STM32步进电机驱动算法

void CalculateSModelLine(float fre[],  unsigned short period[],   float  len,  float fre_max,  float fre_min, float flexible)

{

    int i=0;

    float deno ;

    float melo ;

    float delt = fre_max-fre_min;

    for(; i<len; i++)

    {

        melo = flexible * (i-len/2) / (len/2);

        deno = 1.0 / (1 + expf(-melo));   //expf is a library function of exponential(e) 

        fre[i] = delt * deno + fre_min;

        period[i] = (unsigned short)(1000000.0 / fre[i]);    // 10000000 is the timer driver frequency

    }

   return ;

}



//主函数



int main(void)

{

    

    u8 t;

    

    delay_init();

    NVIC_Config();

    LED_Init();    //初始化IO口

      TIM1_Int_Init(10,72); //设置定时器的频率等

    //PB8 9 12 13

    //KEY_Init();

    //SMG_io_init();

    CalculateSModelLine(fre,period,ACCELERATED_SPEED_LENGTH,FRE_MAX,FRE_MIN,4);

    TIM_Cmd(TIM1, ENABLE);

        

    while(1)

    {

            

        }

}



定时器初始化



void TIM1_Int_Init(u16 arr,u16 psc)  

{  

    NVIC_InitTypeDef NVIC_InitStructure;  

    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;  

    TIM_OCInitTypeDef  TIM_OCInitStructure;

    

    TIM_DeInit(TIM1);                                           /*¸´Î»TIM1¶¨Ê±Æ÷*/  

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);        /*¿ªÊ±ÖÓ*/  

    TIM_TimeBaseStructure.TIM_Period = arr;                     /*ʱÖӵδðµÄ´ÎÊý£¬¹»ÊýÖжÏÕâÀïÊÇ1msÖжÏÒ»´Î*/       

    TIM_TimeBaseStructure.TIM_Prescaler = psc;                /* ·ÖƵ720*/         

    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;             

    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /*¼ÆÊý·½ÏòÏòÉϼÆÊý*/  

    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

    

    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);  

    

       /* Channel 1, 2,3 and 4 Configuration in PWM mode */

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;

    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;

    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; //²»Ê¹ÓÃNµÄÊä³ö£¬ËùÒÔÒª¹Øµô

    TIM_OCInitStructure.TIM_Pulse = 0;   //µÚÒ»´ÎûÓÐÊä³öÂö³å

    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;

    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;

    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;

    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

    

    TIM_OC4Init(TIM1, &TIM_OCInitStructure);

    TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);        

    /* Clear TIM1 update pending flag  Çå³ýTIM1Òç³öÖжϱêÖ¾]  */  

    TIM_ClearFlag(TIM1, TIM_FLAG_Update);                 

    NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;          /*Òç³öÖжÏ*/  

    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  

    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;    

    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  

    NVIC_Init(&NVIC_InitStructure);  

        

        /* TIM1 counter enable */

        TIM_Cmd(TIM1, DISABLE);

        /* TIM1 Main Output Enable */

        TIM_CtrlPWMOutputs(TIM1, ENABLE);



        TIM_ClearFlag(TIM1, TIM_FLAG_Update);

        TIM_ITConfig(TIM1,TIM_IT_Update,ENABLE);

}



//初始化定时器IO



void LED_Init(void)

{

    GPIO_InitTypeDef  GPIO_InitStructure;



    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);



    //设置PA11为复用推挽输出

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 | GPIO_Pin_8 | GPIO_Pin_11 | GPIO_Pin_12;

    GPIO_Init(GPIOA, &GPIO_InitStructure);    



    //Âö³å¿Ú+·½Ïò

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_5;

    GPIO_Init(GPIOB, &GPIO_InitStructure);    

     

      /* TIM1 Full remapping pins */

    GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);   //打开重映射

}