GRBL七： STM32代码移植——IO
首先看引脚映射，关于引脚的定义都在pin_map.h中其实感觉GRBL的引脚这地做的不太人性，因为他的几个引脚都是用的同一个IO通道且是挨在一起的，程序中对引脚的操作也是按照挨在一起的算法进行的，如果用的是不一个通道IO
且重复的话就不适合了，例如如果X_STEP使用A0Y_STEP使用B0这样就会出现错误，可以使用不同通道，但是要确保X_STEP_BIT ，Y_STEP_BIT， Z_STEP_BIT，X_DIRECTION_BIT ，Y_DIRECTION_BIT ，Z_DIRECTION_BIT 使用的是不同位，这是默认的情况，也可以在参数中修改这些bit的具体位置$6的值就是这六个引脚的映射
pin_map.h
view plain copy
[*]/*
[*]pin_map.h - Pin mapping configuration file
[*]Part of Grbl
[*]
[*]The MIT License (MIT)
[*]
[*]GRBL(tm) - Embedded CNC g-code interpreter and motion-controller
[*]Copyright (c) 2013 Sungeun K. Jeon
[*]
[*]Permission is hereby granted, free of charge, to any person obtaining a copy
[*]of this software and associated documentation files (the "Software"), to deal
[*]in the Software without restriction, including without limitation the rights
[*]to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
[*]copies of the Software, and to permit persons to whom the Software is
[*]furnished to do so, subject to the following conditions:
[*]
[*]The above copyright notice and this permission notice shall be included in
[*]all copies or substantial portions of the Software.
[*]
[*]THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
[*]IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
[*]FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
[*]AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
[*]LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
[*]OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
[*]THE SOFTWARE.
[*]*/
[*]
[*]/* The pin_map.h file serves as a central pin mapping settings file for different processor
[*] types, i.e. AVR 328p or AVR Mega 2560. Grbl officially supports the Arduino Uno, but the
[*] other supplied pin mappings are supplied by users, so your results may vary. */
[*]
[*]#ifndef pin_map_h
[*]#define pin_map_h
[*]//add by zjk for stm32
[*]#ifdef PIN_MAP_STM32 // AVR 328p, Officially supported by Grbl.
[*]
[*]// Serial port pins
[*]//#define SERIAL_RX USART_RX_vect
[*]//#define SERIAL_UDRE USART_UDRE_vect
[*]
[*]// NOTE: All step bit and direction pins must be on the same port.
[*]//#define STEPPING_DDR DDRD
[*]//#define STEPPING_PORT PORTD
[*]//#define X_STEP_BIT 2// Uno Digital Pin 2
[*]//#define Y_STEP_BIT 3// Uno Digital Pin 3
[*]//#define Z_STEP_BIT 4// Uno Digital Pin 4
[*]//#define X_DIRECTION_BIT 5// Uno Digital Pin 5
[*]//#define Y_DIRECTION_BIT 6// Uno Digital Pin 6
[*]//#define Z_DIRECTION_BIT 7// Uno Digital Pin 7
[*]//#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
[*]//#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
[*]//#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
[*]#define X_STEP_PORT GPIOA->ODR
[*]#define Y_STEP_PORT GPIOD->ODR
[*]#define Z_STEP_PORT
[*]#define X_STEP_BIT 8// PA8
[*]#define Y_STEP_BIT 15// PD15
[*]#define Z_STEP_BIT
[*]#define X_STEP_MASK (1<<X_STEP_BIT)
[*]#define Y_STEP_MASK (1<<Y_STEP_BIT)
