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完成步进电机S型加减速代码

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This commit is contained in:
MQjehovah 2018-02-28 17:33:52 +08:00
parent 4dcd12df8a
commit 9976846796
22 changed files with 1784 additions and 1064 deletions
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9
build/MDK/project.uvprojx
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@ -78,7 +78,7 @@
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>1</RunUserProg1>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name>afterbuild.bat</UserProg1Name>
<UserProg2Name></UserProg2Name>
@ -224,7 +224,7 @@
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>1</useUlib>
<useUlib>0</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<RoSelD>3</RoSelD>
@ -433,6 +433,11 @@
<FileType>1</FileType>
<FilePath>..\..\src\Driver\usart_debug.c</FilePath>
</File>
<File>
<FileName>stepper.c</FileName>
<FileType>1</FileType>
<FilePath>..\..\src\Driver\stepper.c</FilePath>
</File>
</Files>
</Group>
<Group>

8
src/Driver/delay.c
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@ -9,7 +9,7 @@
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "delay.h"
#include "stdio.h"
/* Definition ----------------------------------------------------------------*/
u16 TimeTick;
volatile u32 sys_Time;
@ -27,9 +27,9 @@ void (*SysTick_CB)(void);
void SysTick_init()
{
if (SysTick_Config((SystemCoreClock / 8) / 1000)) //系统滴答时钟1ms
while (1)
;
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
while (1)
;
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
}
/*******************************************************************************
* @brief 绑定滴答时钟事件

84
src/Driver/e34.c Normal file
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@ -0,0 +1,84 @@
/*******************************************************************************
* @file E34.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017-12-22 10:18:04
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "e34.h"
/* Definition ----------------------------------------------------------------*/
ring_buffer E34_RX_BUF;
ring_buffer *pE34_RX_BUF = &E34_RX_BUF;
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief E34模块初始化
* @param None
* @retval None
* @Note None
*******************************************************************************/
void E34_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能GPIO时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); //使能USART3时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13; //GPIOB11与GPIOB10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //普通输出模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化PA9，PA10
GPIO_ResetBits(GPIOB, GPIO_Pin_12 | GPIO_Pin_13);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_USART3); //GPIOB10复用为USART3
GPIO_PinAFConfig(GPIOB, GPIO_PinSource11, GPIO_AF_USART3); //GPIOB11复用为USART3
//USART3
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_10; //GPIOB11与GPIOB10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //速度50MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化PB10，PB11
USART_InitStructure.USART_BaudRate = 115200; //一般设置为 9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为 8 位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART_E34, &USART_InitStructure); //初始化串口
USART_ClearFlag(USART_E34, USART_FLAG_TC | USART_FLAG_RXNE | USART_FLAG_IDLE);
USART_ITConfig(USART_E34, USART_IT_RXNE, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn; //串口1中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 aPcCmuTxBuf_1
NVIC_Init(&NVIC_InitStructure);
USART_Cmd(USART_E34, ENABLE); //使能串口
}
/*******************************************************************************
* @brief 串口3中断接收
* @param None
* @retval None
* @Note None
*******************************************************************************/
void USART3_IRQHandler(void) //串口1中断服务程序
{
if ((USART_GetITStatus(USART3, USART_IT_RXNE) != RESET))
{
u8 data = USART_ReceiveData(USART3);
if (ring_buffer_write(pE34_RX_BUF, data))
led_set_value(0, 1);
}
// USART_ClearITPendingBit(USART3, USART_IT_RXNE);
}
/*********************************END OF FILE**********************************/

21
src/Driver/inc/usart_debug.h → src/Driver/inc/bsp.h
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@ -1,22 +1,27 @@
/*******************************************************************************
* @file usart_debug.h
* @file bsp.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2016.3.18
* @date 2018-01-24 10:10:21
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef _USART_DEBUG_H
#define _USART_DEBUG_H
#ifndef __BSP_H
#define __BSP_H
/* Includes ------------------------------------------------------------------*/
#include "stdio.h"
#include "stm32f4xx.h"
#include "stm32f4xx_conf.h"
#include "ring_buffer.h"
#include "delay.h"
#include <stdio.h>
#include "usart.h"
#include "stepper.h"
#include "e34.h"
#include "led.h"
/* Definition ----------------------------------------------------------------*/
#define USART_DEBUG USART1
/* Exported Functions --------------------------------------------------------*/
void usart_debug_init(void);
/*********************************END OF FILE**********************************/
#endif
/*********************************END OF FILE**********************************/

