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#include "stm32f10x.h"
#include "StepperMotor.h"
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
DMA_InitTypeDef DMA_InitStructure;
uint16_t SRC_Buffer_DEC[20] ={15000,15000,20000,20000,25000,25000,30000,30000,35000,35000,
40000,40000,45000,45000,50000,50000,55000,55000,60000,60000};
uint16_t SRC_Buffer_INC[20] ={60000,60000,55000,55000,50000,50000,45000,45000,40000,40000,
35000,35000,30000,30000,25000,25000,20000,20000,15000,15000};
/**
* @brief Configures the driver control pin
* @param None
* @retval : None
*/
void Stepper_PinControlConfig(void)
{
/* Configure PC.04, PC.05, PC.06, PC.07, PC.08, PC.09 as output push pull*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 |GPIO_Pin_6 | GPIO_Pin_7
| GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
/**
* @brief Starts or Stops the stepper motor
* @param NewState: This parameter can be ENABLE or DISABLE.
* @retval : None
*/
void Stepper_Start(FunctionalState NewState)
{
if(NewState == ENABLE)
{
/* Set the C.09 pin */
GPIO_SetBits(GPIOC, GPIO_Pin_9);
}
else
{
/* Reset the C.09 pin */
GPIO_ResetBits(GPIOC, GPIO_Pin_9);
}
}
/**
* @brief Disables the initialization of the driver to its default reset value
* @param None
* @retval : None
*/
void Stepper_ResetDisable(void)
{
/* Set the C.05pin */
GPIO_SetBits(GPIOC, GPIO_Pin_5);
}
/**
* @brief Selects the direction of the rotation
* @param Stepper_RotationDirection: Specifies the rotation direction
* This parameter can be one of the following values:
* @arg Stepper_RotationDirection_CW : sets clockwise direction
* @arg Stepper_RotationDirection_CCW: sets counterclockwise direction
*
* @retval : None
*/
void Stepper_SetRotationDirection(uint16_t Stepper_RotationDirection)
{
if(Stepper_RotationDirection == Stepper_RotationDirection_CW )
{
/* Set the C.06 pin */
GPIO_SetBits(GPIOC, GPIO_Pin_6);
}
else
{
/* Reset the C.06 pin */
GPIO_ResetBits(GPIOC, GPIO_Pin_6);
}
}
/**
* @brief Selects the step mode
* @param Stepper_Mode: Specifies the Step Mode
* This parameter can be one of the following values:
* @param Stepper_Full : Sets FULL STEP Mode
* @param Stepper_Half : Sets HALF STEP Mode
*
* @retval : None
*/
void Stepper_SelectMode(uint16_t Stepper_Mode)
{
if(Stepper_Mode == Stepper_Full)
{
/* Reset the C.07 pin */
GPIO_ResetBits(GPIOC, GPIO_Pin_7);
}
else
{
/* Set the C.07 pin */
GPIO_SetBits(GPIOC, GPIO_Pin_7);
}
}
/**
* @brief Selects the decay mode
* @param StepperControlMode: Specifies the Decay Mode
* This parameter can be one of the following values:
* @param Stepper_ControlFast : Sets FAST DECAY Mode
* @param Stepper_ControlSlow : Sets SLOW DECAY Mode
*
* @retval : None
*/
void Stepper_SetControlMode(uint16_t Stepper_ControlMode)
{
if(Stepper_ControlMode == Stepper_ControlFast)
{
/* Reset the C.08 pin */
GPIO_ResetBits(GPIOC, GPIO_Pin_8);
}
else
{
/* Set the C.08 pin */
GPIO_SetBits(GPIOC, GPIO_Pin_8);
}
}
/**
* @brief Activates or Desactivates the driver
* @param NewState: This parameter can be ENABLE or DISABLE.
* @retval : None
*/
void Stepper_Cmd(FunctionalState NewState)
{
if(NewState == ENABLE)
{
/* TIM2 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
/* GPIOC clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
/* Enable DMA1 clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
}
else
{
/* TIM2 clock disable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, DISABLE);
/* GPIOA clock disable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, DISABLE);
/* GPIOC clock disable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, DISABLE);
/* Disable DMA1 clock */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, DISABLE);
}
}
/**
* @brief Configures the peripherals used to control the stepper motor
* @param None
* @retval : None
*/
void Stepper_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOA Configuration:TIM2 Channel1 in Output */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* ---------------------------------------------------------------
TIM2 Configuration: Output Compare Toggle Mode:
--------------------------------------------------------------- */
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period =60000;
TIM_TimeBaseStructure.TIM_Prescaler = 2;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* Output Compare Toggle Mode configuration: Channel1 */
TIM_OCInitStructure.TIM_OCMode =TIM_OCMode_Toggle;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_ARRPreloadConfig(TIM2, ENABLE);
/* TIM enable counter */
TIM_Cmd(TIM2, ENABLE);
/* -------------------------------------------------------------------
DMA1 configuration
---------------------------------------------------------------------- */
/* DMA1 channel2 configuration ----------------------------------*/
DMA_DeInit(DMA1_Channel2);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)TIM2_ARR_Address;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)SRC_Buffer_INC;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = BufferSize;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel2, &DMA_InitStructure);
/* Enable DMA1 Channel2 Transfer Complete interrupt */
DMA_ITConfig(DMA1_Channel2, DMA_IT_TC, ENABLE);
/* Enable DMA1 Channel2 */
DMA_Cmd(DMA1_Channel2, ENABLE);
/* Enable TIM2 DMA update request */
TIM_DMACmd(TIM2,TIM_DMA_Update, ENABLE);
}
/**
* @}
*/
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/
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stm32f10x_an2820_fw.chm
2019-10-23 15:37 上傳
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用中密度stm32f103xx微控制器驅動an2820雙極步進電機詳解
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