基于STM32的步进电机三轴运动代码，使用Bresenham算法实现

以下是基于STM32的步进电机三轴运动代码，使用Bresenham算法实现的基本框架：

#include "stm32f10x.h"

#define X_STEP_PIN GPIO_Pin_0
#define X_STEP_PORT GPIOA
#define X_DIR_PIN GPIO_Pin_1
#define X_DIR_PORT GPIOA

#define Y_STEP_PIN GPIO_Pin_2
#define Y_STEP_PORT GPIOA
#define Y_DIR_PIN GPIO_Pin_3
#define Y_DIR_PORT GPIOA

#define Z_STEP_PIN GPIO_Pin_4
#define Z_STEP_PORT GPIOA
#define Z_DIR_PIN GPIO_Pin_5
#define Z_DIR_PORT GPIOA

#define STEPS_PER_MM_X 100
#define STEPS_PER_MM_Y 100
#define STEPS_PER_MM_Z 100

void delay_us(uint32_t us) {
    TIM2->CNT = 0;
    while (TIM2->CNT < us);
}

void step_pulse(GPIO_TypeDef *port, uint16_t pin) {
    GPIO_SetBits(port, pin);
    delay_us(2);
    GPIO_ResetBits(port, pin);
}

void move_to(uint8_t axis, int32_t target_pos) {
    int32_t current_pos = 0;
    uint8_t dir_pin, step_pin;
    GPIO_TypeDef *dir_port, *step_port;
    uint32_t steps_per_mm;
    switch(axis) {
        case 'X':
            dir_pin = X_DIR_PIN;
            dir_port = X_DIR_PORT;
            step_pin = X_STEP_PIN;
            step_port = X_STEP_PORT;
            steps_per_mm = STEPS_PER_MM_X;
            break;
        case 'Y':
            dir_pin = Y_DIR_PIN;
            dir_port = Y_DIR_PORT;
            step_pin = Y_STEP_PIN;
            step_port = Y_STEP_PORT;
            steps_per_mm = STEPS_PER_MM_Y;
            break;
        case 'Z':
            dir_pin = Z_DIR_PIN;
            dir_port = Z_DIR_PORT;
            step_pin = Z_STEP_PIN;
            step_port = Z_STEP_PORT;
            steps_per_mm = STEPS_PER_MM_Z;
            break;
        default:
            return;
    }

    int32_t delta_pos = target_pos - current_pos;
    uint8_t direction = delta_pos > 0;
    GPIO_WriteBit(dir_port, dir_pin, direction);

    uint32_t steps = abs(delta_pos) * steps_per_mm;
    uint32_t error = steps / 2;
    uint32_t step_delay = 1000000 / steps_per_mm;

    while (steps--) {
        step_pulse(step_port, step_pin);
        delay_us(step_delay);
        error -= abs(delta_pos);
        if (error < 0) {
            current_pos += direction ? 1 : -1;
            error += steps;
        }
    }
}

void move_to_xyz(int32_t x, int32_t y, int32_t z) {
    int32_t x0 = 0, y0 = 0, z0 = 0;
    int32_t dx = abs(x - x0), dy = abs(y - y0), dz = abs(z - z0);
    int32_t sx = x0 < x ? 1 : -1, sy = y0 < y ? 1 : -1, sz = z0 < z ? 1 : -1;
    int32_t err1 = dx - dy, err2 = dx - dz;
    int32_t e2, x1, y1, z1;
    while ((x0 != x) || (y0 != y) || (z0 != z)) {
        e2 = err2;
        if (e2 > -dx) {
            err2 -= dy;
            x0 += sx;
        }
        if (e2 < dz) {
            err2 += dz;
            z0 += sz;
        }
        if ((e2 > -dx) && (e2 < dz)) {
            err1 += dx;
            y0 += sy;
        }
        x1 = x0 * STEPS_PER_MM_X;
        y1 = y0 * STEPS_PER_MM_Y;
        z1 = z0 * STEPS_PER_MM_Z;
        move_to('X', x1);
        move_to('Y', y1);
        move_to('Z', z1);
    }
}

int main(void) {
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = X_STEP_PIN | X_DIR_PIN | Y_STEP_PIN | Y_DIR_PIN | Z_STEP_PIN | Z_DIR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    while(1) {
        move_to_xyz(100, 200, 300);
        move_to_xyz(0, 0, 0);
    }
}

在上述代码中，`move_to()`函数用于控制步进电机移动到指定位置，`move_to_xyz()`函数基于Bresenham算法实现三轴的连续移动。`delay_us()`函数用于生成微秒级延时，`step_pulse()`函数用于控制步进电机进行单步运动。`STEPS_PER_MM_X/Y/Z`常量用于设置每毫米所需的步数，根据步进电机的类型和机械结构进行调整。