4
src/Driver/inc/delay.h
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@ -8,9 +8,9 @@
* @attention
*******************************************************************************/
#ifndef __DELAY_H
#define __DELAY_H
#define __DELAY_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_conf.h"
#include "bsp.h"
/* Definition ----------------------------------------------------------------*/
/* Exported Functions --------------------------------------------------------*/

23
src/Driver/inc/e34.h Normal file
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@ -0,0 +1,23 @@
/*******************************************************************************
* @file E34.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017-12-22 10:18:31
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef __E34_H
#define __E34_H
/* Includes ------------------------------------------------------------------*/
#include "bsp.h"
/* Definition ----------------------------------------------------------------*/
#define USART_E34 USART3
#define E34_send_char(ch) usart_send_char(USART_E34, ch)
#define E34_send_str(str) usart_send_str(USART_E34, str)
/* Exported Functions --------------------------------------------------------*/
extern struct _ring_buffer *pE34_RX_BUF;
void E34_Init(void);
#endif
/*********************************END OF FILE**********************************/

20
src/Driver/inc/led.h Normal file
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@ -0,0 +1,20 @@
/*******************************************************************************
* @file led.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2018/01/24
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef __LED_H
#define __LED_H
/* Includes ------------------------------------------------------------------*/
#include "bsp.h"
/* Definition ----------------------------------------------------------------*/
/* Exported ------------------------------------------------------------------*/
void led_init(void);
void led_set_value(u8 index, u8 value);
#endif
/*********************************END OF FILE**********************************/

32
src/Driver/inc/ring_buffer.h Normal file
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@ -0,0 +1,32 @@
/*******************************************************************************
* @file ring_buffer.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2016/07/26
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef _RING_BUFFER_H
#define _RING_BUFFER_H
/* Includes ------------------------------------------------------------------*/
#include "BSP.h"
/* Definition ----------------------------------------------------------------*/
#define RX_BUFFER_SIZE 64
typedef struct _ring_buffer
{
char buffer[RX_BUFFER_SIZE]; //缓冲区
u16 head; //缓冲区头指针
u16 tail; //缓冲区尾指针
u32 lenth; //缓冲区已使用长度
} ring_buffer;
/* Exported Functions --------------------------------------------------------*/
u8 ring_buffer_write(ring_buffer *r, unsigned char c);
u8 ring_buffer_read(ring_buffer *r, char *c);
void ring_buffer_flush(ring_buffer *r);
#endif
/*********************************END OF FILE**********************************/

58
src/Driver/inc/stepper.h Normal file
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@ -0,0 +1,58 @@
/*******************************************************************************
* @file stepper.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2018/01/23
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef __STEPPER_H
#define __STEPPER_H
/* Includes ------------------------------------------------------------------*/
#include "bsp.h"
/* Definition ----------------------------------------------------------------*/
#define STEP_EN GPIO_SetBits(GPIOB, GPIO_Pin_4)
#define ANGEL_PER_STEP (1.8f) //步距角1.8°
#define STEP_PER_CIRCLE (360 / ANGEL_PER_STEP) //电机转动一圈的步数
#define STEP_DIV (4) //电机驱动细分值
#define PUL_PER_CIRCLE (STEP_PER_CIRCLE * STEP_DIV) //电机转动一圈的脉冲数
typedef struct
{
u8 id; //电机id
u8 dir_pos; //电机正向方向（顺时针）
u16 div; //电机驱动细分
u8 running; //标记电机是否在运行
char en;
char dir;
long step;
int speed;
int target_speed;
u32 current_puase; //当前的脉冲数
u32 current_step; //当前的步数
u32 passed_puase; //走过的脉冲数
u32 target_puase; //设置的目标步数
u32 f_puase; //当前频率脉冲数（本算法S型加减速的过程是离散的，每个点（频率）运行一定步数）
u16 f_index; //当前频率在表中所处位置（）
u16 *table_step; //步数表
u16 *table_time; //时间表（即当前频率电机一个脉冲所需时间，用于赋值定时器arr）
u32 start_step; //启动阶段步数
u16 start_f; //启动阶段的频率个数
u32 stop_step; //停止阶段步数
TIM_TypeDef *TIMx; //电机的驱动定时器
} STEPPER;
/* Exported ------------------------------------------------------------------*/
extern STEPPER stepper;
void stepper_tim_init(u16 arr, u16 psc);
void stepper_pwm_init(u16 arr, u16 psc);
void stepper_set_enable(u8 value);
void stepper_set_dir(u8 value);
#endif
/*********************************END OF FILE**********************************/