[*]#define Z_STEP_MASK (1<<Z_STEP_BIT)
[*]#define X_STEP_TRASLATE(a)((a>>2)<<X_STEP_BIT)
[*]#define Y_STEP_TRASLATE(a)((a>>3)<<Y_STEP_BIT)
[*]#define Z_STEP_TRASLATE(a)((a>>4)<<Z_STEP_BIT)
[*]
[*]#define X_DIRECTION_PORTGPIOA->ODR
[*]#define Y_DIRECTION_PORTGPIOA->ODR
[*]#define Z_DIRECTION_PORT
[*]#define X_DIRECTION_BIT 6// PC6
[*]#define Y_DIRECTION_BIT 2// PA2
[*]#define Z_DIRECTION_BIT
[*]#define X_DIRECTION_MASK (1<<X_DIRECTION_BIT)
[*]#define Y_DIRECTION_MASK (1<<Y_DIRECTION_BIT)
[*]#define Z_DIRECTION_MASK (1<<Z_DIRECTION_BIT)
[*]#define X_DIRECTION_TRASLATE(a) ((a>>5)<<X_DIRECTION_BIT)
[*]#define Y_DIRECTION_TRASLATE(a) (a)
[*]#define Z_DIRECTION_TRASLATE(a) ((a>>7)<<Z_DIRECTION_BIT)
[*]
[*]#define X_STEP_EN GPIO_SetBits(GPIOA , GPIO_Pin_8)
[*]#define X_STEP_DISGPIO_ResetBits(GPIOA , GPIO_Pin_8)
[*]#define Y_STEP_EN GPIO_SetBits(GPIOD , GPIO_Pin_15)
[*]#define Y_STEP_DISGPIO_ResetBits(GPIOD , GPIO_Pin_15)
[*]#define STEPPING_EN X_STEP_EN;Y_STEP_EN
[*]#define STEPPING_DISX_STEP_DIS;Y_STEP_DIS
[*]
[*]#define X_DIRECTION_EN GPIO_SetBits(GPIOA , GPIO_Pin_6)
[*]#define X_DIRECTION_DISGPIO_ResetBits(GPIOA , GPIO_Pin_6)
[*]#define Y_DIRECTION_EN GPIO_SetBits(GPIOA , GPIO_Pin_2)
[*]#define Y_DIRECTION_DISGPIO_ResetBits(GPIOA , GPIO_Pin_2)
[*]#define DIRECTION_EN X_DIRECTION_EN;Y_DIRECTION_EN
[*]#define DIRECTION_DISX_DIRECTION_DIS;Y_DIRECTION_DIS
[*]
[*]
[*]//#define STEPPERS_DISABLE_DDR DDRB
[*]//#define STEPPERS_DISABLE_PORT PORTB
[*]//#define STEPPERS_DISABLE_BIT 0// Uno Digital Pin 8
[*]//#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
[*]#define STEPPERS_DISABLE_ENGPIO_SetBits(GPIOA , GPIO_Pin_3);GPIO_SetBits(GPIOA , GPIO_Pin_4)
[*]#define STEPPERS_DISABLE_DISGPIO_ResetBits(GPIOA , GPIO_Pin_3);GPIO_ResetBits(GPIOA , GPIO_Pin_4)
[*]// NOTE: All limit bit pins must be on the same port
[*]//#define LIMIT_DDR DDRB
[*]//#define LIMIT_PIN PINB
[*]//#define LIMIT_PORT PORTB
[*]//#define X_LIMIT_BIT 1// Uno Digital Pin 9
[*]//#define Y_LIMIT_BIT 2// Uno Digital Pin 10
[*]//#define Z_LIMIT_BIT 3// Uno Digital Pin 11
[*]//#define LIMIT_INT PCIE0// Pin change interrupt enable pin
[*]//#define LIMIT_INT_vectPCINT0_vect
[*]//#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
[*]//#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
[*]
[*]//带刀轴主轴电机
[*]//#define SPINDLE_ENABLE_DDR DDRB
[*]//#define SPINDLE_ENABLE_PORTPORTB
[*]//#define SPINDLE_ENABLE_BIT 4// Uno Digital Pin 12
[*]//
[*]//#define SPINDLE_DIRECTION_DDR DDRB
[*]//#define SPINDLE_DIRECTION_PORTPORTB
[*]//#define SPINDLE_DIRECTION_BIT 5// Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
[*]
[*]
[*]
[*]//#define COOLANT_FLOOD_DDR DDRC
[*]//#define COOLANT_FLOOD_PORTPORTC
[*]//#define COOLANT_FLOOD_BIT 3// Uno Analog Pin 3
[*]
[*]// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
[*]// a later date if flash and memory space allows.
