STM32控制步进电机程序

主函数#include"sys.h"#include"usart.h"#include"delay.h"#include"led.h"#include"timer.h"#include"key.h"intmain(void){u8t;u32v=100;Stm32_Clock_Init(9);系统时钟设置delay_init(72); 延时初始化uart_init(72,9600); //串口初始化LED_Init(); //LEDKEY_Init();初始化与按键连接的硬件接口RCC->APB2ENR|=1<<2; //PORTAGPIOA->CRL&=0X0FFFFFFF;GPIOA->CRL|=0X30000000;//PA7推挽输出GPIOA->ODR|=1<<7; //PA7输出高GPIOA->CRL&=0XFF0FFFFF;GPIOA->CRL|=0X00300000;//PA5推挽输出GPIOA->ODR|=1<<5; //PA5输出高LED1=1;LED0=1;while(1){t=KEY_Scan(0); //switch(t){ caseKEY0_PRES:v=v+10;TIM3_Int_Init(v,7199);//10Khz的计数频率TIM3->CR1|=0x01;break;caseKEY1_PRES:v=v-10 ;TIM3_Int_Init(v,7199);//10Khz的计数频率TIM3->CR1|=0x01; //使能定时器3break;caseWKUP_PRES:TIM3->CR1&=0xFE;//关定时器3；break;}}}LED初始化#include"sys.h"#include"led.h"voidLED_Init(void){RCC->APB2ENR|=1<<2;//使能PORTA时钟RCC->APB2ENR|=1<<5;//使能PORTD时钟GPIOA->CRH&=0XFFFFFFF0;GPIOA->CRH|=0X00000003;//PA8推挽输出GPIOA->ODR|=1<<8; //PA8输出高GPIOD->CRL&=0XFFFFF0FF;GPIOD->CRL|=0X00000300;//PD.2推挽输出GPIOD->ODR|=0x0004; //PD.2输出}按键初始化#include"key.h"#include"delay.h"voidKEY_Init(void){RCC->APB2ENR|=1<<2; //使能PORTA时钟RCC->APB2ENR|=1<<4; //使能PORTC时钟JTAG_Set(SWD_ENABLE); //关闭开启SWDGPIOA->CRL&=0XFFFFFFF0; //PA0设置成输入GPIOA->CRL|=0X00000008;GPIOA->CRH&=0X0FFFFFFF;//PA15设置成输入GPIOA->CRH|=0X80000000;GPIOA->ODR|=1<<15; //PA15上,PA0默认下拉GPIOC->CRL&=0XFF0FFFFF; //PC5设置成输入GPIOC->CRL|=0X00800000;GPIOC->ODR|=1<<5; //PC5上拉}u8KEY_Scan(u8mode){staticu8按键按松开标志if(mode)key_up=1; //支持连按{delay_ms(10);//去抖动key_up=0;KEY0_PRES;elseif(KEY1==0)returnKEY1_PRES;elseif(WK_UP==1)returnWKUP_PRES;}elseif(KEY0==1&&KEY1==1&&WK_UP==0)key_up=1;return0;//无按键按下}#include"timer.h"#include"led.h"u32i=0;//定时器3中断服务程序voidTIM3_IRQHandler(void){if(TIM3->SR&0X0001)//溢出中断{//GPIOA->ODR^=0x0100;GPIOA->ODR^=0x0080;LED0=!LED0;}TIM3->SR&=~(1<<0);//清除中断标志位}voidTIM3_Int_Init(u16arr,u16psc){RCC->APB1ENR|=1<<1;//TIM3时钟使能TIM3->ARR=ar