31
src/Driver/inc/usart.h Normal file
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@ -0,0 +1,31 @@
/*******************************************************************************
* @file usart.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017-12-22 10:25:23
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef __USART_H
#define __USART_H
/* Includes ------------------------------------------------------------------*/
#include "bsp.h"
/* Definition ----------------------------------------------------------------*/
#define USART3_RX_EN //使能串口中断接收
#define DEBUG
#define USART_DEBUG USART1
#define USART_RX_EN GPIO_ResetBits(GPIOB, GPIO_Pin_5)
#define USART_TX_EN GPIO_SetBits(GPIOB, GPIO_Pin_5)
/* Exported Functions --------------------------------------------------------*/
void usart_send_char(USART_TypeDef *USARTx, char c);
void usart_send_str(USART_TypeDef *USARTx, char *senddata);
void usart_send_number(USART_TypeDef *USARTx, unsigned long n, u8 base);
#ifdef DEBUG
void usart_debug_init(u32 bound);
void debug_send_char(u8 c);
void debug_send_str(char *str);
#endif
#endif
/*********************************END OF FILE**********************************/

65
src/Driver/led.c Normal file
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@ -0,0 +1,65 @@
/*******************************************************************************
* @file led.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2018/01/24
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "led.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief LED初始化
* @param None
* @retval None
* @Note None
*******************************************************************************/
void led_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能GPIOF时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOC, &GPIO_InitStructure); //初始化
GPIO_SetBits(GPIOC, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);
}
/*******************************************************************************
* @brief LED开关
* @param None
* @retval None
* @Note None
*******************************************************************************/
void led_set_value(u8 index, u8 value)
{
switch (index)
{
case 0:
if (value)
GPIO_ResetBits(GPIOC, GPIO_Pin_13);
else
GPIO_SetBits(GPIOC, GPIO_Pin_13);
break;
case 1:
if (value)
GPIO_ResetBits(GPIOC, GPIO_Pin_14);
else
GPIO_SetBits(GPIOC, GPIO_Pin_14);
break;
case 2:
if (value)
GPIO_ResetBits(GPIOC, GPIO_Pin_15);
else
GPIO_SetBits(GPIOC, GPIO_Pin_15);
break;
}
}
/*********************************END OF FILE**********************************/

62
src/Driver/ring_buffer.c Normal file
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@ -0,0 +1,62 @@
/*******************************************************************************
* @file ring_buffer.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2016/07/26
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "ring_buffer.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 环形缓冲区写一个字节
* @param r：缓冲区指针 c：存入的字节
* @retval 0：写入失败 1：写入成功
* @Note None
*******************************************************************************/
u8 ring_buffer_write(ring_buffer *r, unsigned char c)
{
u16 i = (r->tail + 1) % RX_BUFFER_SIZE;
if (i != r->head)
{
r->buffer[r->tail] = c;
r->tail = i;
r->lenth++;
return 1;
}
return 0;
}
/*******************************************************************************
* @brief 环形缓冲区读一个字节
* @param r：缓冲区指针 c：读出字节存放的地址
* @retval 0：读取失败 1：读取成功
* @Note None
*******************************************************************************/
u8 ring_buffer_read(ring_buffer *r, char *c)
{
if (r->head == r->tail)
return 0;
*c = r->buffer[r->head];
r->head = (r->head + 1) % RX_BUFFER_SIZE;
r->lenth--;
return 1;
}
/*******************************************************************************
* @brief 缓冲区清空
* @param None
* @retval None
* @Note 此处仅复位了指针，并没有删除缓冲区的内容
*******************************************************************************/
void ring_buffer_flush(ring_buffer *r)
{
r->head = 0;
r->tail = 0;
r->lenth = 0;
}
/*********************************END OF FILE**********************************/

