├── .gitattributes ├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md ├── STM32.dep ├── STM32.ewd ├── STM32.ewp ├── STM32.ewt ├── STM32.eww ├── STM32.sln ├── STM32.vcxproj ├── STM32.vcxproj.filters ├── host └── WpfApp │ ├── App.config │ ├── App.xaml │ ├── App.xaml.cs │ ├── MainWindow.xaml │ ├── MainWindow.xaml.cs │ ├── Properties │ ├── AssemblyInfo.cs │ ├── Resources.Designer.cs │ ├── Resources.resx │ ├── Settings.Designer.cs │ └── Settings.settings │ ├── WpfApp.csproj │ ├── WpfApp.csproj.DotSettings │ └── packages.config ├── images └── Screenshot0.png ├── lib ├── inc │ ├── misc.h │ ├── stm32f10x_adc.h │ ├── stm32f10x_bkp.h │ ├── stm32f10x_can.h │ ├── stm32f10x_cec.h │ ├── stm32f10x_crc.h │ ├── stm32f10x_dac.h │ ├── stm32f10x_dbgmcu.h │ ├── stm32f10x_dma.h │ ├── stm32f10x_exti.h │ ├── stm32f10x_flash.h │ ├── stm32f10x_fsmc.h │ ├── stm32f10x_gpio.h │ ├── stm32f10x_i2c.h │ ├── stm32f10x_iwdg.h │ ├── stm32f10x_pwr.h │ ├── stm32f10x_rcc.h │ ├── stm32f10x_rtc.h │ ├── stm32f10x_sdio.h │ ├── stm32f10x_spi.h │ ├── stm32f10x_tim.h │ ├── stm32f10x_usart.h │ └── stm32f10x_wwdg.h └── src │ ├── misc.c │ ├── stm32f10x_adc.c │ ├── stm32f10x_bkp.c │ ├── stm32f10x_can.c │ ├── stm32f10x_cec.c │ ├── stm32f10x_crc.c │ ├── stm32f10x_dac.c │ ├── stm32f10x_dbgmcu.c │ ├── stm32f10x_dma.c │ ├── stm32f10x_exti.c │ ├── stm32f10x_flash.c │ ├── stm32f10x_fsmc.c │ ├── stm32f10x_gpio.c │ ├── stm32f10x_i2c.c │ ├── stm32f10x_iwdg.c │ ├── stm32f10x_pwr.c │ ├── stm32f10x_rcc.c │ ├── stm32f10x_rtc.c │ ├── stm32f10x_sdio.c │ ├── stm32f10x_spi.c │ ├── stm32f10x_tim.c │ ├── stm32f10x_usart.c │ └── stm32f10x_wwdg.c ├── motor.ioc ├── settings ├── STM32.Debug.cspy.bat ├── STM32.Debug.cspy.ps1 ├── STM32.Debug.driver.xcl ├── STM32.Debug.general.xcl ├── STM32.Release.cspy.bat ├── STM32.Release.cspy.ps1 ├── STM32.Release.driver.xcl ├── STM32.Release.general.xcl ├── STM32.crun ├── STM32.dbgdt ├── STM32.dnx └── STM32.wsdt ├── src ├── controller.cpp ├── controller.h ├── encoder.h ├── led.h ├── main.cpp ├── motor.h ├── stm32f10x_conf.h ├── stm32f10x_it.c ├── stm32f10x_it.h ├── timer.cpp ├── timer.h ├── usart.h └── 注释.zip └── sys ├── startup_stm32f10x_cl.s ├── startup_stm32f10x_hd.s ├── startup_stm32f10x_hd_vl.s ├── startup_stm32f10x_ld.s ├── startup_stm32f10x_ld_vl.s ├── startup_stm32f10x_md.s ├── startup_stm32f10x_md_vl.s ├── startup_stm32f10x_xl.s ├── stm32f10x.h ├── system_stm32f10x.c └── system_stm32f10x.h /.gitattributes: -------------------------------------------------------------------------------- 1 | ############################################################################### 2 | # Set default behavior to automatically normalize line endings. 3 | ############################################################################### 4 | * text=auto 5 | 6 | ############################################################################### 7 | # Set default behavior for command prompt diff. 8 | # 9 | # This is need for earlier builds of msysgit that does not have it on by 10 | # default for csharp files. 11 | # Note: This is only used by command line 12 | ############################################################################### 13 | #*.cs diff=csharp 14 | 15 | ############################################################################### 16 | # Set the merge driver for project and solution files 17 | # 18 | # Merging from the command prompt will add diff markers to the files if there 19 | # are conflicts (Merging from VS is not affected by the settings below, in VS 20 | # the diff markers are never inserted). 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Turn it on by uncommenting the 52 | # entries below. 