stm32f103步进电机S型加速 代码
时间: 2023-09-06 20:11:02 浏览: 57
以下是一个基于STM32F103的S型加速步进电机驱动代码示例:
```c
#include "stm32f10x.h"
#define STEPPER_PIN1 GPIO_Pin_0
#define STEPPER_PIN2 GPIO_Pin_1
#define STEPPER_PIN3 GPIO_Pin_2
#define STEPPER_PIN4 GPIO_Pin_3
#define STEPPER_PORT GPIOA
#define S_STEP 1000
#define S_FREQ 5000
volatile uint16_t delay_count = 0;
volatile uint16_t step_count = 0;
void SysTick_Handler(void)
{
if (delay_count > 0)
delay_count--;
}
void delay_ms(uint16_t ms)
{
delay_count = ms;
while (delay_count)
;
}
void stepper_step(uint8_t step)
{
switch (step)
{
case 0:
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 1:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN1);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 2:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN3 | STEPPER_PIN4);
break;
case 3:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN2);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN3 | STEPPER_PIN4);
break;
case 4:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN3 | STEPPER_PIN2);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN4);
break;
case 5:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN3);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN4);
break;
case 6:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN4 | STEPPER_PIN3);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2);
break;
case 7:
GPIO_SetBits(STEPPER_PORT, STEPPER_PIN4);
GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3);
break;
}
}
void stepper_rotate(uint16_t steps, uint16_t freq)
{
uint16_t delay_ms = 1000 / freq;
uint16_t step_delay = S_STEP;
for (uint16_t i = 0; i < steps; i++)
{
stepper_step(i % 8);
delay_count = step_delay;
while (delay_count)
;
step_delay -= (step_delay * 2) / (4 * steps - 1);
if (step_delay < S_STEP / 4)
step_delay = S_STEP / 4;
}
}
int main(void)
{
SysTick_Config(SystemCoreClock / 1000);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitTypeDef gpio_init;
gpio_init.GPIO_Pin = STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4;
gpio_init.GPIO_Mode = GPIO_Mode_Out_PP;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_PORT, &gpio_init);
while (1)
{
stepper_rotate(200, 200);
delay_ms(2000);
stepper_rotate(400, 400);
delay_ms(2000);
}
}
```
该代码使用SysTick定时器进行延时,并使用S型加速算法进行步进电机控制。您需要根据实际情况调整步进电机的频率和步数。
相关推荐
![zip](https://img-home.csdnimg.cn/images/20210720083736.png)
![c](https://img-home.csdnimg.cn/images/20210720083646.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)