166
src/Driver/stepper.c Normal file
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@ -0,0 +1,166 @@
/*******************************************************************************
* @file stepper.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2018/01/23
* @brief 42步进电机 转矩0.5N·M 步距角1.8°
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stepper.h"
#include "shell.h"
/* Definition ----------------------------------------------------------------*/
STEPPER stepper = {0};
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 步进电机IO口初始化
* @param None
* @retval None
* @Note None
*******************************************************************************/
void stepper_gpio_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB, ENABLE); //使能PORTA PORTB时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; //PB4-EN
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; //PB3-PUL
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能(如果是采用定时器PWM输出需要配制成AF模式)
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化PB3
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PA10-DIR
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
/*******************************************************************************
* @brief 通用定时器中断初始化
* @param arr：自动重装值。 psc：时钟预分频数
* @retval None
* @Note 定时器溢出时间计算方法:Tout=((arr+1)*(psc+1))/Ft us.
Ft=定时器工作频率,单位:Mhz 84M
定时器3，用来计时控制步进电机加减速周期
*******************************************************************************/
void stepper_tim_init(u16 arr, u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
stepper_gpio_init();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); ///使能TIM3时钟
TIM_DeInit(TIM3);
TIM_TimeBaseInitStructure.TIM_Period = arr - 1; //自动重装载值100ms
TIM_TimeBaseInitStructure.TIM_Prescaler = psc - 1; //定时器分频8400
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure); //初始化TIM3
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //允许定时器3更新中断
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //定时器3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //抢占优先级1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x03; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM3, ENABLE); //使能定时器3
}
/*******************************************************************************
* @brief 定时器PWM输出初始化
* @param arr：自动重装值。 psc：时钟预分频数
* @retval None
* @Note None
*******************************************************************************/
void stepper_pwm_init(u16 arr, u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
stepper_gpio_init();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //TIM2时钟使能
GPIO_PinAFConfig(GPIOB, GPIO_PinSource3, GPIO_AF_TIM2); //GPIOB3复用为定时器2
TIM_TimeBaseStructure.TIM_Prescaler = psc - 1; //定时器分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式
TIM_TimeBaseStructure.TIM_Period = arr - 1; //自动重装载值
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //初始化定时器2
//初始化TIM2 Channel2 PWM模式
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
// TIM_OCInitStructure.TIM_Pulse = arr >> 1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
// TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; //??????
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性低
TIM_OC2Init(TIM2, &TIM_OCInitStructure); //根据T指定的参数初始化外设TIM1 4OC1
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable); //使能TIM2在CCR2上的预装载寄存器
TIM_ARRPreloadConfig(TIM2, ENABLE); //ARPE使能
// TIM_CCPreloadControl(TIM2, ENABLE);
// TIM_CtrlPWMOutputs(TIM4, ENABLE);
// TIM_Cmd(TIM2, DISABLE); //使能TIM2
TIM_Cmd(TIM2, ENABLE); //使能TIM2
}
/*******************************************************************************
* @brief 设置步进电机使能
* @param None
* @retval None
* @Note None
*******************************************************************************/
void stepper_set_enable(u8 value)
{
if (value)
GPIO_ResetBits(GPIOB, GPIO_Pin_4);
else
GPIO_SetBits(GPIOB, GPIO_Pin_4);
stepper.en = value;
}
/*******************************************************************************
* @brief 设置步进电机方向
* @param None
* @retval None
* @Note None
*******************************************************************************/
void stepper_set_dir(u8 value)
{
if (value)
GPIO_ResetBits(GPIOA, GPIO_Pin_10);
else
GPIO_SetBits(GPIOA, GPIO_Pin_10);
stepper.dir = value;
}
char flag = 0;
/*******************************************************************************
* @brief 定时器3中断服务函数
* @param None
* @retval None
* @Note None
*******************************************************************************/
void TIM3_IRQHandler(void)
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) == SET) //溢出中断
{
if (stepper.step > 0)
{
if (flag)
{
flag = 0;
stepper.step--;
GPIO_SetBits(GPIOB, GPIO_Pin_3);
}
else
{
flag++;
GPIO_ResetBits(GPIOB, GPIO_Pin_3);
}
}
}
TIM_ClearITPendingBit(TIM3, TIM_IT_Update); //清除中断标志位
}
/*********************************END OF FILE**********************************/

