步进电机加减速程序

步进电机加减速程序2009-7-24 14:52提问者：568826036|浏览次数：1251次要求C语言写的程序2009-7-29 14:43最佳答案main.c文件内容：#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_RAMint main(void){#ifdef DEBUGdebug();/*[初始化外围设备指针]*/#endifRCC_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 DECAYGPIO_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(GPI OA,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(GPIO A,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,StepResetGPIO_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MoGPIO_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TQ2GPIO_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M2GPIO_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M1GPIO_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DCY1GPIO_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_RAMNVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);#elseNVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);#endifNVIC_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0xffffTIM_TimeBaseStructure.TIM_Prescaler = 72; //分频72TIM_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_4extern 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(GPIO A,GPIO_Pin_3)));StepCount=StepCount+1;f(300,10,10,4000);}。