用c语言编写脉冲加减速程序的视频,步进电机加减速程序要求C语言写的程序

main.c文件内容：

#include"stm32f10x_lib.h"

#include"main.h"

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

GPIO_InitTypeDef GPIO_InitStructure;

ErrorStatus HSEStartUpStatus;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

int pulse;

int StepCount;

int pulse1;

int pulse2;

int t1;

int t2;

int r1;

int r2;

void RCC_Configuration(void);

void NVIC_Configuration(void);

void GPIO_Configuration(void);

void TIM2_Configuration(void);

void f(int Vt,int a,int d,int S);

#define VECT_TAB_RAM

int main(void)

{

#ifdef DEBUG

debug();/*[初始化外围设备指针]*/

#endif

RCC_Configuration(); //初始化时钟与复位

NVIC_Configuration();//初始化中断嵌套

TIM2_Configuration();//初始化定时器

GPIO_Configuration();

GPIO_WriteBit(GPIOD, GPIO_Pin_7, (BitAction)(0));

GPIO_WriteBit(GPIOD, GPIO_Pin_6, (BitAction)(0)); //DCY1 DCY2为00,即Normal %0 DECAY

GPIO_WriteBit(GPIOE, GPIO_Pin_7, (BitAction)(1));

GPIO_WriteBit(GPIOB, GPIO_Pin_1, (BitAction)(0)); //M1M2为10,即1-2-phase

//GPIO_WriteBit(GPIOA, GPIO_Pin_4, (BitAction)(1)); //正向旋转

//GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_4)));正、反向旋转控制

GPIO_WriteBit(GPIOB, GPIO_Pin_0, (BitAction)(0));

GPIO_WriteBit(GPIOC, GPIO_Pin_5, (BitAction)(1)); //TQ1 TQ2为01,即Current Ratio为50%

GPIO_WriteBit(GPIOA, GPIO_Pin_7, (BitAction)(1)); //StepReset位

GPIO_WriteBit(GPIOC, GPIO_Pin_4, (BitAction)(1)); //StepEn 使能位

while(1)

{

r1=0;

r2=10;

StepCount=0;

GPIO_WriteBit(GPIOA,GPIO_Pin_4,(BitAction)(1-GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_4)));

TIM2_Configuration();

do

{

}while(r2);

TIM_Cmd(TIM2, DISABLE);

Delay(7000000);

}

}

void GPIO_Configuration(void)

{

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_7; //PA的3.4.7接CLK,CW/CCW,StepReset

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOA,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin= GPIO_Pin_5 | GPIO_Pin_6; //PA的6.7接Protect和Mo

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOA,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_4 | GPIO_Pin_5; //PC的4.5接StepEn和TQ2

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOC,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_0 | GPIO_Pin_1; //PB的0.1接TQ1和M2

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOB,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_7; //PE7接M1

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOE,&GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin=GPIO_Pin_6 | GPIO_Pin_7; //PD的67接DCY2和DCY1

GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

GPIO_Init(GPIOD,&GPIO_InitStructure);

}

void NVIC_Configuration(void)

{

NVIC_InitTypeDef NVIC_InitStructure;

#ifdef VECT_TAB_RAM

NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);

#else

NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);

#endif

NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQChannel; //设置TIM2通道输入中断

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; /*配置优先级组*/

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; /*允许TIM2全局中断*/

NVIC_Init(&NVIC_InitStructure);

}

void TIM2_Configuration(void)

{

TIM_SetCounter( TIM2, 0x0000);

TIM_ClearFlag(TIM2, TIM_FLAG_Update); /*清除更新标志位*/

TIM_ClearITPendingBit(TIM2, TIM_FLAG_Update); //清除TIM2等待中断更新中断标志位

TIM_ARRPreloadConfig(TIM2, ENABLE); /*预装载寄存器的内容被立即传送到影子寄存器 */

TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); //使能TIM2的更新

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

TIM_TimeBaseStructure.TIM_Period = 2000; //设定的最大计数值2000,最大计数值是0xffff

TIM_TimeBaseStructure.TIM_Prescaler = 72; //分频72

TIM_TimeBaseStructure.TIM_ClockDivision = 0; // 时钟分割

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //计数方向向上计数

TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

TIM_Cmd(TIM2, ENABLE); //TIM2 enable counter

}

void RCC_Configuration(void)

{

RCC_DeInit();

RCC_HSEConfig(RCC_HSE_ON);

HSEStartUpStatus = RCC_WaitForHSEStartUp();

if(HSEStartUpStatus == SUCCESS)

{

FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

FLASH_SetLatency(FLASH_Latency_2);

RCC_HCLKConfig(RCC_SYSCLK_Div1);

RCC_PCLK2Config(RCC_HCLK_Div1);

RCC_PCLK1Config(RCC_HCLK_Div2);

RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);

RCC_PLLCmd(ENABLE);

while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)

{

}

RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);

while(RCC_GetSYSCLKSource() != 0x08)

{

}

}

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC

| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE,ENABLE);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //打开TIM2的时钟

}

void Delay(u32 nCount)

{

do{

}

while(nCount--);

}

void f(int Vt,int a,int d,int S)

{

int pulse1;

int pulse2;

t1=Vt/a;

if(StepCount