223
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/*******************************************************************************
* @file stepper_s.1.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2018-02-28 14:15:45
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stepper.h"
/* Definition ----------------------------------------------------------------*/
STEPPER motor;
STEPPER *pmotor = &motor;
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 步进电机GPIO口初始化
* @param None
* @retval None
* @Note 用户自己实现
*******************************************************************************/
void Motor_GPIO_Init(void)
{
// GPIO_InitTypeDef GPIO_InitStructure;
// RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
// GPIO_Init(GPIOA, &GPIO_InitStructure);
// GPIO_ResetBits(GPIOA, GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4);
}
#if ADV_TIM_ENABLE
/*******************************************************************************
* @brief 高级定时器驱动S型电机驱动
* @param None
* @retval None
* @Note 使用高级定时器1，使用TIM_RepetitionCounter参数跳过细分中断
减少中断的次数
*******************************************************************************/
void Initial_PWM_Motor1(void)
{
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
Motor_GPIO_Init();
TIM_DeInit(TIM1);
//中断NVIC设置：允许中断，设置优先级
NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PWM1_PreemptionPriority;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = PWM1_SubPriority;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_BaseInitStructure.TIM_Period = 1000;
TIM_BaseInitStructure.TIM_Prescaler = 5;
TIM_BaseInitStructure.TIM_ClockDivision = 0;
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_BaseInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //PWM2模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //信号输出到对应的输出引脚
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //互补信号输出到对应的输出引脚
TIM_OCInitStructure.TIM_Pulse = 50; //脉冲宽度
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //互补输出高电平有效
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; //互补输出高电平有效
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //输出空闲状态为1
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; //互补输出空闲状态为0
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //OC1通道初始化
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE);
//清中断，以免一启用中断后立即产生中断
TIM_ClearFlag(TIM1, TIM_FLAG_Update);
//使能TIM1中断源
TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM1, DISABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE); //使能PWM输出
}
#endif
/*******************************************************************************
* @brief 电机驱动定时器初始化
* @param None
* @retval None
* @Note 使用定时器TIM2，输出PWM，每次脉冲进入中断
*******************************************************************************/
void Motor_PWM_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
Motor_GPIO_Init();
TIM_DeInit(TIM2);
//中断NVIC设置：允许中断，设置优先级
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //更新事件 TIM2_IRQHandler
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //响应优先级1
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //允许中断
NVIC_Init(&NVIC_InitStructure);
TIM_BaseInitStructure.TIM_Period = 1000;
TIM_BaseInitStructure.TIM_Prescaler = 5;
TIM_BaseInitStructure.TIM_ClockDivision = 0;
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_BaseInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //PWM2模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //信号输出到对应的输出引脚
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //互补信号输出到对应的输出引脚
TIM_OCInitStructure.TIM_Pulse = 500; //脉冲宽度
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //互补输出高电平有效
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; //互补输出高电平有效
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //输出空闲状态为1
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; //互补输出空闲状态为0
TIM_OC1Init(TIM2, &TIM_OCInitStructure); //OC1通道初始化
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
//清中断，以免一启用中断后立即产生中断
TIM_ClearFlag(TIM2, TIM_FLAG_Update);
//使能TIM1中断源
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
TIM_Cmd(TIM2, DISABLE);
//TIM_CtrlPWMOutputs(TIM2,ENABLE); //使能PWM输出
}
/*******************************************************************************
* @brief 计算S型曲线表
* @param None
* @retval None
* @Note None
*******************************************************************************/
void Calculate_S_Table(void)
{
}
/*******************************************************************************
* @brief 电机初始化函数
* @param None
* @retval None
* @Note None
*******************************************************************************/
void MOTOR_Init(void)
{
Motor_PWM_Init(); //初始化电机驱动PWM
/* 初始化电机参数 */
}
/*******************************************************************************
* @brief 定时器2中断函数
* @param None
* @retval None
* @Note None
*******************************************************************************/
void TIM2_IRQHandler(void)
{
TIM2->SR = (u16)~TIM_FLAG_Update;
if (1 == pmotor->en)
{
//位置计算
if (pmotor->dir_pos == pmotor->dir)
{
pmotor->current_puase++;
}
else
{
pmotor->current_puase--;
}
pmotor->current_step = pmotor->current_puase / pmotor->div;
pmotor->passed_puase++; //总脉冲个数
pmotor->f_puase++; //以该频率脉冲输出的脉冲个数
//对称反转？？？
// if (pmotor->RevetDot == pmotor->PulsesHaven)
// {
// pmotor->pulsecount = pmotor->Step_Table[pmotor->CurrentIndex];
// }
if (pmotor->f_puase >= pmotor->table_step[pmotor->f_index]) //一个频率的步数走完
{
if (pmotor->passed_puase <= pmotor->start_step) //如果是起步阶段
{
if (pmotor->f_index < pmotor->start_f - 1)
{
pmotor->f_index++; //进入下一个频率阶段
pmotor->f_puase = 0;
if (pmotor->f_index >= pmotor->start_f) //启动阶段的步数没有走完，禁止进入下一阶段的频率
pmotor->f_index = pmotor->start_f;
}
}
if (pmotor->target_puase - pmotor->passed_puase <= pmotor->stop_step) //停止阶段
{
// if (pmotor->f_index < pmotor->StartTableLength - 1)
// {
// pmotor->f_index = pmotor->StartTableLength + pmotor->StopTableLength - pmotor->CurrentIndex;
// }
// pmotor->f_index++;
// pmotor->f_puase = 0;
// if (pmotor->f_index >= pmotor->StartTableLength + pmotor->StopTableLength)
// pmotor->CurrentIndex = pmotor->StartTableLength + pmotor->StopTableLength - 1;
}
pmotor->TIMx->ARR = pmotor->table_time[pmotor->f_index]; //设置周期
pmotor->TIMx->CCR1 = (pmotor->table_time[pmotor->f_index]) >> 1; //设置占空比
}
//旋转预定脉冲数，停止，running=0，可以进行下一次旋转
if (pmotor->passed_puase >= pmotor->target_puase && pmotor->passed_puase > 3)
{
pmotor->en = 0;
pmotor->running = 0;
pmotor->f_index = 0;
TIM_Cmd(pmotor->TIMx, DISABLE); //DISABLE
}
}
}
/*********************************END OF FILE**********************************/

