標(biāo)題: STM32步進(jìn)電機(jī)驅(qū)動算法（轉(zhuǎn)帖） [打印本頁]
作者: zgb236    時間: 2019-12-6 23:48
標(biāo)題: STM32步進(jìn)電機(jī)驅(qū)動算法（轉(zhuǎn)帖）
部分核心代碼

  1. #define ACCELERATED_SPEED_LENGTH  3000    //定義加速度的點數(shù)（其實也是3000個細(xì)分步的意思），調(diào)這個參數(shù)改變加速點
  2. #define FRE_MIN 3000     //最低的運行頻率，調(diào)這個參數(shù)調(diào)節(jié)最低運行速度
  3. #define FRE_MAX 24000  //最高的運行頻率，調(diào)這個參數(shù)調(diào)節(jié)勻速時的最高速度

  5. int step_to_run;  //要運行的步數(shù)
  6. float fre[ACCELERATED_SPEED_LENGTH];  //數(shù)組存儲加速過程中每一步的頻率
  7. unsigned short period[ACCELERATED_SPEED_LENGTH]; //數(shù)組儲存加速過程中每一步定時器的自動裝載值

  9. void CalculateSModelLine(float fre[],  unsigned short period[],   float  len,  float fre_max,  float fre_min, float flexible)
  10. {
  11.     int i=0;
  12.     float deno ;
  13.     float melo ;
  14.     float delt = fre_max-fre_min;
  15.     for(; i<len; i++)
  16.     {
  17.         melo = flexible * (i-len/2) / (len/2);
  18.         deno = 1.0 / (1 + expf(-melo));   //expf is a library function of exponential(e)
  19.         fre[i] = delt * deno + fre_min;
  20.         period[i] = (unsigned short)(1000000.0 / fre[i]);    // 10000000 is the timer driver frequency
  21.     }
  22.    return ;
  23. }

  25. //主函數(shù)

  27. int main(void)
  28. {

  30.     u8 t;

  32.     delay_init();
  33.     NVIC_Config();
  34.     LED_Init();    //初始化IO口
  35.       TIM1_Int_Init(10,72); //設(shè)置定時器的頻率等
  36.     //PB8 9 12 13
  37.     //KEY_Init();
  38.     //SMG_io_init();
  39.     CalculateSModelLine(fre,period,ACCELERATED_SPEED_LENGTH,FRE_MAX,FRE_MIN,4);
  40.     TIM_Cmd(TIM1, ENABLE);

  42.     while(1)
  43.     {

  45.         }
  46. }

  48. 定時器初始化

  50. void TIM1_Int_Init(u16 arr,u16 psc)  
  51. {  
  52.     NVIC_InitTypeDef NVIC_InitStructure;  
  53.     TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;  
  54.     TIM_OCInitTypeDef  TIM_OCInitStructure;

  56.     TIM_DeInit(TIM1);                                           /*¸′λTIM1¶¨ê±Æ÷*/  
  57.     RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);        /*¿aê±Öó*/  
  58.     TIM_TimeBaseStructure.TIM_Period = arr;                     /*ê±ÖóμÎ′eμÄ′Îêy￡¬1»êyÖD¶ÏÕaàïêÇ1msÖD¶Ïò»′Î*/      
  59.     TIM_TimeBaseStructure.TIM_Prescaler = psc;                /* ·ÖÆμ720*/         
  60.     TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;            
  61.     TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /*¼Æêy·½ÏòÏòéϼÆêy*/  
  62.     TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

  64.     TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);  

  66.        /* Channel 1, 2,3 and 4 Configuration in PWM mode */
  67.     TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
  68.     TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  69.     TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; //2»ê1óÃNμÄêä3ö￡¬ËùòÔòa1Øμô
  70.     TIM_OCInitStructure.TIM_Pulse = 0;   //μúò»′ÎûóDêä3öÂö3å
  71.     TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  72.     TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  73.     TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
  74.     TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

  76.     TIM_OC4Init(TIM1, &TIM_OCInitStructure);
  77.     TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);        
  78.     /* Clear TIM1 update pending flag  Çå3yTIM1òç3öÖD¶Ï±êÖ¾]  */  
  79.     TIM_ClearFlag(TIM1, TIM_FLAG_Update);                 
  80.     NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;          /*òç3öÖD¶Ï*/  
  81.     NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  
  82.     NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;   
  83.     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  
  84.     NVIC_Init(&NVIC_InitStructure);  

  86.         /* TIM1 counter enable */
  87.         TIM_Cmd(TIM1, DISABLE);
  88.         /* TIM1 Main Output Enable */
  89.         TIM_CtrlPWMOutputs(TIM1, ENABLE);

  91.         TIM_ClearFlag(TIM1, TIM_FLAG_Update);
  92.         TIM_ITConfig(TIM1,TIM_IT_Update,ENABLE);
  93. }

  95. //初始化定時器IO

  97. void LED_Init(void)
  98. {
  99.     GPIO_InitTypeDef  GPIO_InitStructure;

  101.     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

  103.     //設(shè)置PA11為復(fù)用推挽輸出
  104.     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  105.     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  106.     GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 | GPIO_Pin_8 | GPIO_Pin_11 | GPIO_Pin_12;
  107.     GPIO_Init(GPIOA, &GPIO_InitStructure);   

  109.     //Âö3å¿ú+·½Ïò
  110.     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  111.     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  112.     GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_5;
  113.     GPIO_Init(GPIOB, &GPIO_InitStructure);   

  115.       /* TIM1 Full remapping pins */
  116.     GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);   //打開重映射
  117. }



  121. 定時器更新中斷

  123. int i = 0;
  124. void TIM1_UP_IRQHandler(void)  
  125. {  
  126.   TIM_ClearFlag(TIM1, TIM_FLAG_Update);
  127.     if(i < ACCELERATED_SPEED_LENGTH && g_motor_dir_s == 0) //加速，直到步數(shù)達(dá)到 ACCELERATED_SPEED_LENGTH
  128.     {
  129.         TIM1->ARR= period[i];
  130.         TIM1->CCR4= period[i]/2;
  131.         i++;
  132.     step_to_run = 20000;   //這里設(shè)置要跑的步數(shù)，當(dāng)然可以寫在main函數(shù)中，這里沒有把加減速的步數(shù)算上
  133.     }
  134.     else if(step_to_run > 0) //勻速
  135.     {
  136.         step_to_run--;
  137.      }
  138.   else if(i > 0 && g_motor_dir_s == 1)  //電機(jī)減速
  139.   {
  140.         i--;
  141.         TIM1->ARR= period[i];
  142.         TIM1->CCR4= period[i]/2;
  143.     }        

  145.     if(i == ACCELERATED_SPEED_LENGTH || i == 0)
  146.         {
  147.             g_motor_dir_s = (~g_motor_dir_s)&0x01;
  148.             }   
  149. }
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