步进电机驱动 C#上位机和STM32下位机源程序步数方向控制 -

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "adc.h"
#include "crc.h"
#include "timer.h"
#include "exti.h"
#define TIMES 5 //0.5 进5次反转一次
#define INIT_STEPS1 500
#define INIT_STEPS2 500
#define INIT_STEPS3 500
#define INIT_STEPS4 500
#define INIT_STEPS5 500
u16 StepNum[5]; //走的步数
u8 Move_Flag[5]; //走不走
u8 Move_Dir_Flag[5]; //走的方向
u8 receive[20]; //接收的数据
u8 send[20]; //发送的数据
u16 crc;
u8 k =0;
u16 Total_times; //运行要走的来回数目；
u8 Runing_flag; //运行的标志位
u16 Real_times;//运行真实走的次数；
u8 Init_flag; //初始化标志位
u8 Init_motor_num = 0; //初始化时逐一初始化
//初始值始终为0
u8 i; //定时器标志位
u8 j = 0; //每个电机的循环
u16 Real_Step[5]; //实际走的步数
u8 Res;
u8 p=0;
int main(void)
{
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
uart_init(115200); //串口初始化为115200
LED_Init(); //LED端口初始化
Key_Init();
send[0]=0x55;
send[1]=0x02;
ENA1 = 0;
ENA2 = 0;
ENA3 = 0;
ENA4 = 0;
ENA5 = 0;
PWM1 = 1;
PWM2 = 1;
PWM3 = 1;
PWM4 = 1;
PWM5 = 1;
EXTIX_Init();
TIM3_Int_Init(4,799);//0.5ms进一次定时器
while(1)
{
delay_ms(1000);
// PWM1=~PWM1;
// PWM5=~PWM5;
// PWM2=~PWM2;
// PWM3=~PWM3;
// PWM4=~PWM4;
LED0=~LED0;
}
}
//定时器3中断服务程序
void TIM3_IRQHandler(void) //TIM3中断
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查TIM3更新中断发生与否
{
i++;
if(i>=TIMES)
{
i=0;
if(Init_flag !=0)
{
if(Init_flag ==1 )
{
switch(Init_motor_num)
{
case 1:
if(PWM1 == 1)
{
PWM1=0;
}
else
{
PWM1=1;
}
break;
case 2:
if(PWM2 == 1)
{
PWM2=0;
}
else
{
PWM2=1;
}
break;
case 3:
if(PWM3 == 1)
{
PWM3=0;
}
else
{
PWM3=1;
}
break;
case 4:
if(PWM4 == 1)
{
PWM4=0;
}
else
{
PWM4=1;
}
break;
case 5:
if(PWM5 == 1)
{
PWM5=0;
}
else
{
PWM5=1;
}
break;
}
}
else
{
switch(Init_motor_num)
{
case 1:
if(PWM1 == 1)
{
PWM1=0;
Real_Step[0]++;
}
else
{
PWM1=1;
if(Real_Step[0]>=INIT_STEPS1) //走够了
{
ENA1 = 0;
ENA2 = 1;
Real_Step[0]=0;
Init_motor_num++;
Init_flag = 1;
}
}
break;
case 2:
if(PWM2 == 1)
{
PWM2=0;
Real_Step[1]++;
}
else
{
PWM2=1;
if(Real_Step[1]>=INIT_STEPS2) //走够了
{
ENA2 = 0;
ENA3 = 1;
Real_Step[1]=0;
Init_motor_num++;
Init_flag = 1;
}
}
break;
case 3:
if(PWM3 == 1)
{
PWM3=0;
Real_Step[2]++;
}
else
{
PWM3=1;
if(Real_Step[2]>=INIT_STEPS3) //走够了
{
ENA3 = 0;
ENA4 = 1;
Real_Step[2]=0;
Init_motor_num++;
Init_flag = 1;
}
}
break;
case 4:
if(PWM4 == 1)
{
PWM4=0;
Real_Step[3]++;
}
