置记忆等功能。

【核心代码】

// AQMDBLS_DemoDlg.cpp : implementation file
//

#include "stdafx.h"
#include "AQMDBLS_Demo.h"
#include "AQMDBLS_DemoDlg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

CAQMDBLS_DemoDlg *g_pMainDlg =NULL;
/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About

class CAboutDlg : public CDialog
{
public:
CAboutDlg();

// Dialog Data
//{{AFX_DATA(CAboutDlg)
enum { IDD = IDD_ABOUTBOX };
//}}AFX_DATA

// ClassWizard generated virtual function overrides
//{{AFX_VIRTUAL(CAboutDlg)
protected:
virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV support
//}}AFX_VIRTUAL

// Implementation
protected:
//{{AFX_MSG(CAboutDlg)
//}}AFX_MSG
DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
//{{AFX_DATA_INIT(CAboutDlg)
//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CAboutDlg)
//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
//{{AFX_MSG_MAP(CAboutDlg)
// No message handlers
//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CAQMDBLS_DemoDlg dialog

CAQMDBLS_DemoDlg::CAQMDBLS_DemoDlg(CWnd* pParent /*=NULL*/)
: CDialog(CAQMDBLS_DemoDlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CAQMDBLS_DemoDlg)
m_bAutoRefresh = FALSE;
m_bit1 = FALSE;
m_bit2 = FALSE;
m_bit3 = FALSE;
m_bit4 = FALSE;
m_bit5 = FALSE;
m_bit6 = FALSE;
m_bit7 = FALSE;
m_nBaud = 0;
m_nPort = 0;
m_nParity = 0;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_addr = 0;
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
g_pMainDlg = this;
}

void CAQMDBLS_DemoDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CAQMDBLS_DemoDlg)
DDX_Control(pDX, IDC_TAB_PAGES, m_tabPages);
DDX_Control(pDX, IDC_COMBO_BAUD, m_combBaud);
DDX_Check(pDX, IDC_CHECK_AUTOREFRESH, m_bAutoRefresh);
DDX_Check(pDX, IDC_CHECK_BIT1, m_bit1);
DDX_Check(pDX, IDC_CHECK_BIT2, m_bit2);
DDX_Check(pDX, IDC_CHECK_BIT3, m_bit3);
DDX_Check(pDX, IDC_CHECK_BIT4, m_bit4);
DDX_Check(pDX, IDC_CHECK_BIT5, m_bit5);
DDX_Check(pDX, IDC_CHECK_BIT6, m_bit6);
DDX_Check(pDX, IDC_CHECK_BIT7, m_bit7);
DDX_CBIndex(pDX, IDC_COMBO_BAUD, m_nBaud);
DDX_CBIndex(pDX, IDC_COMBO_COM, m_nPort);
DDX_CBIndex(pDX, IDC_COMBO_VERIFY, m_nParity);
//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAQMDBLS_DemoDlg, CDialog)
//{{AFX_MSG_MAP(CAQMDBLS_DemoDlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_BUTTON_OPEN, OnButtonOpen)
ON_BN_CLICKED(IDC_BUTTON_READINFO, OnButtonReadinfo)
ON_BN_CLICKED(IDC_BUTTON_READOEM, OnButtonReadoem)
ON_BN_CLICKED(IDC_CHECK_AUTOREFRESH, OnCheckAutorefresh)
ON_WM_TIMER()
ON_BN_CLICKED(IDC_CHECK_BIT1, OnCheckBit1)
ON_BN_CLICKED(IDC_CHECK_BIT2, OnCheckBit2)
ON_BN_CLICKED(IDC_CHECK_BIT3, OnCheckBit3)
ON_BN_CLICKED(IDC_CHECK_BIT4, OnCheckBit4)
ON_BN_CLICKED(IDC_CHECK_BIT5, OnCheckBit5)
ON_BN_CLICKED(IDC_CHECK_BIT6, OnCheckBit6)
ON_BN_CLICKED(IDC_CHECK_BIT7, OnCheckBit7)
ON_NOTIFY(TCN_SELCHANGE, IDC_TAB_PAGES, OnSelchangeTabPages)
ON_BN_CLICKED(IDC_BUTTON_CLEARPOS, OnButtonClearpos)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CAQMDBLS_DemoDlg message handlers

BOOL CAQMDBLS_DemoDlg::OnInitDialog()
{
CDialog::OnInitDialog();

// Add "About..." menu item to system menu.

