分享个简易的步进电机S加减速 -

#include "PWM.h"
static void TIM_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);
/* PA0(TIM2_CH1) PA1(TIM5_CH2) PA6(TIM3_CH1) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* PB6(TIM4_CH1) */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
static void TIM2_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM2 开启时钟 */
//PCLK1经过2倍频后作为TIM2的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* TIM2基本配置 */
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置预分频：不预分频，即为72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
/* PWM2模式通道1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置为PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能比较输出
TIM_OCInitStructure.TIM_Pulse = 200; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC1Init(TIM2, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM2, ENABLE); // 使能TIM3重载寄存器ARR
TIM_Cmd(TIM2, DISABLE); //使能TIM3
}
static void TIM3_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM3 开启时钟 */
//PCLK1经过2倍频后作为TIM3的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* TIM3基本配置 */
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置预分频：不预分频，即为72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/* PWM2模式通道1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置为PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能比较输出
TIM_OCInitStructure.TIM_Pulse = 200; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC1Init(TIM3, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM3, ENABLE); // 使能TIM3重载寄存器ARR
TIM_Cmd(TIM3, DISABLE); //使能TIM3
}
static void TIM4_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM4 开启时钟 */
//PCLK1经过2倍频后作为TIM3的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
/* TIM4基本配置 */
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置预分频：不预分频，即为72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/* PWM2模式通道1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置为PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能比较输出
TIM_OCInitStructure.TIM_Pulse = 200; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC1Init(TIM4, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM4, ENABLE); // 使能TIM4重载寄存器ARR
TIM_Cmd(TIM4, DISABLE); //使能TIM4
}
static void TIM5_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* TIM5 开启时钟 */
//PCLK1经过2倍频后作为TIM3的时钟源等于72MHz
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
/* TIM5基本配置 */
TIM_TimeBaseStructure.TIM_Period = 1000;
TIM_TimeBaseStructure.TIM_Prescaler = 0; //设置预分频：不预分频，即为72MHz
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //设置时钟分频系数：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInit(TIM5, &TIM_TimeBaseStructure);
/* PWM2模式通道1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //配置为PWM模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能比较输出
TIM_OCInitStructure.TIM_Pulse = 200; //设置跳变值，当计数器计数到这个值时，电平发生跳变
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //当定时器计数值小于CCR1_Val时为高电平
TIM_OC2Init(TIM5, &TIM_OCInitStructure); //使能通道1
TIM_OC1PreloadConfig(TIM5, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM5, ENABLE); //使能TIM5重载寄存器ARR
TIM_Cmd(TIM5, DISABLE); //使能TIM5
}
void TIM_Config(void)
{
TIM_GPIO_Config();
TIM2_Mode_Config();
TIM3_Mode_Config();
TIM4_Mode_Config();
TIM5_Mode_Config();
}

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