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src/Driver/usart.c Normal file
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/*******************************************************************************
* @file USART.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017.8.24
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 串口发送一个字节
* @param None
* @retval None
* @Note None
*******************************************************************************/
void usart_send_char(USART_TypeDef *USARTx, char c)
{
USART_SendData(USARTx, c);
while (RESET == USART_GetFlagStatus(USARTx, USART_FLAG_TXE))
;
}
/*******************************************************************************
* @brief USART发送字符串
* @param None
* @retval None
* @Note None
*******************************************************************************/
void usart_send_str(USART_TypeDef *USARTx, char *senddata)
{
while ('\0' != *senddata) // \0 表示字符串结束标志，通过检测是否字符串末尾
{
USART_SendData(USARTx, *senddata++);
while (USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET)
;
}
}
/*******************************************************************************
* @brief 打印数字，带进制转换
* @param None
* @retval None
* @Note None
*******************************************************************************/
void usart_send_number(USART_TypeDef *USARTx, unsigned long n, u8 base)
{
unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
unsigned long i = 0;
if (n == 0)
{
usart_send_char(USARTx, '0');
return;
}
while (n > 0)
{
buf[i++] = n % base;
n /= base;
}
for (; i > 0; i--)
usart_send_char(USARTx, (char)(buf[i - 1] < 10 ? '0' + buf[i - 1] : 'A' + buf[i - 1] - 10));
}
//加入以下代码,支持printf函数,而不需要选择use MicroLIB
#if 1
#pragma import(__use_no_semihosting)
//标准库需要的支持函数
struct __FILE
{
int handle;
};
FILE __stdout;
//定义_sys_exit()以避免使用半主机模式
_sys_exit(int x)
{
x = x;
}
//重定义fputc函数
int fputc(int ch, FILE *f)
{
USART_SendData(USART_DEBUG, ch);
while (RESET == USART_GetFlagStatus(USART_DEBUG, USART_FLAG_TXE))
;
return ch;
}
#endif
#ifdef DEBUG
/*******************************************************************************
* @brief 初始化串口1，用于printf输出
* @param bound:波特率
* @retval None
* @Note None
*******************************************************************************/
void usart_debug_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能GPIOB时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); //使能USART1时钟
//串口1对应引脚复用映射
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_USART1); //GPIOB9复用为USART1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_USART1); //GPIOB10复用为USART1
//USART1端口配置
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);
//485收发使能端口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化
//USART1 初始化设置
USART_InitStructure.USART_BaudRate = bound; //波特率设置
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART1, &USART_InitStructure); //初始化串口3
USART_Cmd(USART1, ENABLE); //使能串口3
USART_ClearFlag(USART1, USART_FLAG_TC);
}
/*******************************************************************************
* @brief 串口发送1个字符
* @param USARTx:串口端口 c:要发送的字符
* @retval None
* @Note None
*******************************************************************************/
void debug_send_char(u8 c)
{
USART_TX_EN;
simple_delay_us(100);
usart_send_char(USART_DEBUG, c);
simple_delay_us(100);
USART_RX_EN;
}
/*******************************************************************************
* @brief 串口发送字符串
* @param USARTx:串口端口 str:要发送的字符串
* @retval None
* @Note None
*******************************************************************************/
void debug_send_str(char *str)
{
USART_TX_EN;
simple_delay_us(100);
usart_send_str(USART_DEBUG, str);
simple_delay_us(100);
USART_RX_EN;
}
#endif
/*********************************END OF FILE**********************************/

