用STM32F103单片机写一个用梯形加速法驱动步进电机的程序

好的，以下是一个用梯形加速法驱动步进电机的程序示例：

// 定义步进电机的步数
#define STEPS_PER_REV 200

// 定义加速度和最大速度
#define ACCELERATION 500
#define MAX_SPEED 1000

// 定义步进电机的引脚
#define DIR_PIN GPIO_Pin_0
#define DIR_PORT GPIOA
#define STEP_PIN GPIO_Pin_1
#define STEP_PORT GPIOA

// 定义步进电机的状态
enum motor_state {
  STOPPED,
  ACCELERATING,
  CRUISING,
  DECELERATING
};

// 定义步进电机的参数
struct motor_params {
  int steps; // 需要移动的步数
  int current_step; // 当前的步数
  int target_speed; // 目标速度
  int current_speed; // 当前速度
  int acceleration; // 加速度
  int deceleration; // 减速度
  int cruising_speed; // 巡航速度
  enum motor_state state; // 步进电机的状态
  uint32_t last_step_time; // 上一次脉冲的时间戳
};

// 初始化步进电机的参数
void motor_params_init(struct motor_params *params, int steps) {
  params->steps = steps;
  params->current_step = 0;
  params->target_speed = 0;
  params->current_speed = 0;
  params->acceleration = ACCELERATION;
  params->deceleration = ACCELERATION;
  params->cruising_speed = 0;
  params->state = STOPPED;
  params->last_step_time = 0;
}

// 计算步进电机的速度
int calculate_speed(int current_speed, int target_speed, int acceleration, int dt) {
  int speed_diff = target_speed - current_speed;
  int speed_change = acceleration * dt;
  if (abs(speed_diff) < speed_change) {
    return target_speed;
  } else if (speed_diff > 0) {
    return current_speed + speed_change;
  } else {
    return current_speed - speed_change;
  }
}

// 更新步进电机的状态
void update_motor_state(struct motor_params *params, int dt) {
  switch (params->state) {
    case STOPPED:
      if (params->steps > 0) {
        params->state = ACCELERATING;
        params->cruising_speed = 0;
        params->current_speed = 0;
        params->target_speed = MAX_SPEED;
      }
      break;
    case ACCELERATING:
      params->current_speed = calculate_speed(params->current_speed, params->target_speed, params->acceleration, dt);
      if (params->current_speed >= MAX_SPEED) {
        params->current_speed = MAX_SPEED;
        params->cruising_speed = MAX_SPEED;
        params->state = CRUISING;
      }
      break;
    case CRUISING:
      if (params->current_step >= params->steps - STEPS_PER_REV) {
        params->state = DECELERATING;
        params->target_speed = 0;
      }
      break;
    case DECELERATING:
      params->current_speed = calculate_speed(params->current_speed, params->target_speed, params->deceleration, dt);
      if (params->current_speed <= 0) {
        params->current_speed = 0;
        params->state = STOPPED;
      }
      break;
  }
}

// 发送一个脉冲信号
void send_pulse() {
  GPIO_SetBits(STEP_PORT, STEP_PIN);
  GPIO_ResetBits(STEP_PORT, STEP_PIN);
}

// 移动步进电机
void move_motor(struct motor_params *params) {
  uint32_t current_time = HAL_GetTick();
  int dt = current_time - params->last_step_time;
  update_motor_state(params, dt);
  params->last_step_time = current_time;
  if (params->state != STOPPED) {
    int steps_to_move = params->current_speed * dt / 1000.0 * STEPS_PER_REV;
    for (int i = 0; i < steps_to_move; i++) {
      if (params->state == ACCELERATING) {
        int new_speed = calculate_speed(params->current_speed, params->target_speed, params->acceleration, dt);
        if (new_speed < params->current_speed) {
          params->state = CRUISING;
          params->cruising_speed = params->current_speed;
        }
      }
      if (params->state == CRUISING) {
        params->current_speed = params->cruising_speed;
      }
      if (params->state == DECELERATING) {
        int new_speed = calculate_speed(params->current_speed, params->target_speed, params->deceleration, dt);
        if (new_speed > params->current_speed) {
          params->state = STOPPED;
          params->current_speed = 0;
          break;
        }
      }
      if (params->state != STOPPED) {
        send_pulse();
        params->current_step++;
      }
    }
  }
}

// 初始化步进电机的引脚
void init_motor_pins() {
  GPIO_InitTypeDef GPIO_InitStructure;
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  GPIO_InitStructure.GPIO_Pin = DIR_PIN | STEP_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(DIR_PORT, &GPIO_InitStructure);
}

int main() {
  struct motor_params params;
  motor_params_init(&params, 1000);
  init_motor_pins();
  while (1) {
    move_motor(&params);
  }
  return 0;
}

这个程序使用了梯形加速法来驱动步进电机，可以实现加速、巡航和减速三个阶段，以达到平稳运动的效果。程序中定义了步进电机的参数和状态，通过计算速度和更新状态来控制步进电机的运动。程序中使用的是 STM32F103 单片机，当然也可以根据实际情况进行修改。