// IDM_ABOUTBOX must be in the system command range.
ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
ASSERT(IDM_ABOUTBOX < 0xF000);

CMenu* pSysMenu = GetSystemMenu(FALSE);
if (pSysMenu != NULL)
{
CString strAboutMenu;
strAboutMenu.LoadString(IDS_ABOUTBOX);
if (!strAboutMenu.IsEmpty())
{
pSysMenu->AppendMenu(MF_SEPARATOR);
pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
}
}

// Set the icon for this dialog.  The framework does this automatically
//  when the application's main window is not a dialog
SetIcon(m_hIcon, TRUE); // Set big icon
SetIcon(m_hIcon, FALSE); // Set small icon

// TODO: Add extra initialization here
AddPage(&m_dlgMotorCtrl, IDD_DIALOG_MOTORCTRL, "电机控制");
//AddPage(&m_dlgMotorLearn, IDD_DIALOG_MOTORLEARN, "电机学习");
AddPage(&m_dlgMotorCfg, IDD_DIALOG_MOTORCFG, "电机参数");
AddPage(&m_dlgSysCfg, IDD_DIALOG_SYSCFG, "系统参数");
AddPage(&m_dlgPidCfg, IDD_DIALOG_PIDPARAM, "PID参数");
AddPage(&m_dlgTravel, IDD_DIALOG_TRAVELCFG, "往复运动");
//AddPage(&m_dlgCorrect, IDD_DIALOG_CORRECT, "模拟量修正");
// AddPage(&m_dlgUserProg, IDD_DIALOG_PROGRAM, "自定义过程");
SelPage(0);
SetTimer(1, 100, NULL);

return TRUE;  // return TRUE  unless you set the focus to a control
}

void CAQMDBLS_DemoDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialog::OnSysCommand(nID, lParam);
}
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CAQMDBLS_DemoDlg::OnPaint() 
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting

SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

// Center icon in client rectangle
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon 1) / 2;
int y = (rect.Height() - cyIcon 1) / 2;

// Draw the icon
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialog::OnPaint();
}
}

// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CAQMDBLS_DemoDlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}

void CAQMDBLS_DemoDlg::OnOK() 
{
// TODO: Add extra validation here

//CDialog::OnOK();
}

void CAQMDBLS_DemoDlg::OnButtonOpen() 
{
// TODO: Add your control notification handler code here
CString strValue;

UpdateData(TRUE);
UpdateAddr();
// sprintf(szBuf, "%d,%d,8,%d", nBaudTbl[m_nBaud], nVerify[m_nVerify][0], nVerify[m_nVerify][1]);
if (m_Motor.IsPortOpened()) {
m_Motor.ClosePort();
GetDlgItem(IDC_BUTTON_OPEN)->SetWindowText("打开串口");
} else {
int nSel = m_combBaud.GetCurSel();
if (nSel < 0) nSel = 0;
m_combBaud.GetLBText(m_nBaud, strValue);
if (m_Motor.OpenPort(m_nPort 1, atoi(strValue), m_nParity)) {
GetDlgItem(IDC_BUTTON_OPEN)->SetWindowText("关闭串口");
//EnableButtons(FALSE);
// EnableButtons(TRUE);
} else {
MessageBox("打开串口失败");
}
}
}

void CAQMDBLS_DemoDlg::OnButtonReadinfo() 
{
// TODO: Add your control notification handler code here
DEVINFO info = {0};
CString strValue;

UpdateData(TRUE);
//UpdateAddr();
//m_addr = (m_bit1 | (m_bit2 << 1) | (m_bit3 << 2) | (m_bit4 << 3) | (m_bit5 << 4) | (m_bit6 << 5) | (m_bit7 << 6)) 1;
MDRESULT result = m_Motor.QueryDevInfo(m_addr, info);

if (result == MDERR_SUCCESS) {
strValue.Format("0x%04X", info.wID);
GetDlgItem(IDC_STATIC_DEVID)->SetWindowText(strValue);
strValue.Format("%d.%02d", info.wVersion >> 8, info.wVersion & 0xff);
GetDlgItem(IDC_STATIC_VERSION)->SetWindowText(strValue);
info.szDevName[sizeof(info.szDevName) - 1] = '\0';
strValue.Format("%s", info.szDevName);
GetDlgItem(IDC_STATIC_DEVNAME)->SetWindowText(strValue);
// if (info.wID == 0x0103) { // 是AQMD2410NS、AQMD3620NS
strValue.Format("1/%d", info.wPWMMaxSet);
GetDlgItem(IDC_STATIC_PWMRS)->SetWindowText(strValue);
strValue.Format("%.1fkHz", info.wPWMFreq / 1000.0);
GetDlgItem(IDC_STATIC_PWMFREQ)->SetWindowText(strValue);
strValue.Format("%.1fA", info.wIMax / 100.0);
GetDlgItem(IDC_STATIC_AMPMAX)->SetWindowText(strValue);
strValue.Format("%dmA", info.wIrs);
GetDlgItem(IDC_STATIC_AMPRS)->SetWindowText(strValue);
// } else {
// strValue = "-";
// GetDlgItem(IDC_STATIC_PWMRS)->SetWindowText(strValue);
// GetDlgItem(IDC_STATIC_PWMFREQ)->SetWindowText(strValue);
// GetDlgItem(IDC_STATIC_AMPMAX)->SetWindowText(strValue);
// GetDlgItem(IDC_STATIC_AMPRS)->SetWindowText(strValue);
// }
} else {
MessageBox(m_Motor.GetErrString(result));
}
}