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src/Driver/usart_debug.c
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@ -1,123 +0,0 @@
/*******************************************************************************
* @file USART.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017.11.22
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "usart_debug.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief 串口初始化
* @param None
* @retval None
* @Note None
*******************************************************************************/
void usart_debug_init()
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); //使能GPIOB时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); //使能USART1时钟
//串口1对应引脚复用映射
GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_USART1); //GPIOB9复用为USART1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_USART1); //GPIOB10复用为USART1
//USART1端口配置
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);
//串口使能R/D初始化设置
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化
//USART1 初始化设置
USART_InitStructure.USART_BaudRate = 115200; //波特率设置
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART1, &USART_InitStructure); //初始化串口3
USART_Cmd(USART1, ENABLE); //使能串口3
USART_ClearFlag(USART1, USART_FLAG_TC);
//Usart1 NVIC 配置
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; //串口1中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器、
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //开启相关中断
GPIO_SetBits(GPIOB, GPIO_Pin_5); //发送模式
}
/*******************************************************************************
* @brief 串口1中断函数
* @param None
* @retval None
* @Note None
*******************************************************************************/
void USART1_IRQHandler(void)
{
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //如果寄存器中有数据
{
u8 data = USART_ReceiveData(USART1);
// Parser(data);
}
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
{
USART_ClearITPendingBit(USART1, USART_IT_TC);
}
}
//不使用半主机模式
#if 1 //如果没有这段，则需要在target选项中选择使用USE microLIB
#pragma import(__use_no_semihosting)
struct __FILE
{
int handle;
};
FILE __stdout;
void _sys_exit(int x)
{
x = x;
}
#endif
#ifdef __GNUC__
/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
int _write(int fd, char *pBuffer, int size)
{
for (int i = 0; i < size; i++)
{
USART_SendData(USART_DEBUG, pBuffer[i]);
while (USART_GetFlagStatus(USART_DEBUG, USART_FLAG_TXE) == RESET)
;
}
return size;
}
#else
int fputc(int ch, FILE *f)
{
/* Place your implementation of fputc here */
/* e.g. write a character to the USART */
USART_SendData(USART_DEBUG, ch);
/* Loop until the end of transmission */
while (USART_GetFlagStatus(USART_DEBUG, USART_FLAG_TXE) == RESET)
;
return ch;
}
#endif /* __GNUC__ */
/*********************************END OF FILE**********************************/

1501
src/Startup/system_stm32f4xx.c
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2
src/User/inc/main.h
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@ -12,7 +12,7 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_conf.h"
#include "delay.h"
#include "usart_debug.h"
#include "usart.h"
/* Definition ----------------------------------------------------------------*/
/* Exported Functions --------------------------------------------------------*/

33
src/User/inc/shell.h Normal file
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/*******************************************************************************
* @file shell.h
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017.5.9
* @brief
******************************************************************************
* @attention
*******************************************************************************/
#ifndef __SHELL_H
#define __SHELL_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_conf.h"
/* Definition ----------------------------------------------------------------*/
#define PROMPT "\033[33m MQjehovah>> \033[0m"
#define SHELL_USART USART3
#define CMD_REC_BUF_LEN 64 //指令接收缓冲区长度
#define CMD_ARG_MAX_CNT 8 //指令参数最大个数
#define shell_read_char(ch) ring_buffer_read(pE34_RX_BUF, ch)
#define shell_send_char(ch) usart_send_char(SHELL_USART, ch)
#define shell_send_str(str) usart_send_str(SHELL_USART, str)
#define shell_send_number(num, base) usart_send_number(SHELL_USART, num, base)
extern char *CMDList[];
/* Exported Functions --------------------------------------------------------*/
void shell_loop(void);
char *shell_readline(char *buffer);
int shell_process(char *cmd);
u8 string_compare(char *str1, char *str2);
#endif
/*********************************END OF FILE**********************************/

10
src/User/main.c
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@ -10,6 +10,8 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stdio.h"
#include "stepper.h"
#include "shell.h"
/* Definition ----------------------------------------------------------------*/
/* Functions -----------------------------------------------------------------*/
@ -22,11 +24,13 @@
int main(void)
{
SysTick_init();
usart_debug_init();
E34_Init();
stepper_tim_init(50, 84);
// stepper_pwm_init(125, 84);
stepper_set_enable(0);
while (1)
{
printf("this is a test project\r\n");
simple_delay_ms(1000);
shell_loop();
}
}