[*]// #define ENABLE_M7// Mist coolant disabled by default. Uncomment to enable.
[*]#ifdef ENABLE_M7
[*] #define COOLANT_MIST_DDR DDRC
[*] #define COOLANT_MIST_PORTPORTC
[*] #define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
[*]#endif
[*]
[*]// NOTE: All pinouts pins must be on the same port
[*]#define PINOUT_DDR DDRC
[*]#define PINOUT_PIN PINC
[*]#define PINOUT_PORT PORTC
[*]#define PIN_RESET 0// Uno Analog Pin 0
[*]#define PIN_FEED_HOLD 1// Uno Analog Pin 1
[*]#define PIN_CYCLE_START2// Uno Analog Pin 2
[*]#define PINOUT_INT PCIE1// Pin change interrupt enable pin
[*]#define PINOUT_INT_vectPCINT1_vect
[*]#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
[*]#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
[*]
[*]#endif
[*]//end zjk
[*]
[*]#ifdef PIN_MAP_ARDUINO_UNO // AVR 328p, Officially supported by Grbl.
[*]
[*]// Serial port pins
[*]#define SERIAL_RX USART_RX_vect
[*]#define SERIAL_UDRE USART_UDRE_vect
[*]
[*]// NOTE: All step bit and direction pins must be on the same port.
[*]#define STEPPING_DDR DDRD
[*]#define STEPPING_PORT PORTD
[*]#define X_STEP_BIT 2// Uno Digital Pin 2
[*]#define Y_STEP_BIT 3// Uno Digital Pin 3
[*]#define Z_STEP_BIT 4// Uno Digital Pin 4
[*]#define X_DIRECTION_BIT 5// Uno Digital Pin 5
[*]#define Y_DIRECTION_BIT 6// Uno Digital Pin 6
[*]#define Z_DIRECTION_BIT 7// Uno Digital Pin 7
[*]#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
[*]#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
[*]#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
[*]
[*]#define STEPPERS_DISABLE_DDR DDRB
[*]#define STEPPERS_DISABLE_PORT PORTB
[*]#define STEPPERS_DISABLE_BIT 0// Uno Digital Pin 8
[*]#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
[*]
[*]// NOTE: All limit bit pins must be on the same port
[*]#define LIMIT_DDR DDRB
[*]#define LIMIT_PIN PINB
[*]#define LIMIT_PORT PORTB
[*]#define X_LIMIT_BIT 1// Uno Digital Pin 9
[*]#define Y_LIMIT_BIT 2// Uno Digital Pin 10
[*]#define Z_LIMIT_BIT 3// Uno Digital Pin 11
[*]#define LIMIT_INT PCIE0// Pin change interrupt enable pin
[*]#define LIMIT_INT_vectPCINT0_vect
[*]#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
[*]#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
[*]
[*]#define SPINDLE_ENABLE_DDR DDRB
[*]#define SPINDLE_ENABLE_PORTPORTB
[*]#define SPINDLE_ENABLE_BIT 4// Uno Digital Pin 12
[*]
[*]#define SPINDLE_DIRECTION_DDR DDRB
[*]#define SPINDLE_DIRECTION_PORTPORTB
[*]#define SPINDLE_DIRECTION_BIT 5// Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
[*]
[*]#define COOLANT_FLOOD_DDR DDRC
[*]#define COOLANT_FLOOD_PORTPORTC
[*]#define COOLANT_FLOOD_BIT 3// Uno Analog Pin 3
[*]
[*]// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
[*]// a later date if flash and memory space allows.
[*]// #define ENABLE_M7// Mist coolant disabled by default. Uncomment to enable.
