stm32步进电机驱动S加速雷塞驱动器

#ifndef __MOTOR_X_H__
#define __MOTOR_X_H__

#include "stm32f10x.h"

//#define OutCurrent_Off()			GPIO_ResetBits(GPIOD,GPIO_Pin_2)					//Cut off the out current
//#define OutCurrent_On()  			GPIO_SetBits(GPIOD,GPIO_Pin_2)		

//#define OutCurrent_Off()			GPIO_ResetBits(GPIOA,GPIO_Pin_0)					//Cut off the out current
//#define OutCurrent_On()  			GPIO_SetBits(GPIOA,GPIO_Pin_0)						//
//#define HoldCurrent_Full() 		GPIO_ResetBits(GPIOA,GPIO_Pin_0)					//full current when stop
//#define HoldCurrent_Half() 		GPIO_SetBits(GPIOA,GPIO_Pin_0)						//half current when stop
//#define FH_Half()							GPIO_ResetBits(GPIOA,GPIO_Pin_1)					//Half step mode
//#define FH_Full()							GPIO_SetBits(GPIOA,GPIO_Pin_1)						//Full step mode
//#define CW_PUL_SetOFF()				GPIO_SetBits(GPIOA,GPIO_Pin_6)						//
//#define CW_PUL_SetON()				GPIO_ResetBits(GPIOA,GPIO_Pin_6)					//
#define DIR_X_SetOFF()			GPIO_SetBits(GPIOA,GPIO_Pin_1)						//
#define DIR_X_SetON()				GPIO_ResetBits(GPIOA,GPIO_Pin_1)						//
//#define Buf_Out_On()					GPIO_ResetBits(GPIOB,GPIO_Pin_9)	
//#define Buf_Out_Off()					GPIO_SetBits(GPIOB,GPIO_Pin_9)

//#define GetStatus_LSCCW()			GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_10)	//
//#define GetStatus_LSORG()			GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11)	//
//#define GetStatus_LSCW()			GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_8)		//

//#define GetStatus_LSCCW()			GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_4)	//
//#define GetStatus_LSORG()			GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_5)	//
//#define GetStatus_LSCW()			GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_6)		//

#define X_Stage_Forward					'+'				//CCW，向正方向
#define X_Stage_Backward				'-'				//CW，向负方向
#define X_Stage_Range_Upper			8500
#define X_Stage_Range_Lower			-4000
#define RT_FALSE 0
#define RT_TRUE 1

#define ADDSPEEDNUM 1000
#define TIM2_Prescaler	0
#define TIM2_ClockDiv	0

#pragma pack(1)
typedef struct _FreSpeed
{
	uint16_t MaxPeriod ; //最大速度比较寄存器值
	uint32_t MaxNum ;
	uint32_t IncPeriod[ADDSPEEDNUM];
	uint32_t IncNum  ; // 加减速脉冲数
	uint8_t  AvrFlag ; //匀速标志
	uint8_t  CurState ; //当前状态
} FreSpeed;
#pragma pack()

enum SpeedFlagType
{
	IncSpeedState, // 
	DecSpeedState,
	AvrSpeedState
};

extern FreSpeed X_motor ;

/
void X_Timer2_Init(void);
static void Set_Timer2_Isr_Enable(void);
static void Set_Timer2_Isr_Disable(void);
uint8_t CalculateXModelLine(FreSpeed *iSpeed,float len, uint32_t PluseNum, float fre_Min ,float fre_Max,float flexible );
static void X_moveTrans(float iMaxVel,uint32_t PulseNum ,float flexible );
void X_T2Ctrl(uint32_t cnt );
void X_TIM2_ITConfigure(void);
static void X_NVIC_TIM2_Configure(void);
#endif

#include "motor_x.h"
#include "math.h"
#include "bsp_timer.h"

FreSpeed X_motor;

void X_Timer2_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	/* TIM2总线时钟打开，设置TIM2CLK为72MHz */
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
		
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);	
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);	
	
	   //初始化TIM3
	TIM_TimeBaseStructure.TIM_Period = 1000; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
	TIM_TimeBaseStructure.TIM_Prescaler = TIM2_Prescaler; //设置用来作为TIMx时钟频率除数的预分频值 //不分频
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM2_ClockDiv; //设置时钟分割:TDTS = Tck_tim
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
	
	//初始化TIM3 Channel2 PWM模式	 
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
	TIM_OC3Init(TIM2, &TIM_OCInitStructure);  //根据T指定的参数初始化外设TIM3 OC2

	TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);  //使能TIM3在CCR2上的预装载寄存器

  TIM2_ITConfigure();

