588 lines
18 KiB
C
588 lines
18 KiB
C
#include "sys.h"
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#include "usart.h"
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#include "led.h"
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#include "thb6128.h"
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#include "stdlib.h"
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#include "stdio.h"
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#include "string.h"
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#include "main.h"
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#include "motorstat.h"
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#include <math.h>
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extern char USART_RX_BUF[200];
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int s1=0,s2=0;
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int main(void)
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{
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// 初始化参数
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u16 t;
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u16 len;
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int value;
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MotorStat.MoveMode = 0;
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MotorStat.NmberoNow = 0;
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MotorStat.NmberoTarget = 0;
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MotorStat.direction = 0;
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MotorStat.speed = 0;
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MotorStat.acc = 0;
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MotorStat.dec = 0;
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MotorStat.moveflag = 0;
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MotorStat.backzero = 0;
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MotorStat.speedflag = 0;
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// MotorStat.accflag = 0;
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// MotorStat.decflag = 0;
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MotorStat.Nmbertargetflag = 0;
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MotorStat.set_speed = setfreq;
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MotorStat.stopmove = stopmotormove;
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MotorStat.max_speed = 0;
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MotorStat.move_phase = -1;
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MotorStat.zheng_LimitTrigger = 0;
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MotorStat.fu_LimitTrigger = 0;
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MotorStat.target_position = 0;
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MotorStat.zero_flag = 0;
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MotorStat.max_speed = 2000;
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//clk应该接在有定时器的io接口上，PA8 TIM3用来捕获脉冲上升沿
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delay_init(); // 延时函数初始化
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 设置NVIC中断分组2:2位抢占优先级，2位响应优先级
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uart_init(115200); // 串口初始化为 115200,用的串口1，PA9->RX ,PA10->TX
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STEP_MOTOR_Init();
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LED_Init(); // LED端口初始化
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TIM1_PWM_CH1_Init();
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//TIM1_PWM_Init(999, 3599); // 分频得到20hz 。PWM频率=72000000/9999/719=100hz 有震动
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TIM3_Int_Init(999, 71);
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TIM2_Capture_Init();
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// TIM4_Capture_Init();
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EXTI_Config(); //负限位
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//TIM4_Int_Init(999,7199);
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TIM_SetCompare1(TIM1, 500);
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Dac1_Init(); // DAC初始化
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// 关闭待机，拉高
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GPIO_SetBits(GPIOC, GPIO_Pin_0);
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// 设置enable引脚
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GPIO_ResetBits(GPIOA, GPIO_Pin_11);
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// 设置细分
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STEP_SUBDIVIDE(4);
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// 设置电流
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Dac1_Set_Vol(1500); //
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printf("wellcom to my motor\r\n ");
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while (1) {
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if (USART_RX_STA & 0x8000) {
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len = USART_RX_STA & 0x3fff; // 得到此次接收到的数据长度
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for (t = 0; t < len; t++) {
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USART_SendData(USART1, USART_RX_BUF[t]); // 向串口1发送数据
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while (USART_GetFlagStatus(USART1, USART_FLAG_TC) != SET); // 等待发送结束
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}
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USART_RX_STA = 0;
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// 解析USART_RX_BUF 格式如下
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/*SET#OPEN 打开
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SET#OFF 脱机
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SET#EN 使能电机
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SET#MOVEING 转动
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SET#DRECTION#0 正向 1反向
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SET#CURRENT#1 设置电流
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SET#ACC#1000 设置加速度
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SET#DEC#1000 设置减速度
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SET#ORIGIN 设置当前位置为0
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SET#BAUD_RATE#9600 设置波特率
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SET#MICROSTEPPING#1 设置细分
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SET#SPEED#1000 设置速度 freq=1000时，为50hz
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SET#TARGET#1000 设置目标速度
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MOVE#TO##1000 旋转到1000这个位置
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MOVE#BY##1000 旋转1000步
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MOVE#ZERO 旋转到远点*/
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// 先提取第一个井号前的字符串
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char *p = strtok(USART_RX_BUF, "#");
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if (strcmp(p, "SET") == 0) {
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// 提取第二个井号前的字符串
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p = strtok(NULL, "#");
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if (strcmp(p, "OPEN") == 0) {
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// 打开
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STEP_MOTOR_OPEN();
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printf("OPEN\r\n");
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}
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if (strcmp(p, "OFF") == 0) {
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// 脱机
