STM32步进电机加减速

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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1GPIO_WriteBit(GPIOA, GPIO_Pin_6, Bit_SET);    //细分2GPIO_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_DIV1TIM_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++;}}
}