STM32步进加减速程序

只看该作者 · 2016-7-5 12:29

#include"stm32f10x_lib.h"
#include"main.h"
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
ErrorStatus HSEStartUpStatus;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
int pulse;
int StepCount;
int pulse1;
int pulse2;
int t1;
int t2;
int r1;
int r2;
void RCC_Configuration(void);
void NVIC_Configuration(void);
void GPIO_Configuration(void);
void TIM2_Configuration(void);
void f(int Vt,int a,int d,int S);
#define VECT_TAB_RAM
int main(void)
{
  #ifdef DEBUG
debug();/*[初始化外围设备指针]*/
  #endif
  RCC_Configuration(); //初始化时钟与复位
  NVIC_Configuration();//初始化中断嵌套
  TIM2_Configuration();//初始化定时器
  GPIO_Configuration();

  GPIO_WriteBit(GPIOD, GPIO_Pin_7, (BitAction)(0));
  GPIO_WriteBit(GPIOD, GPIO_Pin_6, (BitAction)(0));  //DCY1 DCY2为00，即Normal %0 DECAY

  GPIO_WriteBit(GPIOE, GPIO_Pin_7, (BitAction)(1));
  GPIO_WriteBit(GPIOB, GPIO_Pin_1, (BitAction)(0));  //M1M2为10，即1-2-phase
  //GPIO_WriteBit(GPIOA, GPIO_Pin_4, (BitAction)(1));  //正向旋转
  //GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_4)));正、反向旋转控制

  GPIO_WriteBit(GPIOB, GPIO_Pin_0, (BitAction)(0));
  GPIO_WriteBit(GPIOC, GPIO_Pin_5, (BitAction)(1));  //TQ1 TQ2为01，即Current Ratio为50%

  GPIO_WriteBit(GPIOA, GPIO_Pin_7, (BitAction)(1));  //StepReset位
  GPIO_WriteBit(GPIOC, GPIO_Pin_4, (BitAction)(1));  //StepEn 使能位

while(1)
  {
  r1=0;
  r2=10;
  StepCount=0;
  GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_4)));
  TIM2_Configuration();
  do
  {
  }while(r2);

  TIM_Cmd(TIM2, DISABLE);
  Delay(7000000);
  }
}

void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_7; //PA的3.4.7接CLK,CW/CCW,StepReset
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOA,&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin= GPIO_Pin_5 | GPIO_Pin_6; //PA的6.7接Protect和Mo
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOA,&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4 | GPIO_Pin_5; //PC的4.5接StepEn和TQ2
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOC,&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0 | GPIO_Pin_1; //PB的0.1接TQ1和M2
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOB,&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_7; //PE7接M1
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOE,&GPIO_InitStructure);
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6 | GPIO_Pin_7; //PD的67接DCY2和DCY1
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
  GPIO_Init(GPIOD,&GPIO_InitStructure);
}

void NVIC_Configuration(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;
#ifdef  VECT_TAB_RAM
  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
  NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel;  //设置TIM2通道输入中断
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; /*配置优先级组*/
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;    /*允许TIM2全局中断*/
  NVIC_Init(&NVIC_InitStructure);
}
void TIM2_Configuration(void)
{
  TIM_SetCounter( TIM2, 0x0000);
  TIM_ClearFlag(TIM2, TIM_FLAG_Update);       /*清除更新标志位*/
  TIM_ClearITPendingBit(TIM2, TIM_FLAG_Update); //清除TIM2等待中断更新中断标志位
  TIM_ARRPreloadConfig(TIM2, ENABLE);       /*预装载寄存器的内容被立即传送到影子寄存器 */
  TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //使能TIM2的更新
  TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  TIM_TimeBaseStructure.TIM_Period = 2000;    //设定的最大计数值2000，最大计数值是0xffff
  TIM_TimeBaseStructure.TIM_Prescaler = 72;    //分频72
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;    // 时钟分割
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //计数方向向上计数
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
  TIM_Cmd(TIM2, ENABLE);    //TIM2 enable counter
}
void RCC_Configuration(void)
{
  RCC_DeInit();
  RCC_HSEConfig(RCC_HSE_ON);
  HSEStartUpStatus = RCC_WaitForHSEStartUp();
  if(HSEStartUpStatus == SUCCESS)
  {
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
FLASH_SetLatency(FLASH_Latency_2);
RCC_HCLKConfig(RCC_SYSCLK_Div1);
RCC_PCLK2Config(RCC_HCLK_Div1);
RCC_PCLK1Config(RCC_HCLK_Div2);
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
RCC_PLLCmd(ENABLE);
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
while(RCC_GetSYSCLKSource() != 0x08)
{
}
  }
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
                              | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE,ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //打开TIM2的时钟
}
void Delay(u32 nCount)
{
  do{
}
  while(nCount--);
}

void f(int Vt,int a,int d,int S)
{
  int pulse1;
  int pulse2;
  t1=Vt/a;

if(StepCount<t1)                //加速阶段，分t1级加速
  {
  r1++;
  pulse1=(150000*t1)/(r1*Vt);
  TIM_SetAutoreload(TIM2,pulse1);
  }

if(t1<=StepCount<=4*S)       //匀速阶段运行要求的步数或者距离
{
  pulse=150000/Vt;
  TIM_SetAutoreload(TIM2,pulse);
}

if(StepCount>4*S)                         //减速阶段，走完S步后开始减速，分t2-1级减速
  {
r2--;

  if(t2>=1)
  {
  pulse2=(150000*t2)/(r2*Vt);
  TIM_SetAutoreload(TIM2,pulse2);
  }

  }
}

main.h文件内容：
#define StepEnPin GPIO_Pin_4
extern int S;
extern int t1;
extern int r2;
extern int pulse1;
extern int pulse2;
extern int StepCount;
extern TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
void Delay(u32 nCount);
void f(int Vt,int a,int d,int S);

TIM2中断函数程序：
void TIM2_IRQHandler(void)
{
  if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
  {
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
GPIO_WriteBit(GPIOA,GPIO_Pin_3,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_3)));
StepCount=StepCount+1;
f(300,10,10,4000);

  }
}