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chenxin
2025-06-18 09:08:17 +08:00
commit 7999439a8f
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SYSTEM/thb6128/thb6128.c Normal file
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#include "thb6128.h"
#include "usart.h"
#include "stdlib.h"
#include "stdio.h"
#include "string.h"
#include "dac.h"
#include "led.h"
#include "motorstat.h"
/* EN-> PA11 M1 PB13
CW/CCW-> PA12 M2 PB14
CLK/cp-> PA8 M3 PB15
VREF-> PA4
FDT-> PA5
*/
extern int s1,s2;
void STEP_MOTOR_Init(void){ //接口初始化
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC, ENABLE); //使能PB,PE端口时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_8|GPIO_Pin_4; // 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //LED0-->PC13 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; // 端口配置
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
GPIO_Init(GPIOC, &GPIO_InitStructure); //根据设定参数初始化
}
void STEP_MOTOR_FORWARD(void)
{
GPIO_ResetBits(GPIOA,GPIO_Pin_12); //将PA12拉低，正转
MotorStat.moveflag=1;
MotorStat.direction=0;
MotorStat.MoveMode=0;
s1=1;
}
void STEP_MOTOR_BACKWARD(void)
{
GPIO_SetBits(GPIOA,GPIO_Pin_12); //将PA12拉高，反转
MotorStat.moveflag=1;
MotorStat.direction=1;
MotorStat.MoveMode=0;
s2=1;
}
void STEP_MOTOR_EN (void) //使能
{
GPIO_SetBits(GPIOA,GPIO_Pin_11);
Dac1_Set_Vol(1000);//保持电流
}
void STEP_MOTOR_OPEN (void)//开启电机
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
}
void STEP_MOTOR_OFF (void) //脱机
{
MotorStat.moveflag=0;
GPIO_ResetBits(GPIOA,GPIO_Pin_11);
printf("ALREDAY_OFFLINE\r\n");
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, DISABLE);
}