}

static void Set_Timer2_Isr_Enable(void)
{		
	TIM_ClearFlag(TIM2, TIM_IT_CC3); 
	TIM_ITConfig(TIM2, TIM_IT_CC3, ENABLE); //
	TIM_Cmd(TIM2, ENABLE); 	
}

static void Set_Timer2_Isr_Disable(void)	 
{
	//UNMOTORY_TEAR;
	TIM_Cmd(TIM2, DISABLE); 
	TIM_ITConfig(TIM2, TIM_IT_CC3, DISABLE); 
}

uint8_t CalculateXModelLine(FreSpeed *iSpeed,float len, uint32_t PluseNum, float fre_Min ,float fre_Max,float flexible )
{
	int i ;
	float TimClock = 72000000.0 / (TIM2_Prescaler+1 )/ ( TIM2_ClockDiv +1);
	float deno;
	float melo;
	float delt = fre_Max - fre_Min ;
	if(delt <=0 )
	{
	 return RT_FALSE;
	}
	if((PluseNum - 2*len)>0) //存在匀速运动
	{
		iSpeed->AvrFlag = RT_TRUE;
		iSpeed->MaxPeriod = (uint16_t)(TimClock/(fre_Max ));
		iSpeed->MaxNum = PluseNum - 2*len;
		iSpeed->IncNum = len;
	}
	else
	{
		iSpeed->AvrFlag = RT_FALSE;
		len = PluseNum/2.0;
		iSpeed->AvrFlag = RT_FALSE;
		iSpeed->MaxPeriod = RT_FALSE;
		iSpeed->MaxNum = RT_FALSE;
		iSpeed->IncNum = len;
	}
	
	for(i = 0 ;i< len ; i++ )
	{
		melo = flexible* (i - len/2)/(len/2);
		deno = 1.0/ ( 1 + exp( -melo));
		iSpeed->IncPeriod[i] = (uint16_t)(TimClock/( deno *delt  + fre_Min )) ;
	}
	return RT_TRUE;

}

static void X_moveTrans(float iMaxVel,uint32_t PulseNum ,float flexible )
{
	float fre_min = 1000;
	float Addlen = ADDSPEEDNUM ; 
	if(CalculateXModelLine(&X_motor,Addlen,PulseNum,fre_min,iMaxVel,flexible )  == RT_TRUE )
	{
		//Set_Timer2_Isr_Enable();
	}

}
void X_T2Ctrl(uint32_t cnt )
{
	X_moveTrans(200000 , cnt ,8 );
	Set_Timer2_Isr_Enable();
}

/**
  * @brief  This function handles TIM2 Handler.
  * @param  None
  * @retval None
  */

void TIM2_IRQHandler(void)
{
	static uint16_t iCount=0;
	static uint8_t 	SpeedMode = IncSpeedState;
	uint32_t period;
	if(TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
	{
		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
		switch(SpeedMode)
		{
			case IncSpeedState:
					period = X_motor.IncPeriod[iCount++];
					TIM2->ARR		= period;				//TIM2_ARR赋值
					TIM2->CCR3	= (period)/2;
					if( iCount ==X_motor.IncNum -1 )
					{
						SpeedMode = ( X_motor.AvrFlag == RT_TRUE ) ? AvrSpeedState :DecSpeedState;
					}
					break;
			case AvrSpeedState:
					TIM2->ARR = X_motor.MaxPeriod;
					TIM2->CCR3	= (X_motor.MaxPeriod)/2;
					X_motor.MaxNum --;
					if( X_motor.MaxNum  == 0)
					{
						SpeedMode = DecSpeedState;
					}
					break;
			case DecSpeedState:
					period = X_motor.IncPeriod[iCount--];
					TIM2->ARR		= period;				//TIM2_ARR赋值
					TIM2->CCR3	= (period)/2;
					if(iCount == 0)
					{
						SpeedMode = IncSpeedState;
						Set_Timer2_Isr_Disable();
					}
					break;
			default:
				SpeedMode = IncSpeedState;
				break;
		}
	}
}


//void TIM2_IRQHandler(void)
//{
//	
//	if(TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)
//	{
//			TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
//		
//		
		if(Stage_Dir == Stage_Forward)Stage_Coord ++;
		else if(Stage_Dir == Stage_Backward)Stage_Coord--;

		Stage_Pace_Count--;
		/* 如果步数走完，在中断内停止脉冲输出 */
	//	printf("stage_pace_count IT %d \n" ,Stage_Pace_Count);
		if(Stage_Pace_Count<=0)
		{
			Stage_Pace_Count=0;
			Pulse_Disable();
		}
//		
//	
//		
//		
//		TIM_ClearITPendingBit(TIM2,TIM_IT_Update);
//	}
//}