stm32f103成熟的S形加减速源码

以下是一个基于STM32F103的S形加减速控制源码示例，仅供参考：

#include "stm32f10x.h"

#define DIR_PIN GPIO_Pin_0
#define DIR_PORT GPIOA
#define PUL_PIN GPIO_Pin_1
#define PUL_PORT GPIOA

#define ACCEL_TIME 5000 //加速时间，单位为us
#define DECEL_TIME 5000 //减速时间，单位为us
#define MAX_SPEED 1000 //最大速度
#define MIN_SPEED 100 //最小速度

volatile uint32_t steps_to_move; //需要移动的步数
volatile uint32_t steps_moved; //已经移动的步数
volatile uint32_t step_delay; //两步之间的延迟时间，单位为us
volatile uint8_t dir; //步进电机的方向
volatile uint32_t accel_steps; //加速段的步数
volatile uint32_t decel_steps; //减速段的步数
volatile uint32_t run_steps; //匀速段的步数
volatile uint32_t total_steps; //总步数

void delay_us(uint32_t us) //延迟函数，单位为us
{
    us *= 8;
    while (us--)
    {
        __NOP();
    }
}

void set_speed(uint32_t speed) //设置步进电机的速度
{
    uint32_t accel = (speed - MIN_SPEED) * ACCEL_TIME / (MAX_SPEED - MIN_SPEED); //计算加速段的步数
    uint32_t decel = (speed - MIN_SPEED) * DECEL_TIME / (MAX_SPEED - MIN_SPEED); //计算减速段的步数
    uint32_t run = total_steps - accel - decel; //计算匀速段的步数
    accel_steps = accel;
    decel_steps = decel;
    run_steps = run;
    step_delay = 1000000 / speed;
}

void set_direction(uint8_t direction) //设置步进电机的方向
{
    dir = direction;
    if (dir == 1)
    {
        GPIO_WriteBit(DIR_PORT, DIR_PIN, Bit_SET);
    }
    else
    {
        GPIO_WriteBit(DIR_PORT, DIR_PIN, Bit_RESET);
    }
}

void step() //控制步进电机移动一步
{
    GPIO_WriteBit(PUL_PORT, PUL_PIN, Bit_SET);
    delay_us(step_delay / 2);
    GPIO_WriteBit(PUL_PORT, PUL_PIN, Bit_RESET);
    delay_us(step_delay / 2);
}

void move() //控制步进电机移动
{
    uint32_t steps_accel = 0; //已经加速的步数
    uint32_t steps_decel = 0; //已经减速的步数
    uint32_t steps_run = 0; //已经匀速的步数
    while (steps_moved < steps_to_move)
    {
        if (steps_moved < accel_steps) //加速段
        {
            set_speed(MIN_SPEED + (MAX_SPEED - MIN_SPEED) * steps_moved / accel_steps);
            steps_accel++;
        }
        else if (steps_moved > total_steps - decel_steps) //减速段
        {
            set_speed(MIN_SPEED + (MAX_SPEED - MIN_SPEED) * (total_steps - steps_moved) / decel_steps);
            steps_decel++;
        }
        else //匀速段
        {
            set_speed(MAX_SPEED);
            steps_run++;
        }
        step();
        steps_moved++;
    }
}

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    GPIO_InitStruct.GPIO_Pin = DIR_PIN | PUL_PIN;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStruct);

    steps_to_move = 1000; //需要移动的步数
    total_steps = steps_to_move;
    steps_moved = 0;
    set_direction(1); //设置步进电机的方向为正向
    move(); //控制步进电机移动
    while (1)
    {
        //循环运行
    }
}

需要注意的是，以上代码仅供参考，具体的实现可能需要根据实际情况进行调整和优化。同时，为了实现精细的加减速控制，还需要考虑步进电机的特性和负载情况等因素。