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src/User/shell.c Normal file
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/*******************************************************************************
* @file shell.c
* @Author: MQjehovah mail:MQjehovah@hotmail.com
* @version 1.0.0
* @date 2017.11.22
* @brief
******************************************************************************
* @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "shell.h"
#include "ring_buffer.h"
#include "USART.h"
#include "delay.h"
#include <stdlib.h>
/* Definition ----------------------------------------------------------------*/
char CMD_LINE_BUF[CMD_REC_BUF_LEN]; //指令接收缓冲区
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
* @brief shell循环
* @param None
* @retval None
* @Note None
*******************************************************************************/
void shell_loop(void)
{
while (1)
{
char *cmd = shell_readline(CMD_LINE_BUF);
shell_process(cmd);
simple_delay_ms(100);
}
}
/*******************************************************************************
* @brief 从缓冲区中读取一行指令
* @param None
* @retval None
* @Note None
*******************************************************************************/
char *shell_readline(char *buffer)
{
u32 seek = 0;
shell_send_str(PROMPT);
while (1)
{
// if (pE34_RX_BUF->lenth <= 0)
// continue;
if (!shell_read_char(&buffer[seek]))
continue;
switch (buffer[seek])
{
case '\r': /* Enter */
case '\n': //回车表示命令输入结束
shell_send_str("\r\n");
if (seek == 0)
return (char *)-1; //空指令不处理
buffer[seek] = '\0'; //字符串末尾添加结束符
// shell_send_str(buffer);
return buffer;
case '\0': /* nul */
continue;
case 0x03: /* ^C - break */
//CTRL+C表示取消命令输入
return ((char *)-1);
case 0x15: /* ^U - erase line */
continue;
case 0x17: /* ^W - erase word */
//CTRL+W表示删除一个词
continue;
case 0x08: /* ^H - backspace */
case 0x7F: /* DEL - backspace */
//表示删除一个字符
if (seek > 0)
{
shell_send_str("\b \b");
seek--;
}
continue;
default:
shell_send_char(buffer[seek]);
seek++;
break;
} //switch
}
}
/*******************************************************************************
* @brief 指令处理程序
* @param None
* @retval None
* @Note None
*******************************************************************************/
int shell_process(char *cmd)
{
static char *argv[CMD_ARG_MAX_CNT] = {0};
u8 argc = 0;
argv[argc++] = cmd;
if (cmd == (char *)-1) //获取指令数据错误
return 0;
//分词
while (1)
{
if (*cmd == '\0')
break;
if (*cmd == ' ')
{
*cmd = '\0';
argv[argc++] = ++cmd;
continue;
}
cmd++;
}
if (string_compare(argv[0], "help"))
{
shell_send_str("Support Command:\r\n");
shell_send_str("help: show help info.\r\n");
shell_send_str("time: show system time.\r\n");
shell_send_str("info: show system info.\r\n");
shell_send_str("step: set step pwm frequest.\r\n");
shell_send_str("reboot: reboot system.\r\n");
return 1;
}
if (string_compare(argv[0], "time"))
{
shell_send_number(sys_Time, 10);
shell_send_str("\r\n");
return 1;
}
if (string_compare(argv[0], "info"))
{
u32 CpuID[3];
u32 Lock_Code;
CpuID[0] = *(u32 *)(0x1ffff7e8);
CpuID[1] = *(u32 *)(0x1ffff7ec);
CpuID[2] = *(u32 *)(0x1ffff7f0);
//加密算法,很简单的加密算法
Lock_Code = (CpuID[0] >> 1) + (CpuID[1] >> 2) + (CpuID[2] >> 3);
shell_send_str("Chip Id:0x");
shell_send_number(Lock_Code, 16);
shell_send_str("\r\n");
shell_send_str("stack:0x");
shell_send_number(*(u32 *)0x8000000 - __get_MSP(), 16);
shell_send_str("\r\n");
return 1;
}
if (string_compare(argv[0], "step"))
{
u32 addr = 0;
if (argc > 1)
{
if (argv[1][0] == '0' && argv[1][1] == 'x')
{
addr = strtol(argv[1], (char **)NULL, 16);
}
else
{
addr = strtol(argv[1], (char **)NULL, 10);
}
}
// nARR = (1000000 / (8000)) - 1;
// TIM_SetAutoreload(TIM2, 125);
// TIM_SetCompare2(TIM2, 125 >> 1);
stepper.step = addr;
shell_send_number(addr, 10);
shell_send_str("\r\n");
return 1;
}
if (string_compare(argv[0], "load"))
{
// Ymodem_Receive((uint8_t *)ymodem_rec_buf);
return 1;
}
if (string_compare(argv[0], "reboot"))
{
__disable_fault_irq();
NVIC_SystemReset();
return 1;
}
shell_send_str("Unsupport Command\r\n");
return 0;
}
/*******************************************************************************
* @brief 字符串比较
* @param None
* @retval None
* @Note None
*******************************************************************************/
u8 string_compare(char *str1, char *str2)
{
int seek = 0;
while (1)
{
if (str1[seek] == str2[seek])
{
if (str1[seek++] == '\0')
return 1;
continue;
}
return 0;
}
}
/*********************************END OF FILE**********************************/

2
tool/stm32-cli/templates/template.c
View File

@ -13,4 +13,4 @@
/* Functions -----------------------------------------------------------------*/
/*********************************END OF FILE**********************************/
/*********************************END OF FILE**********************************/