stm32控制多个步进电机出现的问题

1楼-- · 2019-07-21 12:28

程序里  driver3 是模仿着源码写的，用的是定时器1  电机总是抖动，定时器3  的代码我也写过，就是速度非常的慢
#include "driver2.h"
#include "delay.h"
#include "usart.h"
************************************************************
//DT??è??ú:2016/05/12
//////////////////////////////////////////////////////////////////////////////////
/********** ?y?ˉ?÷ ???ú?¨ò? **************
//DRIVER_DIR  PA6
//DRIVER_OE PA5
//STEP_PULSE PA7 TIM3_CH2,LCD_RW)
******************************************/

u8 rcr_remainder2; //???′??êyóàêy2?·?
u8 is_rcr_finish2=1; //???′??êy?÷ê?·?éè??íê3é
long rcr_integer2; //???′??êy??êy2?·?
long target_pos2=0;  //óD·?o?·??ò
long current_pos2=0; //óD·?o?·??ò
DIR_Type motor_dir2=CW;//?3ê±??

/************** ?y?ˉ?÷????D?o???3?ê??ˉ ****************/
void Driver_Init2(void)
{
GPIO_InitTypeDef  GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //ê1?üPC???úê±?ó

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6; //PC0.2 ???ú????
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //í?íìê?3?
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO?ú?ù?è?a50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //?ù?Yéè?¨2?êy3?ê??ˉGPIOC
GPIO_SetBits(GPIOA,GPIO_Pin_5);      //PC0ê?3??? ?3ê±??·??ò  DRIVER_DIR
GPIO_ResetBits(GPIOA,GPIO_Pin_6); //PC2ê?3?μí ê1?üê?3?  DRIVER_OE
}

/***********************************************
//TIM3_CH2(PC7) μ￥??3?ê?3?+???′??êy1|?ü3?ê??ˉ
//TIM3 ê±?ó?μ?ê 72MHz
//arr￡o×??ˉ??×°?μ
//psc￡oê±?ó?¤·??μêy
************************************************/
void TIM3_OPM_RCR_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //TIM3ê±?óê1?ü
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);  //ê1?üGPIOCíaéèê±?óê1?ü

//éè????òy???a?′ó?ê?3?1|?ü,ê?3?TIM3 CH2μ?PWM??3?2¨D?
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //TIM3_CH2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //?′ó?í?íìê?3?
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);

TIM_TimeBaseStructure.TIM_Period = arr; //éè???ú??ò????üD?ê??t×°è????ˉμ?×??ˉ??×°????′??÷?ü?úμ??μ
TIM_TimeBaseStructure.TIM_Prescaler =psc; //éè??ó?à′×÷?aTIMxê±?ó?μ?ê3yêyμ??¤·??μ?μ
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //éè??ê±?ó·???:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM?òé???êy?￡ê?
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //?ù?YTIM_TimeBaseInitStruct?D???¨μ?2?êy3?ê??ˉTIMxμ?ê±???ùêyμ￥??
TIM_ClearITPendingBit(TIM3,TIM_IT_Update);

TIM_UpdateRequestConfig(TIM3,TIM_UpdateSource_Regular); /********* éè????óD??êyò?3?×÷?a?üD??D?? ********/
TIM_SelectOnePulseMode(TIM3,TIM_OPMode_Single);/******* μ￥??3??￡ê? **********/

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //?????¨ê±?÷?￡ê?:TIM??3??í?èμ÷???￡ê?2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //±è??ê?3?2ê1?ü
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; /****** ±è??ê?3?2Nê§?ü *******/
TIM_OCInitStructure.TIM_Pulse = arr>>1; //éè??′y×°è?2???±è????′??÷μ???3??μ
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //ê?3???D?:TIMê?3?±è????D???
TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //?ù?YTIM_OCInitStruct?D???¨μ?2?êy3?ê??ˉíaéèTIMx

TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //CH2?¤×°??ê1?ü
TIM_ARRPreloadConfig(TIM3, ENABLE); //ê1?üTIMx?úARRé?μ??¤×°????′??÷

TIM_ITConfig(TIM3, TIM_IT_Update ,ENABLE);  //TIM3 ê1?ü?ò??ê§?ü???¨μ?TIM?D??

NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3?D??
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;  //?è??ó??è??1??
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;  //′óó??è??1??
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQí¨μà±?ê1?ü
NVIC_Init(&NVIC_InitStructure);  //?ù?YNVIC_InitStruct?D???¨μ?2?êy3?ê??ˉíaéèNVIC??′??÷

TIM_ClearITPendingBit(TIM3, TIM_IT_Update);  //??3yTIMxμ??D??′y′|àí??:TIM ?D???′
TIM_Cmd(TIM3, ENABLE);  //ê1?üTIM3
}
/******* TIM3?üD??D??·t??3ìDò *********/
void TIM3_IRQHandler(void)
{
if(TIM_GetITStatus(TIM3,TIM_FLAG_Update)!=RESET)//?üD??D??
{
TIM_ClearITPendingBit(TIM3,TIM_FLAG_Update);//??3y?üD??D??±ê????
if(is_rcr_finish2==0)//???′??êy?÷?′éè??íê3é
{
if(rcr_integer2!=0) //??êy2?·???3??1?′·￠?ííê3é
{
TIM3->RCR=RCR_VAL;//éè?????′??êy?μ
rcr_integer2--;//??éùRCR_VAL+1????3?
}else if(rcr_remainder2!=0)//óàêy2?·???3? 2???0
{
TIM3->RCR=rcr_remainder2-1;//éè??óàêy2?·?
rcr_remainder2=0;//??á?
is_rcr_finish2=1;//???′??êy?÷éè??íê3é
}else goto out; //rcr_remainder2=0￡??±?óí?3?
TIM_GenerateEvent(TIM3,TIM_EventSource_Update);//2úéúò????üD?ê??t ??D?3?ê??ˉ??êy?÷
TIM_CtrlPWMOutputs(TIM3,ENABLE); //MOE ?÷ê?3?ê1?ü
TIM_Cmd(TIM3, ENABLE);  //ê1?üTIM3
if(motor_dir2==CW) //è?1?·??ò?a?3ê±??
current_pos2+=(TIM3->RCR+1);//?óé????′??êy?μ
else       //·??ò·??ò?a??ê±??
current_pos2-=(TIM3->RCR+1);//??è￥???′??êy?μ
}else
{
out: is_rcr_finish2=1;//???′??êy?÷éè??íê3é
TIM_CtrlPWMOutputs(TIM3,DISABLE); //MOE ?÷ê?3?1?±?
TIM_Cmd(TIM3, DISABLE);  //1?±?TIM3