[*]#ifdef ENABLE_M7
[*] #define COOLANT_MIST_DDR DDRC
[*] #define COOLANT_MIST_PORTPORTC
[*] #define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
[*]#endif
[*]
[*]
[*]// NOTE: All pinouts pins must be on the same port
[*]#define PINOUT_DDR DDRC
[*]#define PINOUT_PIN PINC
[*]#define PINOUT_PORT PORTC
[*]#define PIN_RESET 0// Uno Analog Pin 0
[*]#define PIN_FEED_HOLD 1// Uno Analog Pin 1
[*]#define PIN_CYCLE_START2// Uno Analog Pin 2
[*]#define PINOUT_INT PCIE1// Pin change interrupt enable pin
[*]#define PINOUT_INT_vectPCINT1_vect
[*]#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
[*]#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
[*]
[*]#endif
[*]
[*]
[*]#ifdef PIN_MAP_ARDUINO_MEGA_2560 // Working @EliteEng
[*]
[*]// Serial port pins
[*]#define SERIAL_RX USART0_RX_vect
[*]#define SERIAL_UDRE USART0_UDRE_vect
[*]
[*]// Increase Buffers to make use of extra SRAM
[*]#define RX_BUFFER_SIZE 256
[*]#define TX_BUFFER_SIZE 128
[*]#define BLOCK_BUFFER_SIZE 36
[*]#define LINE_BUFFER_SIZE 100
[*]
[*]// NOTE: All step bit and direction pins must be on the same port.
[*]#define STEPPING_DDR DDRA
[*]#define STEPPING_PORT PORTA
[*]#define STEPPING_PIN PINA
[*]#define X_STEP_BIT 2 // MEGA2560 Digital Pin 24
[*]#define Y_STEP_BIT 3 // MEGA2560 Digital Pin 25
[*]#define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26
[*]#define X_DIRECTION_BIT 5 // MEGA2560 Digital Pin 27
[*]#define Y_DIRECTION_BIT 6 // MEGA2560 Digital Pin 28
[*]#define Z_DIRECTION_BIT 7 // MEGA2560 Digital Pin 29
[*]#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
[*]#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
[*]#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
[*]
[*]#define STEPPERS_DISABLE_DDR DDRB
[*]#define STEPPERS_DISABLE_PORTPORTB
[*]#define STEPPERS_DISABLE_BIT 7 // MEGA2560 Digital Pin 13
[*]#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
[*]
[*]// NOTE: All limit bit pins must be on the same port
[*]#define LIMIT_DDR DDRB
[*]#define LIMIT_PORT PORTB
[*]#define LIMIT_PIN PINB
[*]#define X_LIMIT_BIT 4 // MEGA2560 Digital Pin 10
[*]#define Y_LIMIT_BIT 5 // MEGA2560 Digital Pin 11
[*]#define Z_LIMIT_BIT 6 // MEGA2560 Digital Pin 12
[*]#define LIMIT_INT PCIE0// Pin change interrupt enable pin
[*]#define LIMIT_INT_vectPCINT0_vect
[*]#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
[*]#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
[*]
[*]#define SPINDLE_ENABLE_DDR DDRC
[*]#define SPINDLE_ENABLE_PORTPORTC
[*]#define SPINDLE_ENABLE_BIT 2 // MEGA2560 Digital Pin 35
[*]
[*]#define SPINDLE_DIRECTION_DDR DDRC
[*]#define SPINDLE_DIRECTION_PORTPORTC
[*]#define SPINDLE_DIRECTION_BIT 1 // MEGA2560 Digital Pin 36
[*]
[*]#define COOLANT_FLOOD_DDR DDRC
[*]#define COOLANT_FLOOD_PORTPORTC
[*]#define COOLANT_FLOOD_BIT 0 // MEGA2560 Digital Pin 37
[*]
[*]// #define ENABLE_M7// Mist coolant disabled by default. Uncomment to enable.