void CAQMDBLS_DemoDlg::UpdateAddr()
{
UpdateData(TRUE);
m_addr = (m_bit1 | (m_bit2 << 1) | (m_bit3 << 2) | (m_bit4 << 3) | (m_bit5 << 4) | (m_bit6 << 5) | (m_bit7 << 6)) 1;
}

void CAQMDBLS_DemoDlg::OnButtonReadoem() 
{
// TODO: Add your control notification handler code here
CString strOEMInfo;

MDRESULT result = m_Motor.ReadOEMDevId(m_addr, strOEMInfo);
if (result == MDERR_SUCCESS) {
MessageBox(strOEMInfo);
} else {
MessageBox(m_Motor.GetErrString(result));
}
}

void CAQMDBLS_DemoDlg::OnCheckAutorefresh() 
{
// TODO: Add your control notification handler code here
UpdateData(TRUE);
}

void CAQMDBLS_DemoDlg::OnTimer(UINT nIDEvent) 
{
// TODO: Add your message handler code here and/or call default
const BYTE *pBuf;
DWORD dwLen = 0;
DWORD i;
CString strTmp, strText;
// int nValue;

// 显示发送数据
pBuf = m_Motor.GetSendBuf(&dwLen);
for (i = 0; i < dwLen; i ) {
strTmp.Format("%02X ", pBuf[i]);
strText = strTmp;
}
GetDlgItem(IDC_EDIT_SEND)->GetWindowText(strTmp);
if (strTmp != strText) {
GetDlgItem(IDC_EDIT_SEND)->SetWindowText(strText);
}

// 显示接收数据
strText = "";
pBuf = m_Motor.GetRecvBuf(&dwLen);
for (i = 0; i < dwLen; i ) {
strTmp.Format("%02X ", pBuf[i]);
strText = strTmp;
}
GetDlgItem(IDC_EDIT_RECV)->GetWindowText(strTmp);
if (strTmp != strText) {
GetDlgItem(IDC_EDIT_RECV)->SetWindowText(strText);
}

if (m_bAutoRefresh && m_Motor.IsPortOpened()) {
RTSTATUS status = {0};
MDRESULT result = m_Motor.ReadRTStatus(m_addr, status);
if (result == MDERR_SUCCESS) {
m_bSpdMulti = status.bSpdMulti;
strText.Format("%.1f%%", status.nPWM * 0.1);
GetDlgItem(IDC_STATIC_RTPWM)->SetWindowText(strText);
strText.Format("%.2fA", status.nAmp / 100.0);
GetDlgItem(IDC_STATIC_RTAMP)->SetWindowText(strText);
strText.Format("%ld", (long)((status.nPhasePosHi << 16) | status.nPhasePosLo));
GetDlgItem(IDC_STATIC_PHASEPOS)->SetWindowText(strText);
if (status.bSpdDiv10 || status.bSpdMulti) {
strText.Format("%dHz", status.nPhaseFreq);
} else {
strText.Format("%.1fHz", status.nPhaseFreq * 0.1);
}

GetDlgItem(IDC_STATIC_PHASEFREQ)->SetWindowText(strText);