else
{
PWM4=1;
if(Real_Step[3]>=INIT_STEPS4) //走够了
{
ENA4 = 0;
ENA5 = 1;
Real_Step[3]=0;
Init_motor_num++;
Init_flag = 1;
}
}
break;
case 5:
if(PWM5 == 1)
{
PWM5=0;
Real_Step[4]++;
}
else
{
PWM5=1;
if(Real_Step[4]>=INIT_STEPS5) //走够了
{
ENA5 = 0;
Real_Step[4]=0;
Init_motor_num = 0;
Init_flag = 0;
send[2]=0x02;
send[3]=0x02;
send[4] = 1;
send[5] = 2;
send[6] = 0xaa;
send[7] = 0xbb;
for(j=0;j<8;j++) //发送步数
{
USART_SendData(USART1, send[j]);//向串口1发送数据
while(USART_GetFlagStatus(USART1,USART_FLAG_TC)!=SET);//等待发送结束
}
}
}
break;
}
}
}
}
else
{
if(Runing_flag==1) //运行
{
if(Move_Dir_Flag[0]==0) //走的方向
DIR1 = 0;
else
DIR1 = 1;
if(PWM1 == 1)
{
PWM1=0;
Real_Step[0]++;
}
else
{
PWM1=1;
if(Real_Step[0]>=StepNum[0]) //走够了
{
Real_Step[0]=0;
if(Move_Dir_Flag[0]==1) //走的方向
Move_Dir_Flag[0] = 0;
else
{
Move_Dir_Flag[0] = 1;
Real_times++;
send[2]=0x01;
send[3]=0x02;
send[4] = Real_times/256;
send[5] = Real_times%256;
send[6] = 0xaa;
send[7] = 0xbb;
for(j=0;j<8;j++) //发送步数
{
USART_SendData(USART1, send[j]);//向串口1发送数据
while(USART_GetFlagStatus(USART1,USART_FLAG_TC)!=SET);//等待发送结束
}
if(Real_times>=Total_times) //次数达到了
{
ENA1 = 0;
Real_Step[0]=0;
Runing_flag= 0;
PWM1=1;
}
}
}
}
}
else
{
if(Move_Flag[0]==1) //1号电机要转
{
if(Move_Dir_Flag[0]==0) //走的方向
DIR1 = 0;
else
DIR1 = 1;
if(PWM1 == 1)
{
PWM1=0;
Real_Step[0]++;
}
else
{
PWM1=1;
if(Real_Step[0]>=StepNum[0]) //走够了
{
ENA1 = 0;
Move_Flag[0] = 0;
Real_Step[0]=0;
StepNum[0] = 0;
}
}
}
if(Move_Flag[1]==1) //1号电机要转
{
if(Move_Dir_Flag[1]==0) //走的方向
DIR2 = 0;
else
DIR2 = 1;
if(PWM2 == 1)
{
PWM2=0;
Real_Step[1]++;
}
else
{
PWM2=1;
if(Real_Step[1]>=StepNum[1]) //走够了
{
ENA2 = 0;
Move_Flag[1] = 0;
Real_Step[1]=0;
StepNum[1] = 0;
}
}
}
if(Move_Flag[2]==1) //1号电机要转
{
if(Move_Dir_Flag[2]==0) //走的方向
DIR3 = 0;
else
DIR3 = 1;
if(PWM3 == 1)
{
PWM3=0;
Real_Step[2]++;
}
else
{
PWM3=1;
if(Real_Step[2]>=StepNum[2]) //走够了
{
ENA3 = 0;
Move_Flag[2] = 0;
Real_Step[2]=0;
StepNum[2] = 0;
}
}
}
if(Move_Flag[3]==1) //1号电机要转
{
if(Move_Dir_Flag[3]==0) //走的方向
DIR4 = 0;
else
DIR4 = 1;
if(PWM4 == 1)
{
PWM4=0;
Real_Step[3]++;
}
else
{
PWM4=1;
if(Real_Step[3]>=StepNum[3]) //走够了
{
ENA4 = 0;
Move_Flag[3] = 0;
Real_Step[3]=0;
StepNum[3] = 0;
}
}
}
if(Move_Flag[4]==1) //1号电机要转
{
if(Move_Dir_Flag[4]==0) //走的方向