}
}
}
/***************** ???ˉTIM3 *****************/
void TIM3_Startup(u32 frequency) //???ˉ?¨ê±?÷3
{
u16 temp_arr=1000000/frequency-1;
TIM_SetAutoreload(TIM3,temp_arr);//éè?¨×??ˉ??×°?μ
TIM_SetCompare2(TIM3,temp_arr>>1); //?￥???μ2μèóú??×°?μò?°?￡?ê?ò?????±è?a50%
TIM_SetCounter(TIM3,0);//??êy?÷??á?
TIM_Cmd(TIM3, ENABLE);  //ê1?üTIM3
}
/********************************************
//?à???¨??oˉêy
//num 0??2147433647
//frequency: 20Hz~100KHz
//dir: CW(?3ê±??·??ò)  CCW(??ê±??·??ò)
*********************************************/
void Locate_Rle2(long num,u32 frequency,DIR_Type dir) //?à???¨??oˉêy
{
if(num<=0) //êy?μD?μèóú0 ?ò?±?ó·μ??
{

return;
}
if(TIM3->CR1&0x01)//é?ò?′???3??1?′·￠?ííê3é  ?±?ó·μ??
{

return;
}
if((frequency<20)||(frequency>100000))//??3??μ?ê2??ú·??§?ú ?±?ó·μ??
{
// printf(" The frequency is out of range! please reset it!!(range:20Hz~100KHz) ");
return;
}
motor_dir2=dir;//μ?μ?·??ò
DRIVER_DIR2=motor_dir2;//éè??·??ò

if(motor_dir2==CW)//?3ê±??
target_pos2=current_pos2+num;//??±ê????
else if(motor_dir2==CCW)//??ê±??
target_pos2=current_pos2-num;//??±ê????

rcr_integer2=num/(RCR_VAL+1);//???′??êy??êy2?·?
rcr_remainder2=num%(RCR_VAL+1);//???′??êyóàêy2?·?
is_rcr_finish2=0;//???′??êy?÷?′éè??íê3é
TIM3_Startup(frequency);//?a??TIM3
}
/********************************************
//?????¨??oˉêy
//num -2147433643??2147433647
//frequency: 20Hz~100KHz
*********************************************/
void Locate_Abs2(long num,u32 frequency)//?????¨??oˉêy
{
if(TIM3->CR1&0x01)//é?ò?′???3??1?′·￠?ííê3é ?±?ó·μ??
{
printf(" The last time pulses is not send finished,wait please! ");
return;
}
if((frequency<20)||(frequency>100000))//??3??μ?ê2??ú·??§?ú ?±?ó·μ??
{
printf(" The frequency is out of range! please reset it!!(range:20Hz~100KHz) ");
return;
}
target_pos2=num;//éè????±ê????
if(target_pos2!=current_pos2)//??±êoíμ±?°????2?í?
{
if(target_pos2>current_pos2)
motor_dir2=CW;//?3ê±??
else
motor_dir2=CCW;//??ê±??
DRIVER_DIR2=motor_dir2;//éè??·??ò

rcr_integer2=abs(target_pos2-current_pos2)/(RCR_VAL+1);//???′??êy??êy2?·?
rcr_remainder2=abs(target_pos2-current_pos2)%(RCR_VAL+1);//???′??êyóàêy2?·?
is_rcr_finish2=0;//???′??êy?÷?′éè??íê3é
TIM3_Startup(frequency);//?a??TIM3
}
}

/*  头文件
#ifndef __DRIVER2_H
#define __DRIVER2_H
#include "sys.h"
#include "stdlib.h"
#include "driver.h"

#define DRIVER_DIR2 PAout(6) // Dy×a·??ò
#define DRIVER_OE2 PAout(5) // ê1?ü?? μíμ???óDD§
#define RCR_VAL 255  //????êy￡¨RCR_VAL+1￡?′?￡??D??ò?′?￡??a???μ￡¨0~255￡?éè??′óò?D??éò??μμí?D???μ?ê

//typedef enum
//{
// CW = 1,//??μ????3ê±??
// CCW = 0,//μíμ?????ê±??
//}DIR_Type;//??DD·??ò

extern long target_pos2;//óD·?o?·??ò
extern long current_pos2;//óD·?o?·??ò

void Driver_Init2(void);//?y?ˉ?÷3?ê??ˉ
void TIM3_OPM_RCR_Init(u16 arr,u16 psc);//TIM3_CH2 μ￥??3?ê?3?+???′??êy1|?ü3?ê??ˉ
void TIM3_Startup(u32 frequency); //???ˉ?¨ê±?÷3
void Locate_Rle2(long num,u32 frequency,DIR_Type dir); //?à???¨??oˉêy
void Locate_Abs2(long num,u32 frequency);//?????¨??oˉêy

#endif

*/