STM32单片机步进电机S型加减速算法 -

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx.h"
#include "./usart/bsp_debug_usart.h"
#include "./stepper/bsp_stepper_S_speed.h"
#include "./stepper/bsp_stepper_init.h"
#include "./led/bsp_led.h"
#include "./key/bsp_key.h"
/**
* @brief 主函数
* @param 无
* @retval 无
*/
int main(void)
{
HAL_Init();
HAL_InitTick(0);
/* 初始化系统时钟为168MHz */
SystemClock_Config();
/* 按键初始化 */
Key_GPIO_Config();
/*初始化USART 配置模式为 115200 8-N-1，中断接收*/
DEBUG_USART_Config();
printf("欢迎使用野火电机开发板步进电机S形加减速定长移动——单轴例程\r\n");
printf("按下按键1 按键2 可开始加减速演示\r\n");
/*步进电机初始化*/
stepper_Init();
while (1)
{
if(Key_Scan(KEY1_GPIO_PORT, KEY1_PIN) == KEY_ON)
{
for(uint8_t i = 0; i < 6; i++)
{
Stepper_Move_S(60, 1784, 0.1f, 5 * SPR);
while(Stepper.status != STOP);
HAL_Delay(10);
Stepper_Move_S(60, 1784, 0.1f, -5 * SPR);
while(Stepper.status != STOP);
HAL_Delay(10);
}
}
if(Key_Scan(KEY2_GPIO_PORT, KEY2_PIN) == KEY_ON)
{
Stepper_Move_S(60, 1500, 0.28f, 30 * SPR);
}
}
}
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 168000000
* HCLK(Hz) = 168000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = 8000000
* PLL_M = 25
* PLL_N = 336
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__HAL_RCC_PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 25;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
while(1) {};
}
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if(HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
while(1) {};
}
/* STM32F405x/407x/415x/417x Revision Z devices: prefetch is supported */
if (HAL_GetREVID() == 0x1001)
{
/* Enable the Flash prefetch */
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
}
}

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