strText.Format("%.3fV", status.nIN1Voltage * 0.001);
GetDlgItem(IDC_STATIC_VAIN1)->SetWindowText(strText);
strText.Format("%.3fV", status.nIN2Voltage * 0.001);
GetDlgItem(IDC_STATIC_VAIN2)->SetWindowText(strText);
strText.Format("%.3fV", status.nIN3Voltage * 0.001);
GetDlgItem(IDC_STATIC_VAIN3)->SetWindowText(strText);
strText.Format("%.3fV", status.nDiffVoltage * 0.001);
GetDlgItem(IDC_STATIC_VAIND)->SetWindowText(strText);
strText = status.bSQ1Level ? "高" : "低";
GetDlgItem(IDC_STATIC_SQ1)->SetWindowText(strText);
strText = status.bSQ2Level ? "高" : "低";
GetDlgItem(IDC_STATIC_SQ2)->SetWindowText(strText);
strText.Format("%.1f%%", status.nInPWM * 0.1);
GetDlgItem(IDC_STATIC_INPWM)->SetWindowText(strText);
strText.Format("%dHz", status.nInFreq);
GetDlgItem(IDC_STATIC_INFREQ)->SetWindowText(strText);
strText.Format("%ld", (long)((status.nInPulseHi << 16) | status.nInPulseLo));
GetDlgItem(IDC_STATIC_INPULSE)->SetWindowText(strText);
strText.Format("%.1fs", (DWORD)((status.nLeftTimeHi << 16) | status.nLeftTimeLo) * 0.001);
GetDlgItem(IDC_STATIC_LEFTTIME)->SetWindowText(strText);
strText = status.nFinishSta ? "是" : "否";
GetDlgItem(IDC_STATIC_FINISHSTA)->SetWindowText(strText);
/*switch (status.nLockSta) {
case 1:
strText = "正转堵转";
break;
case 2:
strText = "反转堵转";
break;
default:
strText = "未堵转";
break;
}
GetDlgItem(IDC_STATIC_LOCKSTA)->SetWindowText(strText);*/
if (status.nMotorSpd != 0xffff) {
strText.Format("%dRPM", status.bSpdDiv10 ? (DWORD)status.nMotorSpd * 10 : status.nMotorSpd);
} else {
strText = "-";
}
GetDlgItem(IDC_STATIC_MOTORSPD)->SetWindowText(strText);
switch (status.nErrorSta) {
case 0:
strText = "无";
break;
case 1:
strText = "未学习";
break;
case 2:
strText = "堵转停止";
break;
case 3:
strText = "霍尔错误";
break;
case 4:
strText = "达不到目标速度";
break;
case 5:
strText = "线圈错误";
break;
case 6:
strText = "过流关断";
break;
default:
strText = "未知错误";
break;
}
GetDlgItem(IDC_STATIC_ERRORSTA)->SetWindowText(strText);
} else {
strText = m_Motor.GetErrString(result);
GetDlgItem(IDC_STATIC_RTPWM)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_RTAMP)->SetWindowText(strText);

GetDlgItem(IDC_STATIC_VAIN1)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_VAIN2)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_VAIND)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_SQ1)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_SQ2)->SetWindowText(strText);
/// GetDlgItem(IDC_STATIC_DE)->SetWindowText(strText);
GetDlgItem(IDC_STATIC_PHASEFREQ)->SetWindowText(strText);
// GetDlgItem(IDC_STATIC_LIMITSTA)->SetWindowText(strText);
}
}
// RefreshSldValue();
CDialog::OnTimer(nIDEvent);
}

void CAQMDBLS_DemoDlg::OnCheckBit1() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit2() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit3() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit4() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit5() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit6() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::OnCheckBit7() 
{
// TODO: Add your control notification handler code here
UpdateAddr();
}

void CAQMDBLS_DemoDlg::AddPage(CDialog *pDialog, int nIDD, char *szTitle)
{
PAGEINFO info;
/* m_tabPages.InsertItem(0, "电机学习");
m_tabPages.InsertItem(1, "电机控制");
    m_tabPages.InsertItem(2, "系统参数");
m_tabPages.InsertItem(3, "速度参数");
m_tabPages.InsertItem(4, "其它操作");
m_tabPages.InsertItem(5, "用户编程");*/
RECT rc;

m_tabPages.GetClientRect(&rc);
rc.top = 20;
rc.bottom -= 20;
rc.right -= 2;
rc.left = 2;

if (pDialog && szTitle) {
if (pDialog->Create(nIDD, &m_tabPages)) {
info.bSel = FALSE;
info.pDialog = pDialog;
pDialog->MoveWindow(&rc);
m_tabPages.InsertItem(m_vecPages.size(), szTitle);
m_vecPages.insert(m_vecPages.end(), info);
}
}
}

void CAQMDBLS_DemoDlg::SelPage(int nID)
{
int i, n;

n = m_vecPages.size();
for (i = 0; i < n; i ) {
m_vecPages[i].pDialog->ShowWindow(i == nID ? SW_SHOW : SW_HIDE);
}

}

void CAQMDBLS_DemoDlg::OnSelchangeTabPages(NMHDR* pNMHDR, LRESULT* pResult) 
{
// TODO: Add your control notification handler code here
SelPage(m_tabPages.GetCurSel());
*pResult = 0;
}

//DEL void CAQMDBLS_DemoDlg::OnStaticPhasepos() 
//DEL {
//DEL // TODO: Add your control notification handler code here
//DEL int nID = MessageBox("真的要清零吗?", "询问", MB_ICONQUESTION | MB_YESNO);
//DEL 
//DEL }

void CAQMDBLS_DemoDlg::OnButtonClearpos() 
{
// TODO: Add your control notification handler code here
int nID = MessageBox("真的要清零吗?", "询问", MB_ICONQUESTION | MB_YESNO);
if (nID == IDYES) {
m_Motor.WriteSingleReg(m_addr, 0x700a, 1);
}
}