[*]#ifdef ENABLE_M7
[*] #define COOLANT_MIST_DDR DDRC
[*] #define COOLANT_MIST_PORTPORTC
[*] #define COOLANT_MIST_BIT 3 // MEGA2560 Digital Pin 34
[*]#endif
[*]
[*]// NOTE: All pinouts pins must be on the same port
[*]#define PINOUT_DDR DDRK
[*]#define PINOUT_PIN PINK
[*]#define PINOUT_PORT PORTK
[*]#define PIN_RESET 0// MEGA2560 Analog Pin 8
[*]#define PIN_FEED_HOLD 1// MEGA2560 Analog Pin 9
[*]#define PIN_CYCLE_START2// MEGA2560 Analog Pin 10
[*]#define PINOUT_INT PCIE2// Pin change interrupt enable pin
[*]#define PINOUT_INT_vectPCINT2_vect
[*]#define PINOUT_PCMSK PCMSK2 // Pin change interrupt register
[*]#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
[*]
[*]#endif
[*]
[*]/*
[*]#ifdef PIN_MAP_CUSTOM_PROC
[*]// For a custom pin map or different processor, copy and paste one of the default pin map
[*]// settings above and modify it to your needs. Then, make sure the defined name is also
[*]// changed in the config.h file.
[*]#endif
[*]*/
[*]
[*]#endif
pinmap中其实定义的是三种单片机的引脚定义，具体使用哪一个在config.h中有定义，如下： view plain copy
[*]#define PIN_MAP_STM32
[*]//#define PIN_MAP_ARDUINO_UNO
由于我修改的是STM32的，所以我额外定义了个STM32的选项，可以看到我使用的是不同通道的IO，所以定义起来就有所小不同，为了尽量少修改GRBL源程序，尽量修改定义这地方的代码，减少调用出代码的修改stepper.c中关于引脚的初始化如下：
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[*]/ Initialize and start the stepper motor subsystem
[*]void st_init()
[*]{
[*]// Configure directions of interface pins
[*]//STEPPING_DDR |= STEPPING_MASK;
[*]//STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask;
[*]//STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
[*]//ZJK ADD FOR STEP_IO INIT
[*]GPIO_InitTypeDef GPIO_InitStructure;
[*]//X_STEP:PA8
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOA, &GPIO_InitStructure);
[*]X_STEP_PORT = (X_STEP_PORT & ~X_STEP_MASK) | (settings.invert_mask&X_STEP_MASK);
[*]//Y_STEP:PD15
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOD, &GPIO_InitStructure);
[*]Y_STEP_PORT = (Y_STEP_PORT & ~Y_STEP_MASK) | (settings.invert_mask&Y_STEP_MASK);
[*]//X_DIR :PA6
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOA, &GPIO_InitStructure);
[*]X_DIRECTION_PORT = (X_DIRECTION_PORT & ~X_DIRECTION_MASK) | (settings.invert_mask&X_DIRECTION_MASK);
[*]//Y_DIR :PA2
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOA, &GPIO_InitStructure);
[*]Y_DIRECTION_PORT = (Y_DIRECTION_PORT & ~Y_DIRECTION_MASK) | (settings.invert_mask&Y_DIRECTION_MASK);
[*]//X_RES :PA3
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOA, &GPIO_InitStructure);
[*]//Y_RES :PA4
[*]RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
[*]GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
[*]GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
[*]GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
[*]GPIO_Init(GPIOA, &GPIO_InitStructure);
[*]//END ZJK STEPP_IO INIT
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[*]//接下来是定时器的初始化参考：<a target=_blank href="http://blog.csdn.net/zhangjikuan/article/details/46697657">http://blog.csdn.net/zhangjikuan/article/details/46697657</a>
调用处如下所示： view plain copy
[*]//定时器4中断服务函数
[*]void TIM4_IRQHandler(void) //中断服务函数名一定正确
[*]{
[*] if(TIM4->SR&0X0001)//再次判断是否更新事件
[*] {
[*]
[*] // Reset stepping pins (leave the direction pins)
[*] //STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK);
[*] X_STEP_PORT = (X_STEP_PORT & ~X_STEP_MASK) | (settings.invert_mask & X_STEP_MASK);
[*] Y_STEP_PORT = (Y_STEP_PORT & ~Y_STEP_MASK) | (settings.invert_mask & Y_STEP_MASK);
[*] //TCCR2B = 0; // Disable Timer2 to prevent re-entering this interrupt when it's not needed.
[*] //bit0=1关闭定时器
[*] TIM4->CR1&=~0X01;
[*] }
[*] TIM4->SR&=~(1<<0); //状态寄存器清除
[*]}
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