STM32F103xx微控制器驱动步进电机源码 -

/**
******************************************************************************
* @file FullHalfStepMode/src/main.c
* @author MCD Application Team
* @version V2.0.0
* @date 04/27/2009
* @brief Main program body
******************************************************************************
* @copy
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>© COPYRIGHT 2009 STMicroelectronics</center></h2>
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "StepperMotor.h"
#include <stdio.h>
/** @addtogroup FullHalfStepMode
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* -------------------- Stepper modes entering function ---------------- */
/******* Define the Rotation Direction *******/
#define RotationDirection_CW
//#define RotationDirection_CCW
/******* Define the Step Mode *********/
#define Half_Step
//#define Full_Step
/******* Define the Decay Mode ********/
//#define ControlSlow_Current
#define ControlFast_Current
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
ErrorStatus HSEStartUpStatus;
/* Private function prototypes -----------------------------------------------*/
void RCC_Configuration(void);
void NVIC_Configuration(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval : None
*/
int main(void)
{
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC Configuration */
NVIC_Configuration();
/* Activate the driver */
Stepper_Cmd(ENABLE);
/* Driver control pin configuration */
Stepper_PinControlConfig();
/* Disable the initialization of the driver */
Stepper_ResetDisable();
/* -----------Modes selection: Rotation direction, Step mode, Decay mode---------------*/
#ifdef RotationDirection_CW
Stepper_SetRotationDirection(Stepper_RotationDirection_CW);
#endif /* RotationDirection_CW */
#ifdef RotationDirection_CCW
Stepper_SetRotationDirection(Stepper_RotationDirection_CCW);
#endif /* RotationDirection_CCW */
#ifdef Half_Step
Stepper_SelectMode(Stepper_Half);
#endif /* Half_Step */
#ifdef Full_Step
Stepper_SelectMode(Stepper_Full);
#endif /* Full_Step */
#ifdef ControlSlow_Current
Stepper_SetControlMode(Stepper_ControlSlow);
#endif /* ControlSlow_Current */
#ifdef ControlFast_Current
Stepper_SetControlMode(Stepper_ControlFast);
#endif /* ControlFast_Current */
/* Start the stepper motor */
Stepper_Start(ENABLE);
/* Peripherals configuration */
Stepper_Init();
while (1)
{
}
}
/**
* @brief Configures the different system clocks.
* @param None
* @retval : None
*/
void RCC_Configuration(void)
{
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
}
/**
* @brief Configure the nested vectored interrupt controller.
* @param None
* @retval : None
*/
void NVIC_Configuration(void)
{
NVIC_SetPriorityGrouping(7); /* 0 bits for pre-emption priority 4 bits for
subpriority*/
NVIC_SetPriority(DMA1_Channel2_IRQn, 0x01); /* 0x01 = 0x0 << 3 | (0x1 & 0x7), prority
is 0x01 << 4 */
NVIC_EnableIRQ(DMA1_Channel2_IRQn);
}
#ifdef USE_FULL_ASSERT
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