STM32步進電機加減速曲線源程序

ID:245515 · 發表于 2017-11-2 22:23

STM32的步進電機控制的加減速曲 ..很好的程序。值得學習.

單片機源程序如下:

#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();/*[初始化外圍設備指針]*/
#endif
RCC_Configuration(); //初始化時鐘與復位
NVIC_Configuration();//初始化中斷嵌套
TIM2_Configuration();//初始化定時器
GPIO_Configuration();
GPIO_WriteBit(GPIOD, GPIO_Pin_7, (BitAction)(0));
GPIO_WriteBit(GPIOD, GPIO_Pin_6, (BitAction)(0)); //DCY1 DCY2為00，即Normal %0 DECAY
GPIO_WriteBit(GPIOE, GPIO_Pin_7, (BitAction)(1));
GPIO_WriteBit(GPIOB, GPIO_Pin_1, (BitAction)(0)); //M1M2為10，即1-2-phase
//GPIO_WriteBit(GPIOA, GPIO_Pin_4, (BitAction)(1)); //正向旋轉
//GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_4)));正、反向旋轉控制
GPIO_WriteBit(GPIOB, GPIO_Pin_0, (BitAction)(0));
GPIO_WriteBit(GPIOC, GPIO_Pin_5, (BitAction)(1)); //TQ1 TQ2為01，即Current Ratio為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; //設置TIM2通道輸入中斷
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; /*配置優先級組*/
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; /*允許TIM2全局中斷*/
NVIC_Init(&NVIC_InitStructure);
}
void TIM2_Configuration(void)
{
TIM_SetCounter( TIM2, 0x0000);
TIM_ClearFlag(TIM2, TIM_FLAG_Update); /*清除更新標志位*/
TIM_ClearITPendingBit(TIM2, TIM_FLAG_Update); //清除TIM2等待中斷更新中斷標志位
TIM_ARRPreloadConfig(TIM2, ENABLE); /*預裝載寄存器的內容被立即傳送到影子寄存器 */
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //使能TIM2的更新
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructure.TIM_Period = 2000; //設定的最大計數值2000，最大計數值是0xffff
TIM_TimeBaseStructure.TIM_Prescaler = 72; //分頻72
TIM_TimeBaseStructure.TIM_ClockDivision = 0; // 時鐘分割
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //計數方向向上計數
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); //打開TIM2的時鐘
}
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) //加速階段，分t1級加速
{
r1++;
pulse1=(150000*t1)/(r1*Vt);
TIM_SetAutoreload(TIM2,pulse1);
}
if(t1<=StepCount<=4*S) //勻速階段運行要求的步數或者距離
{
pulse=150000/Vt;
TIM_SetAutoreload(TIM2,pulse);
}
if(StepCount>4*S) //減速階段，走完S步后開始減速，分t2-1級減速
{
r2--;
if(t2>=1)
{
pulse2=(150000*t2)/(r2*Vt);
TIM_SetAutoreload(TIM2,pulse2);
}
}
}
main.h文件內容：
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