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stm32 T型加速控制步进电机的代码分享

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问答对人有帮助，内容完整，我也想知道答案 0 STM32 T型加速控制步进电机的代码分享 0
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答案对人有帮助，有参考价值 0 #define AXIS_PULSE_0 GPIO_Pin_8 #define AXIS_PULSE_1 GPIO_Pin_2 #define AXIS_PULSE_2 GPIO_Pin_7 #define AXIS_PULSE_3 GPIO_Pin_3 u16 AxisPulsePin[4] = {AXIS_PULSE_0, AXIS_PULSE_1, AXIS_PULSE_2, AXIS_PULSE_3};// pa8, pa2, pa7, pa3 u16 AxisDirPin[4] = {GPIO_Pin_0, GPIO_Pin_2, GPIO_Pin_3, GPIO_Pin_13}; // pc0, pc2, pc3, pc13 double tim_count_num = 1000000; #define step_psc 71 #define STOP 0 //停止 #define ACCEL 1 //加速 #define DECEL 2 //减速 #define RUN 3 //最大速度运行 #define PAUSE 4 //减速停止 AxisData axisData[4]; //工作状态 void get_ad_step(long steps, double start_speed, double max_speed, double a_speed, double d_speed, int a_step, int d_step){ int a, d; double count = 0; double v = start_speed; a = 1; d = 1; while(v < max_speed){ v += a_speed/v; a ++; } v = start_speed; while(v < max_speed){ v += d_speed/v; d++; } if(a + d <= steps){ a_step = a; d_step = d; }else{ a_step = steps a /(a + d); d_step = steps - a_step; } } void init_axis_data(int ax, long steps, double start_speed, double max_speed, double a_speed, double d_speed) { int a_step, d_step; get_ad_step(steps, start_speed, max_speed, a_speed, d_speed, &a_step, &d_step); if(steps >= 0) { axisData[ax].dir = 1; axisData[ax].step_count = steps; }else{ axisData[ax].dir = -1; axisData[ax].step_count = -steps; } axisData[ax].start_speed = start_speed; axisData[ax].cur_speed = start_speed; axisData[ax].max_speed = max_speed; axisData[ax].a_speed = a_speed; axisData[ax].d_speed = d_speed; axisData[ax].a_step = a_step; axisData[ax].d_step = d_step; axisData[ax].step_delay = tim_count_num/start_speed; axisData[ax].max_delay = tim_count_num/start_speed; axisData[ax].min_delay = tim_count_num/max_speed; axisData[ax].step_run = 0; axisData[ax].run_state = ACCEL; } int stepper_t_move(int ax, long steps, double start_speed, double max_speed, double a_speed, double d_speed) { // if(ax < 0 \|\| ax > 4 ) // { // return -1; // } init_axis_data(ax, steps, start_speed, max_speed, a_speed, d_speed); if(steps >= 0){ GPIO_SetBits(GPIOC, AxisDirPin[ax]); }else{ GPIO_ResetBits(GPIOC, AxisDirPin[ax]); } if(ax == 0){ }else if(ax == 1){ TIM2->CCR3 = axisData[1].step_delay/2;//占空比50% TIM2->ARR = axisData[1].step_delay; TIM_Cmd(TIM2, ENABLE); }else if(ax == 2){ }else if(ax == 3){ } } //获取ax轴运行状态 0表示已停止 int stepper_get_state(int ax) { return axisData[ax].run_state; } //获取剩余步数 ax 轴号 long stepper_get_rem_steps(int ax) { return axisData[ax].step_count - axisData[ax].step_run; } //减速停止 void stepper_set_pause(int ax) { axisData[ax].run_state = PAUSE; } void init_stepper() { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; TIM_OCInitTypeDef TIM_OCInitStructure; NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级 RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 \| RCC_APB2Periph_GPIOA \| RCC_APB2Periph_GPIOC, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 \| RCC_APB1Periph_TIM3 \| RCC_APB1Periph_TIM5 \| RCC_APB2Periph_AFIO , ENABLE); //使能GPIO外设和AFIO复用功能模块时钟 //初始化脉冲输出口 GPIO_InitStructure.GPIO_Pin = AxisPulsePin[0] \| AxisPulsePin[1] \| AxisPulsePin[2] \| AxisPulsePin[3]; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIO //初始化方向输出口 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Pin = AxisDirPin[0] \| AxisDirPin[1] \| AxisDirPin[2] \| AxisDirPin[3]; //TIM1_CH1 GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化GPIO } void TIM2_init() { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; TIM_OCInitTypeDef TIM_OCInitStructure; //初始化TIM2 TIM_TimeBaseStructure.TIM_Period = axisData[1].step_delay; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =step_psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 // TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0; TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 /初始化TIM2 Channel3 PWM模式/ TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1 计数值 < CCRX时为高电平，否则为低电平 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 TIM_OCInitStructure.TIM_Pulse = 0; TIM_OC3Init(TIM2, &TIM_OCInitStructure); TIM_ClearFlag(TIM2,TIM_FLAG_Update); // TIM_ARRPreloadConfig(TIM3,DISABLE) ; TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能TIM2在CCR3上的预装载寄存器 TIM_ITConfig( //使能或者失能指定的TIM中断 TIM2, //TIM3 TIM_IT_Update , ENABLE //使能 ); NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM2中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //先占优先级0级 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级3级 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能 NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器 } void TIM2_IRQHandler(void) //TIM2中断 { u8 ReadValue; if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源 { TIM_ClearITPendingBit(TIM2, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源 } axisData[1].step_run ++; if(axisData[1].run_state == RUN){ if( axisData[1].step_run > axisData[1].step_count){ axisData[1].run_state = STOP; TIM_Cmd(TIM2, DISABLE); return; } if(axisData[1].step_count - axisData[1].step_run <= axisData[1].d_step){ axisData[1].cur_speed -= axisData[1].d_speed/axisData[1].cur_speed; axisData[1].step_delay = tim_count_num/axisData[1].cur_speed + 0.5; axisData[1].run_state = DECEL; } }else if(axisData[1].run_state == ACCEL){ TIM2->CCR3 = axisData[1].step_delay/2;//占空比50% TIM2->ARR = axisData[1].step_delay; if(axisData[1].step_delay > axisData[1].min_delay){ axisData[1].cur_speed += axisData[1].a_speed/axisData[1].cur_speed; axisData[1].step_delay = tim_count_num/axisData[1].cur_speed + 0.5; if(axisData[1].step_delay < axisData[1].min_delay){ axisData[1].step_delay = axisData[1].min_delay; } } if(axisData[1].step_run >= axisData[1].a_step){ axisData[1].run_state = RUN; } }else if(axisData[1].run_state == DECEL){ if( axisData[1].step_run > axisData[1].step_count){ axisData[1].run_state = STOP; TIM_Cmd(TIM2, DISABLE); return; } TIM2->CCR3 = axisData[1].step_delay/2;//占空比50% TIM2->ARR = axisData[1].step_delay; if(axisData[1].step_delay < axisData[1].max_delay){ axisData[1].cur_speed -= axisData[1].d_speed/axisData[1].cur_speed; axisData[1].step_delay = tim_count_num/axisData[1].cur_speed + 0.5; if(axisData[1].step_delay > axisData[1].max_delay){ axisData[1].step_delay = axisData[1].max_delay; } } }else if (axisData[1].run_state == PAUSE){ TIM2->CCR3 = axisData[1].step_delay/2;//占空比50% TIM2->ARR = axisData[1].step_delay; if(axisData[1].step_delay < axisData[1].max_delay){ axisData[1].cur_speed -= axisData[1].d_speed/axisData[1].cur_speed; axisData[1].step_delay = tim_count_num/axisData[1].cur_speed + 0.5; if(axisData[1].step_delay > axisData[1].max_delay){ axisData[1].step_delay = axisData[1].max_delay; } }else{ axisData[1].run_state = STOP; TIM_Cmd(TIM2, DISABLE); return; } }else{ axisData[1].run_state = STOP; TIM_Cmd(TIM2, DISABLE); return; } } int main(void) { init_stepper(); TIM2_init(); stepper_t_move(1, 1000, 200, 4000, 2000, 2000); while(1) { } } 以上只是示列代码，正在将代码封装成可以直接调用的库

2021-12-22 11:23:19 评论举报姚庭芳