定时器3控制PWM的输出脉冲_步进电机的控制

采用定时器TIM3来控制PWM的输出来产生频率变化的脉冲。

过程：加速——匀速——减速——停止

文件：stepmotor.c  定义步进电机控制程序

//用到的tim2为了实现另外的功能可以忽视

#include "stepmotor.h"
#include

u32 PUL_CNT;   // TIM3脉冲计数
vu32 step_done;
vu32 run_state;

#define run_state_stop 0
#define run_state_acc 1
#define run_state_run 2
#define run_state_dec 3

void STEPMOTOR_CTRL_INIT(void)
{
 GPIO_InitTypeDef GPIO_InitStructure;
 NVIC_InitTypeDef NVIC_InitStructure;
 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
 TIM_OCInitTypeDef TIM_OCInitStructure;

 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //GPIO时钟使能
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //定时器3时钟使能 
    //RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //定时器2时钟使能

 GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_7;    //PA7为TIM3通道2
 GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;  //复用推免输出
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //GPIO口响应速度 
 GPIO_Init(GPIOA, &GPIO_InitStructure);

 GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_6;    //PA6为DIR控制输出
 GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_Out_PP;  //推免输出
 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  //GPIO口响应速度 
 GPIO_Init(GPIOA, &GPIO_InitStructure);

 //TIM3_Configuration
 TIM_TimeBaseStructure.TIM_Period            = 23999;     //自动重装载寄存器
 TIM_TimeBaseStructure.TIM_Prescaler         = 2;      //预分频器,t=(23999+1)*(2+1)/72M
 TIM_TimeBaseStructure.TIM_CounterMode       = TIM_CounterMode_Up; //计数器向上计数模式     
 TIM_TimeBaseStructure.TIM_ClockDivision     = 0x0;      //时钟分频因子
 TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0;      //每次溢出都产生事件更新
 TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);       //写TIM3各寄存器参数
  TIM_ClearFlag(TIM3,TIM_FLAG_Update);          //中断标志位清零
 TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);       //允许捕获/比较3中断

 TIM_OCInitStructure.TIM_OCMode      = TIM_OCMode_PWM2;   //PWM模式2 TIM3_CCMR1[14:12]=111 在向上计数时，一旦TIMx_CNT
 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   //输入/捕获2输出允许
 TIM_OCInitStructure.TIM_Pulse       = 40;       //确定占空比，这个值决定了有效电平的时间。
 TIM_OCInitStructure.TIM_OCPolarity  = TIM_OCPolarity_Low;      //输出极性,低电平有效   
 TIM_OC2Init(TIM3, &TIM_OCInitStructure);         //配置定时器输出模式,比较参数等
 TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);       //使能TIM3在CCR2上的预装载寄存器

 //TIM2_Configuration
    TIM_DeInit(TIM2);          //TIM2重新配置为缺省值，默认状态
 
 
 TIM_TimeBaseStructure.TIM_Period        = 359;     //自动重装载寄存器
 TIM_TimeBaseStructure.TIM_Prescaler     = 199;     //时钟预分频器
 TIM_TimeBaseStructure.TIM_CounterMode   = TIM_CounterMode_Up;   //计数器向上计数模式          
 TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;         //时钟分频因子 
 TIM_TimeBaseInit(TIM2,&TIM_TimeBaseStructure);     //配置TIM2寄存器各参数
 
 TIM_ClearFlag(TIM2,TIM_FLAG_Update);          //中断标志位清零
 TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);       //允许捕获/比较2中断

 NVIC_InitStructure.NVIC_IRQChannel          = TIM3_IRQn ;  //选择定时器TIM3
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;          //选择抢先式优先级（与中断嵌套级别有关）
 NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 2;       //选择子优先级（同抢先式优先级的响应顺序）
 NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;    //选择使能中断源
 NVIC_Init(&NVIC_InitStructure);

 NVIC_InitStructure.NVIC_IRQChannel          = TIM2_IRQn ;  //选择定时器TIM2
 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;          //选择抢先式优先级（与中断嵌套级别有关）
 NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 3;       //选择子优先级（同抢先式优先级的响应顺序）
 NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;    //选择使能中断源
 NVIC_Init(&NVIC_InitStructure);
}

void TIM3_Configuration(u32 period)
{
 TIM3->ARR = period-1;
 TIM3->CCR2 = period >> 2;
 //TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 //TIM_OCInitTypeDef TIM_OCInitStructure;

 //TIM_TimeBaseStructure.TIM_Period            = period-1;      //自动重装载寄存器
 //TIM_TimeBaseStructure.TIM_Prescaler         = 29;    //预分频器,f=72M/[(period+1)*(29+1)], ft = 2400000
 //TIM_TimeBaseStructure.TIM_CounterMode       = TIM_CounterMode_Up; //计数器向上计数模式     
 //TIM_TimeBaseStructure.TIM_ClockDivision     = 0x0;      //时钟分频因子
 //TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0;      //每次溢出都产生事件更新
 //TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);       //写TIM3各寄存器参数

