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