DIR5 = 0;
else
DIR5 = 1;
if(PWM5 == 1)
{
PWM5=0;
Real_Step[4]++;
}
else
{
PWM5=1;
if(Real_Step[4]>=StepNum[4]) //走够了
{
ENA5 = 0;
Move_Flag[4] = 0;
Real_Step[4]=0;
StepNum[4] = 0;
}
}
}
}
}
}
TIM_ClearITPendingBit(TIM3, TIM_IT_Update); //清除TIMx更新中断标志
}
void USART1_IRQHandler(void) //串口1中断服务程序
{
//1.缓冲数据
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾)
{
Res =USART_ReceiveData(USART1);//(USART1->DR); //读取接收到的数据
}
receive[p++]=Res;
//2.完整性判断
while(p>=6) //六个数据
{
//2.1查找数据头
if(receive[0]==0x55)
{
u8 len=receive[3];
if(p<len+6)
{
break; //跳出接收函数后继续接收数据
}
if(receive[len+4]==GetCRC16(receive,len+4)/256&&receive[len+5]==GetCRC16(receive,len+4)%256)//校验成功
{
p=0;
switch (receive[2])
{
case 0x01: //一个电机要动
{
Move_Flag[receive[4]-1] = 1; //走不走
StepNum[receive[4]-1] = receive[5]*256+receive[6]; //走的步数
Move_Dir_Flag[receive[4]-1]=receive[7]; //走的方向
switch(receive[4])
{
case 1:
ENA1 = 1;
break;
case 2:
ENA2 = 1;
break;
case 3:
ENA3 = 1;
break;
case 4:
ENA4 = 1;
break;
case 5:
ENA5 = 1;
break;
}
break;
}
case 0x02: //多个电机动
{
for (j=0;j<5;j++)
{
Move_Flag[j] = 1; //走不走
StepNum[j] = receive[3*j+4]*256+receive[3*j+5];
Move_Dir_Flag[j] = receive[3*j+6]; //走的方向
Real_Step[j] = 0;
}
ENA1 = 1;
ENA2 = 1;
ENA3 = 1;
ENA4 = 1;
ENA5 = 1;
break;
}
case 0x03: //运行
{
StepNum[0] = receive[4]*256+receive[5];
Total_times = receive[6]*256+receive[7];
Move_Dir_Flag[0] = 1;
Real_Step[0]=0;
Runing_flag= 1;
Real_times = 0;
ENA1 = 1;
break;
}
case 0x04: //初始化
{
Init_flag = 1; //初始化标志位置1
DIR1 = 0;//先向右走
DIR2= 0;
DIR3= 0;
DIR4= 0;
DIR5= 0;
ENA1 = 1;
Init_motor_num = 1;
break;
}
case 0x05: //急停
{
PWM1= 1;
Move_Flag[0] = 0; //走不走
Real_Step[0] = 0;
Runing_flag= 0;
Real_times = 0;
Init_flag = 0; //初始化标志位置1
ENA1 = 0;
ENA2 = 0;
ENA3 = 0;
ENA4 = 0;
ENA5 = 0;
break;
}
}
}
else//校验失败
{
p=0;
continue;
}
}
else
{
//重新接收
p=0;
}
}
}
//外部中断2服务程序
void EXTI2_IRQHandler(void)
{
if(Init_flag==1)
{
Init_flag = 2;
switch(Init_motor_num)
{
case 1:
PWM1 = 1;
DIR1 = 1;
Real_Step[0]=0;
break;
case 2:
PWM2 = 1;
DIR2 = 1;
Real_Step[1]=0;
break;
case 3:
PWM3 = 1;
DIR3 = 1;
Real_Step[2]=0;
break;
case 4:
PWM4 = 1;
DIR4 = 1;
Real_Step[3]=0;
break;
case 5:
PWM5 = 1;
DIR5 = 1;
Real_Step[4]=0;
break;
}
}
EXTI_ClearITPendingBit(EXTI_Line2); //清除LINE2上的中断标志位
}

复制代码