 //TIM_OCInitStructure.TIM_OCMode      = TIM_OCMode_PWM2;   //PWM模式2 TIM3_CCMR1[14:12]=111 在向上计数时，一旦TIMx_CNT
 //TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   //输入/捕获2输出允许
 //TIM_OCInitStructure.TIM_Pulse       = period >> 2;     //确定占空比，25%
 //TIM_OCInitStructure.TIM_OCPolarity  = TIM_OCPolarity_Low;      //输出极性,低电平有效   
 //TIM_OC2Init(TIM3, &TIM_OCInitStructure);         //配置定时器输出模式,比较参数等
}
//void MOTOR_RUN(u32 acc, u32 dec, u32 topspeed, u32 dis)
//步进电机运行参数
//acc -- 加速度,单位: round/min/s
//dec -- 减速度,单位: round/min/s
//topspeed -- 最高速度,单位: round/min
//dis -- 总角位移,单位: round/10000
void MOTOR_RUN(u32 acc, u32 dec, u32 topspeed, u32 dis)
{
  u32 t_acc,t_dec,step_all,step_acc,step_dec,step_run;
  u32 i,tim_cnt,tim_rest,tim_cnt_temp;
  
  step_all = (float)dis * (N_MOTOR * 0.0001);

  t_acc = topspeed * 1000 / acc; //unit: ms
  t_dec = topspeed * 1000 / dec; //unit: ms

  if(topspeed * (t_acc + t_dec) / 12 > dis)  //达不到最高速度 // topspeed/60/1000 * (t_acc + t_dec) / 2 > dis / 10000
  {
    topspeed = sqrt(dis * acc * dec * 12 / (acc + dec) / 1000);
    t_acc = topspeed * 1000 / acc; //unit: ms
    t_dec = topspeed * 1000 / dec; //unit: ms 
  }

  step_acc = N_MOTOR * ((float)topspeed*topspeed/(acc*120));
  step_dec = N_MOTOR * ((float)topspeed*topspeed/(dec*120));
  if(step_all > step_acc + step_dec)
   step_run = step_all - step_acc - step_dec;
  else
   step_run = 0;

  //tim_cnt = 5.2363 * ft / (sqrt(acc*N_MOTOR/2)); //(ft * sqrt(60)*0.676) / sqrt(acc*N_MOTOR/2);
  tim_cnt = 7.7460 * ft / (sqrt(acc*N_MOTOR/2));
  tim_rest = 0;
  i = 0;
  TIM3_Configuration(tim_cnt);
  run_state = run_state_acc;
  TIM_Cmd(TIM3,ENABLE);
  step_done = 0;
  while(step_done==0);
  while(i
  {
    i++;
    //tim_cnt_temp = tim_cnt;
    //tim_cnt = tim_cnt - (2*tim_cnt+tim_rest) / (4*i+1);
    //tim_rest = (2*tim_cnt_temp+tim_rest) % (4*i+1);
    tim_cnt_temp = tim_cnt / ( sqrt((float)(i+1)) + sqrt((float)(i)) );
    TIM3_Configuration(tim_cnt_temp);
    step_done = 0;
    while(step_done==0);
  }
  
  if(step_run > 0)
  {
    run_state = run_state_run;
    tim_cnt = ft * 60 / (N_MOTOR*topspeed);
    i = 0;
    TIM3_Configuration(tim_cnt);
    while(i
    {
      step_done = 0;
      while(step_done==0);
      i++;
    }
  }

  run_state = run_state_dec;
  tim_rest = 0;
  i=0;
  tim_cnt = tim_cnt + (2*tim_cnt+tim_rest) / (4*(step_dec-i)-1);
  while(i
  {
    TIM3_Configuration(tim_cnt);
    step_done = 0;
    while(step_done==0);
    i++;
    tim_cnt_temp = tim_cnt;
    tim_cnt = tim_cnt + (2*tim_cnt+tim_rest) / (4*(step_dec-i)-1);
    tim_rest = (2*tim_cnt_temp+tim_rest) % (4*(step_dec-i)-1);
  }
  run_state = run_state_stop;
  TIM_Cmd(TIM3,DISABLE);
}

void TIM2_IRQHandler(void)
{
  

}

void TIM3_IRQHandler(void)
{
  TIM_ClearFlag(TIM3,TIM_FLAG_Update);

 step_done = 1; 

 //PUL_CNT++;  
}

文件：stepmotor.h  声明步进电机控制头文件

#define N_MOTOR 10000 //步进电机细分
#define ft 24000000

void STEPMOTOR_CTRL_INIT(void);
void MOTOR_RUN(u32 acc, u32 dec, u32 topspeed, u32 dis);

文件：main.c  主函数，设置加速度，减速度，最大速度和步数的参数值

#include "main.h"

#define LED_SET() GPIO_SetBits(GPIOB,GPIO_Pin_8)
#define LED_RST() GPIO_ResetBits(GPIOB,GPIO_Pin_8)

#define SET_DIR_CW() GPIO_SetBits(GPIOA,GPIO_Pin_6)
#define SET_DIR_CCW() GPIO_ResetBits(GPIOA,GPIO_Pin_6)

void NVIC_Configuration(void);
void LED_init(void);
void soft_delayms(u16 t);

int main(void)
{
 SystemInit();
 STEPMOTOR_CTRL_INIT();

 soft_delayms(1000);
 
 while(1)
 {
  SET_DIR_CW();
  MOTOR_RUN(600,600,1000,500000);
  soft_delayms(1000);
  
  SET_DIR_CCW();
  MOTOR_RUN(600,600,1000,500000);
  soft_delayms(1000);         
 }
 return 0;
}

void NVIC_Configuration(void)
{
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0000); //将中断矢量放到Flash的0地址
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); //设置优先级配置的模式，详情请阅读原材料中的文章
}

void LED_init(void)
{
 GPIO_InitTypeDef GPIO_InitStruct;

 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

 GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
 GPIO_InitStruct.GPIO_Pin = GPIO_Pin_8;
 GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
 GPIO_Init(GPIOB, &GPIO_InitStruct);
}

void soft_delayms(u16 t)
{
 u16 tt;
 while(t--)
 {
  tt = 10000;
  while(tt--);
 }
}

#ifndef  _MAIN_H
#define  _MAIN_H

#include "stm32f10x.h"
#include "stepmotor.h"

#endif

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