STM32步进电机加减速

电机的加减速为了，电机启动停止更加稳定，提高匀速速度。S曲线算法优化电机的运行。

整个过程就是，模仿S曲线设置电机的频率

程序采用，通过s_curve()函数映射一张小于1500个点的表， 输出一次pwm方波，中断一次，计数器step计数一次 ，TIM_SetAutoreload()重新设置arr频率。

S曲线函数，加速和减速同理，返回值是表的个数

uint16_t _stepmotor_calc(uint16_t min, uint16_t max, float rate, float val[1500])
{
	  uint16_t  i;
	  float     Ainf_v;
	  uint16_t  AInf_t;
	  float     end_v;
	  float     start_v;
	  end_v=100000/min;
	  start_v=100000/max;
		Ainf_v=(end_v-start_v)/2+start_v;
        AInf_t=sqrt(2*(Ainf_v-start_v)/rate);
		for(i=0;i
   
   

代码实现：

电机的配置 ：

void RCC_Cfg(void)
{      
	   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);  
       RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);
}
void GPIO_Cfg_gpio_b(void)
{  
    GPIO_InitTypeDef GPIO_InitStructure;           
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
    GPIO_Init(GPIOB,&GPIO_InitStructure); 
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
	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_0|GPIO_Pin_10|GPIO_Pin_11;		
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStructure);
	GPIO_WriteBit(GPIOA, GPIO_Pin_4, Bit_RESET);  //OE使能
	GPIO_WriteBit(GPIOA, GPIO_Pin_5, Bit_RESET);  //细分1
	GPIO_WriteBit(GPIOA, GPIO_Pin_6, Bit_SET);    //细分2
	GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET); //ATT1衰减
	GPIO_WriteBit(GPIOB, GPIO_Pin_11, Bit_SET);   //ATT2衰减
	GPIO_WriteBit(GPIOB, GPIO_Pin_0, Bit_RESET);  //CW方向	
}
void PWM_Cfg(void)
{
    TIM_OCInitTypeDef TIM_OCInitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCStructInit(&TIM_OCInitStructure);
	TIM_DeInit(TIM3);      
	TIM_InternalClockConfig(TIM3);    
	TIM_TimeBaseStructure.TIM_Period = 65535;      //arr  	
	TIM_TimeBaseStructure.TIM_Prescaler = 200;    // psc  //Tclk/((arr+1)*(psc+1))Tclk;                        
	TIM_TimeBaseStructure.TIM_ClockDivision =0;// TIM_CKD_DIV1
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
	TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);	
    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);	
    TIM_OCInitStructure.TIM_OCMode       = TIM_OCMode_PWM1; 
    TIM_OCInitStructure.TIM_OutputState  = TIM_OutputState_Enable; 
    TIM_OCInitStructure.TIM_OCPolarity   = TIM_OCPolarity_High;    
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OC4Init(TIM3, &TIM_OCInitStructure);
    TIM_CtrlPWMOutputs(TIM3,ENABLE);
		
}

主函数部分，整个运行的图像是个梯形，先加速在匀速在减速停止

#include "stm32f10x.h"
#include "math.h"
#include "pwm.h"

#define _ACC_DEC_MAX_COUNT 1500
#define _STEP_INT 8000

#define mortor_cw(x) x ? GPIO_SetBits(GPIOB,GPIO_Pin_0):GPIO_ResetBits(GPIOB,GPIO_Pin_0)
void stm32_init(void);
void delay_ms(u32 i);
void once_pwm(void);

int acc_i = 0;
int dec_i = 0;
int cw_buf=0;
uint16_t acc_count;
uint16_t dec_count;

typedef struct
{
	int StepCount;
	float acc_val[_ACC_DEC_MAX_COUNT];
	float dec_val[_ACC_DEC_MAX_COUNT];
}str_mot;

str_mot motor_1;

void Delay(u32 nCount)
{
  do{
    }
  while(nCount--);
}

int main()
{
	  int i = 0;
	  float temp = 0;
	  stm32_init();
	 
      RCC_Cfg();   
      GPIO_Cfg_gpio_b();	
	  motor_1.StepCount=0;
	  acc_count=0;
	  dec_count=0;  	
	  PWM_Cfg();
	  TIM_SetCompare4(TIM3,(20/2));
	
	  acc_count = _stepmotor_calc(60,250,0.09,motor_1.acc_val);
	  dec_count = _stepmotor_calc(60,150,0.005,motor_1.dec_val);
	
	  for(i = 0;i
     
     
      
      = (_STEP_INT-dec_count))
		{ 
			TIM_SetAutoreload(TIM3,motor_1.dec_val[(dec_i)]);
			TIM_SetCompare4(TIM3,(motor_1.dec_val[(dec_i)]/2));	
			dec_i++;
		}
	}
}