53 | ############################################################################### 54 | #*.doc diff=astextplain 55 | #*.DOC diff=astextplain 56 | #*.docx diff=astextplain 57 | #*.DOCX diff=astextplain 58 | #*.dot diff=astextplain 59 | #*.DOT diff=astextplain 60 | #*.pdf diff=astextplain 61 | #*.PDF diff=astextplain 62 | #*.rtf diff=astextplain 63 | #*.RTF diff=astextplain 64 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | ## Ignore Visual Studio temporary files, build results, and 2 | ## files generated by popular Visual Studio add-ons. 3 | 4 | # User-specific files 5 | *.suo 6 | *.user 7 | *.userosscache 8 | *.sln.docstates 9 | 10 | # User-specific files (MonoDevelop/Xamarin Studio) 11 | *.userprefs 12 | 13 | # Build results 14 | [Dd]ebug/ 15 | [Dd]ebugPublic/ 16 | [Rr]elease/ 17 | [Rr]eleases/ 18 | x64/ 19 | x86/ 20 | bld/ 21 | [Bb]in/ 22 | [Oo]bj/ 23 | [Ll]og/ 24 | 25 | # Visual Studio 2015 cache/options directory 26 | .vs/ 27 | # Uncomment if you have tasks that create the project's static files in wwwroot 28 | #wwwroot/ 29 | 30 | # MSTest test Results 31 | [Tt]est[Rr]esult*/ 32 | [Bb]uild[Ll]og.* 33 | 34 | # NUNIT 35 | *.VisualState.xml 36 | TestResult.xml 37 | 38 | # Build Results of an ATL Project 39 | [Dd]ebugPS/ 40 | [Rr]eleasePS/ 41 | dlldata.c 42 | 43 | # DNX 44 | project.lock.json 45 | project.fragment.lock.json 46 | artifacts/ 47 | 48 | *_i.c 49 | *_p.c 50 | *_i.h 51 | *.ilk 52 | *.meta 53 | *.obj 54 | *.pch 55 | *.pdb 56 | *.pgc 57 | *.pgd 58 | *.rsp 59 | *.sbr 60 | *.tlb 61 | *.tli 62 | *.tlh 63 | *.tmp 64 | *.tmp_proj 65 | *.log 66 | *.vspscc 67 | *.vssscc 68 | .builds 69 | *.pidb 70 | *.svclog 71 | *.scc 72 | 73 | # Chutzpah Test files 74 | _Chutzpah* 75 | 76 | # Visual C++ cache files 77 | ipch/ 78 | *.aps 79 | *.ncb 80 | *.opendb 81 | *.opensdf 82 | *.sdf 83 | *.cachefile 84 | *.VC.db 85 | *.VC.VC.opendb 86 | 87 | # Visual Studio profiler 88 | *.psess 89 | *.vsp 90 | *.vspx 91 | *.sap 92 | 93 | # TFS 2012 Local Workspace 94 | $tf/ 95 | 96 | # Guidance Automation Toolkit 97 | *.gpState 98 | 99 | # ReSharper is a .NET coding add-in 100 | _ReSharper*/ 101 | *.[Rr]e[Ss]harper 102 | *.DotSettings.user 103 | 104 | # JustCode is a .NET coding add-in 105 | .JustCode 106 | 107 | # TeamCity is a build add-in 108 | _TeamCity* 109 | 110 | # DotCover is a Code Coverage Tool 111 | *.dotCover 112 | 113 | # NCrunch 114 | _NCrunch_* 115 | .*crunch*.local.xml 116 | nCrunchTemp_* 117 | 118 | # MightyMoose 119 | *.mm.* 120 | AutoTest.Net/ 121 | 122 | # Web workbench (sass) 123 | .sass-cache/ 124 | 125 | # Installshield output folder 126 | [Ee]xpress/ 127 | 128 | # DocProject is a documentation generator add-in 129 | DocProject/buildhelp/ 130 | DocProject/Help/*.HxT 131 | DocProject/Help/*.HxC 132 | DocProject/Help/*.hhc 133 | DocProject/Help/*.hhk 134 | DocProject/Help/*.hhp 135 | DocProject/Help/Html2 136 | DocProject/Help/html 137 | 138 | # Click-Once directory 139 | publish/ 140 | 141 | # Publish Web Output 142 | *.[Pp]ublish.xml 143 | *.azurePubxml 144 | # TODO: Comment the next line if you want to checkin your web deploy settings 145 | # but database connection strings (with potential passwords) will be unencrypted 146 | #*.pubxml 147 | *.publishproj 148 | 149 | # Microsoft Azure Web App publish settings. 