步进电机加减速程序.doc

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：#includestm32f10x_lib.h#includemain.hTIM_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 DEBUG debug();/*初始化外围设备指针*/ #endif RCC_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 DECAY GPIO_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(GPIOA,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(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; /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0xffff TIM_TimeBaseStructure.TIM_Prescaler = 72; /分频72 TIM_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 countervoid 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(StepCountt1) /加速阶段，分t1级加速 r1+; pulse1=(150000*t1)/(r1*Vt); TIM_SetAutoreload(TIM2,pulse1); if(t1=StepCount4*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(in