用C语言写STM32F407控制XY平台实现步进电机插补算法的代码

以下是一个简单的使用C语言实现STM32F407控制XY平台的步进电机插补算法的代码示例：

#include "stm32f407xx.h"

#define X_STEP_PIN GPIO_PIN_0
#define Y_STEP_PIN GPIO_PIN_1
#define X_DIR_PIN GPIO_PIN_2
#define Y_DIR_PIN GPIO_PIN_3

#define X_MAX 1000
#define Y_MAX 1000

uint16_t x_pos = 0;
uint16_t y_pos = 0;
uint16_t x_target = 0;
uint16_t y_target = 0;

void delay(uint32_t ms) {
    for (uint32_t i = 0; i < ms * 1000; i++) {
        asm("nop");
    }
}

void set_x_dir(uint8_t dir) {
    if (dir == 0) {
        HAL_GPIO_WritePin(GPIOA, X_DIR_PIN, GPIO_PIN_RESET);
    } else {
        HAL_GPIO_WritePin(GPIOA, X_DIR_PIN, GPIO_PIN_SET);
    }
}

void set_y_dir(uint8_t dir) {
    if (dir == 0) {
        HAL_GPIO_WritePin(GPIOA, Y_DIR_PIN, GPIO_PIN_RESET);
    } else {
        HAL_GPIO_WritePin(GPIOA, Y_DIR_PIN, GPIO_PIN_SET);
    }
}

void step_x(uint8_t dir) {
    set_x_dir(dir);
    HAL_GPIO_WritePin(GPIOA, X_STEP_PIN, GPIO_PIN_SET);
    delay(1);
    HAL_GPIO_WritePin(GPIOA, X_STEP_PIN, GPIO_PIN_RESET);
    delay(1);
}

void step_y(uint8_t dir) {
    set_y_dir(dir);
    HAL_GPIO_WritePin(GPIOA, Y_STEP_PIN, GPIO_PIN_SET);
    delay(1);
    HAL_GPIO_WritePin(GPIOA, Y_STEP_PIN, GPIO_PIN_RESET);
    delay(1);
}

void move_x(uint16_t steps, uint8_t dir) {
    for (uint16_t i = 0; i < steps; i++) {
        step_x(dir);
        if (dir == 0) {
            x_pos--;
        } else {
            x_pos++;
        }
    }
}

void move_y(uint16_t steps, uint8_t dir) {
    for (uint16_t i = 0; i < steps; i++) {
        step_y(dir);
        if (dir == 0) {
            y_pos--;
        } else {
            y_pos++;
        }
    }
}

void move_to(uint16_t x, uint16_t y) {
    int16_t x_diff = x - x_pos;
    int16_t y_diff = y - y_pos;
    uint8_t x_dir = x_diff >= 0 ? 1 : 0;
    uint8_t y_dir = y_diff >= 0 ? 1 : 0;
    x_diff = x_diff >= 0 ? x_diff : -x_diff;
    y_diff = y_diff >= 0 ? y_diff : -y_diff;
    if (x_diff > y_diff) {
        float y_step = (float)y_diff / (float)x_diff;
        for (uint16_t i = 0; i < x_diff; i++) {
            move_x(1, x_dir);
            y_target += y_step;
            if (y_target >= 1) {
                uint16_t y_steps = (uint16_t)y_target;
                move_y(y_steps, y_dir);
                y_target -= y_steps;
            }
        }
    } else {
        float x_step = (float)x_diff / (float)y_diff;
        for (uint16_t i = 0; i < y_diff; i++) {
            move_y(1, y_dir);
            x_target += x_step;
            if (x_target >= 1) {
                uint16_t x_steps = (uint16_t)x_target;
                move_x(x_steps, x_dir);
                x_target -= x_steps;
            }
        }
    }
}

int main(void) {
    HAL_Init();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = X_STEP_PIN | Y_STEP_PIN | X_DIR_PIN | Y_DIR_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    while (1) {
        move_to(X_MAX, Y_MAX);
        delay(1000);
        move_to(0, 0);
        delay(1000);
    }
}

这个示例代码使用了GPIO控制电机的步进和方向信号，并且实现了一个简单的插补算法来控制XY平台移动到目标位置。请注意，这只是一个简单的示例代码，实际情况下可能需要进行更多的优化和错误处理。