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Backup files are not needed, 207 | # because we have git ;-) 208 | _UpgradeReport_Files/ 209 | Backup*/ 210 | UpgradeLog*.XML 211 | UpgradeLog*.htm 212 | 213 | # SQL Server files 214 | *.mdf 215 | *.ldf 216 | 217 | # Business Intelligence projects 218 | *.rdl.data 219 | *.bim.layout 220 | *.bim_*.settings 221 | 222 | # Microsoft Fakes 223 | FakesAssemblies/ 224 | 225 | # GhostDoc plugin setting file 226 | *.GhostDoc.xml 227 | 228 | # Node.js Tools for Visual Studio 229 | .ntvs_analysis.dat 230 | 231 | # Visual Studio 6 build log 232 | *.plg 233 | 234 | # Visual Studio 6 workspace options file 235 | *.opt 236 | 237 | # Visual Studio LightSwitch build output 238 | **/*.HTMLClient/GeneratedArtifacts 239 | **/*.DesktopClient/GeneratedArtifacts 240 | **/*.DesktopClient/ModelManifest.xml 241 | **/*.Server/GeneratedArtifacts 242 | **/*.Server/ModelManifest.xml 243 | _Pvt_Extensions 244 | 245 | # Paket dependency manager 246 | .paket/paket.exe 247 | paket-files/ 248 | 249 | # FAKE - F# Make 250 | .fake/ 251 | 252 | # JetBrains Rider 253 | .idea/ 254 | *.sln.iml 255 | 256 | # CodeRush 257 | .cr/ 258 | 259 | # Python Tools for Visual Studio (PTVS) 260 | __pycache__/ 261 | *.pyc -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Win32", 5 | "includePath": [ 6 | "C:/Program Files (x86)/IAR Systems/Embedded Workbench 8.1 ARM/arm/CMSIS/Core/Include/**", 7 | "C:/Program Files (x86)/IAR Systems/Embedded Workbench 8.1 ARM/arm/inc/c/**", 8 | "C:/Program Files (x86)/IAR Systems/Embedded Workbench 8.1 ARM/arm/inc/cpp/**", 9 | "${workspaceFolder}/**" 10 | ], 11 | "defines": [ 12 | "_DEBUG", 13 | "UNICODE", 14 | "_UNICODE", 15 | "__ICCARM__", 16 | "STM32F10X_MD", 17 | "USE_STDPERIPH_DRIVER", 18 | "__STATIC_INLINE", 19 | "__IAR_FT", 20 | "__intrinsic" 21 | ], 22 | "windowsSdkVersion": "10.0.17134.0", 23 | "compilerPath": "C:/Program Files (x86)/Microsoft Visual Studio/2017/Enterprise/VC/Tools/MSVC/14.15.26726/bin/Hostx64/x64/cl.exe", 24 | "cStandard": "c11", 25 | "cppStandard": "c++17", 26 | "intelliSenseMode": "msvc-x64" 27 | } 28 | ], 29 | "version": 4 30 | } -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "algorithm": "cpp", 4 | "atomic": "cpp" 5 | } 6 | } -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 dingzimin 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # 基于STM32的直流电机调速系统 2 | 3 | ## 下位机软件 4 | 使用C++开发，基于 IAR Embedded Workbench for Arm 5 | * 采用 STM32F103V8 微控制器 6 | * 采用 M 法测速，测速周期 5ms 7 | * PI 调节器速度闭环控制 8 | * 速度阶跃响应超调量小于 5% 9 | * 运行时调节 Kp, Ki 参数 10 | 11 | ## 上位机软件 12 | 使用 C# 和 WPF 开发，基于 Visual Studio 2017 13 | ![Screenshot](https://raw.githubusercontent.com/dingzimin/DC-Motor-Controller-System-Based-on-STM32/master/images/Screenshot0.png) 14 | * 调整电机的速度 15 | * 显示电机转速变化曲线 16 | * 实时显示电机转速 17 | * 调节Kp, Ki参数 18 | -------------------------------------------------------------------------------- /STM32.eww: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | $WS_DIR$\STM32.ewp 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /STM32.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 15 4 | VisualStudioVersion = 15.0.28010.2026 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "STM32", "STM32.vcxproj", "{94DFB9B0-8E2C-4BAA-8E74-AB46FC4D7799}" 7 | EndProject 8 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WpfApp", "host\WpfApp\WpfApp.csproj", "{6884F94E-9850-4540-8806-4A87F125FC1D}" 9 | EndProject 10 | Global 11 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 12 | Debug|Any CPU = Debug|Any CPU 13 | Debug|x64 = 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= Release|Win32 30 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 31 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|Any CPU.Build.0 = Debug|Any CPU 32 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|x64.ActiveCfg = Debug|Any CPU 33 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|x64.Build.0 = Debug|Any CPU 34 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|x86.ActiveCfg = Debug|Any CPU 35 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Debug|x86.Build.0 = Debug|Any CPU 36 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|Any CPU.ActiveCfg = Release|Any CPU 37 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|Any CPU.Build.0 = Release|Any CPU 38 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|x64.ActiveCfg = Release|Any CPU 39 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|x64.Build.0 = Release|Any CPU 40 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|x86.ActiveCfg = Release|Any CPU 41 | {6884F94E-9850-4540-8806-4A87F125FC1D}.Release|x86.Build.0 = Release|Any CPU 42 | EndGlobalSection 43 | GlobalSection(SolutionProperties) = preSolution 44 | HideSolutionNode = FALSE 45 | EndGlobalSection 46 | GlobalSection(ExtensibilityGlobals) = postSolution 47 | SolutionGuid = {337BD079-59E2-475C-B40F-4B04E11434EA} 48 | EndGlobalSection 49 | EndGlobal 50 | -------------------------------------------------------------------------------- /STM32.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {e0595646-7926-4ceb-a14d-6d9fede230b2} 6 | 7 | 8 | {1bc7bdaa-a8da-43a8-99c0-a9712db2c023} 9 | 10 | 11 | {d358c7a6-246b-4fac-b5d7-da2223c1c4bc} 12 | 13 | 14 | {8f210933-586b-4a24-8882-27f93da25feb} 15 | 16 | 17 | {2e027e49-b6ec-4165-a54a-293d95256b3f} 18 | 19 | 20 | 21 | 22 | lib\inc 23 | 24 | 25 | lib\inc 26 | 27 | 28 | lib\inc 29 | 30 | 31 | lib\inc 32 | 33 | 34 | lib\inc 35 | 36 | 37 | lib\inc 38 | 39 | 40 | lib\inc 41 | 42 | 43 | lib\inc 44 | 45 | 46 | lib\inc 47 | 48 | 49 | lib\inc 50 | 51 | 52 | lib\inc 53 | 54 | 55 | lib\inc 56 | 57 | 58 | lib\inc 59 | 60 | 61 | lib\inc 62 | 63 | 64 | lib\inc 65 | 66 | 67 | lib\inc 68 | 69 | 70 | lib\inc 71 | 72 | 73 | lib\inc 74 | 75 | 76 | lib\inc 77 | 78 | 79 | lib\inc 80 | 81 | 82 | lib\inc 83 | 84 | 85 | lib\inc 86 | 87 | 88 | lib\inc 89 | 90 | 91 | sys 92 | 93 | 94 | sys 95 | 96 | 97 | src 98 | 99 | 100 | src 101 | 102 | 103 | src 104 | 105 | 106 | src 107 | 108 | 109 | src 110 | 111 | 112 | src 113 | 114 | 115 | src 116 | 117 | 118 | src 119 | 120 | 121 | 122 | 123 | lib\src 124 | 125 | 126 | lib\src 127 | 128 | 129 | lib\src 130 | 131 | 132 | lib\src 133 | 134 | 135 | lib\src 136 | 137 | 138 | lib\src 139 | 140 | 141 | lib\src 142 | 143 | 144 | lib\src 145 | 146 | 147 | lib\src 148 | 149 | 150 | lib\src 151 | 152 | 153 | lib\src 154 | 155 | 156 | lib\src 157 | 158 | 159 | lib\src 160 | 161 | 162 | lib\src 163 | 164 | 165 | lib\src 166 | 167 | 168 | lib\src 169 | 170 | 171 | lib\src 172 | 173 | 174 | lib\src 175 | 176 | 177 | lib\src 178 | 179 | 180 | lib\src 181 | 182 | 183 | lib\src 184 | 185 | 186 | lib\src 187 | 188 | 189 | lib\src 190 | 191 | 192 | sys 193 | 194 | 195 | src 196 | 197 | 198 | src 199 | 200 | 201 | src 202 | 203 | 204 | src 205 | 206 | 207 | src 208 | 209 | 210 | -------------------------------------------------------------------------------- /host/WpfApp/App.config: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /host/WpfApp/App.xaml: -------------------------------------------------------------------------------- 1 |  6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /host/WpfApp/App.xaml.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Configuration; 4 | using System.Data; 5 | using System.Linq; 6 | using System.Threading.Tasks; 7 | using System.Windows; 8 | 9 | namespace WpfApp 10 | { 11 | /// 12 | /// App.xaml 的交互逻辑 13 | /// 14 | public partial class App : Application 15 | { 16 | } 17 | } 18 | -------------------------------------------------------------------------------- /host/WpfApp/MainWindow.xaml: -------------------------------------------------------------------------------- 1 |  9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 |