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STEP_MOTOR_OFF();
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printf("OFF\r\n");
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}
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if (strcmp(p, "EN") == 0) {
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// 使能电机
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STEP_MOTOR_EN();
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printf("EN\r\n");
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}
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// if (strcmp(p, "SET#CLEAR") == 0) {
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// // 使能电机
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// RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, DISABLE); //时钟使能
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// printf("CLEAR\r\n");
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// }
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// if (strcmp(p, "MOVEING") == 0) {
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// // 转动
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// STEP_MOTOR_FORWARD();
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// printf("MOVEING\r\n");
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// }
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if (strcmp(p, "ZERO") == 0) {
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//设置当前位置为0
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MotorStat.NmberoNow=0;
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stopmotormove();
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printf("ZERO\r\n");
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}
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if (strcmp(p, "DRECTION") == 0) {
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// 转动
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p = strtok(NULL, "#");
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if (strcmp(p, "0") == 0) {
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// 正向
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STEP_MOTOR_FORWARD();
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printf("DRECTION FORWARD\r\n");
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}
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if (strcmp(p, "1") == 0) {
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// 反向
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STEP_MOTOR_BACKWARD();
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printf("DRECTION BACKWARD\r\n");
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}
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}
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if (strcmp(p, "CURRENT") == 0) {
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// 设置电流
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p = strtok(NULL, "#");
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value = atoi(p);
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if(value<=3000)
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{
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set_CurrentValue(value);
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printf("CURRENT %d\r\n", value);
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}
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else
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printf("CURRENT OVER");
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}
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if (strcmp(p, "DEC") == 0) {
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// 设置减速度
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TIM5_Int_Init(999, 71);
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p = strtok(NULL, "#");
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value = atoi(p);
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MotorStat.decel = value;
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//MotorStat.dec=value;
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// MotorStat.speedflag=1;
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// MotorStat.decflag=1;
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printf("DEC %d\r\n", value);
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}
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if (strcmp(p, "ACC") == 0) {
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// 设置加速度
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TIM5_Int_Init(999, 71);
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p = strtok(NULL, "#");
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value = atoi(p);
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MotorStat.accel = value;
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//MotorStat.acc=value;
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// MotorStat.speedflag=1;
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// MotorStat.accflag=1;
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printf("ACC %d\r\n", value);
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}
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if (strcmp(p, "MICROSTEPPING") == 0) {
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p = strtok(NULL, "#");
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value = atoi(p);
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STEP_SUBDIVIDE(value);
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printf("MICROSTEPPING %d\r\n", value);
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}
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if (strcmp(p, "SPEED") == 0) {
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p = strtok(NULL, "#");
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value = atoi(p);
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setfreq(value);
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MotorStat.speed=value;
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}
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if (strcmp(p, "TARGET") == 0) { //max_speed
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p = strtok(NULL, "#");
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value = atoi(p);
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MotorStat.max_speed = value; // 最大1000 steps/s
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//MotorStat.Targetspeed=value;
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printf("TARGET %d\r\n", value);
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}
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if (strcmp(p, "BAUD_RATE") == 0) {
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p = strtok(NULL, "#");
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value = atoi(p);
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USART_Cmd(USART1, DISABLE);
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uart_init(value);
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}
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} else if (strcmp(p, "MOVE") == 0) {
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// 提取第二个井号前的字符串
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p = strtok(NULL, "#");
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if (strcmp(p, "TO") == 0) {
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// 旋转到
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p = strtok(NULL, "#");
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value = atoi(p);
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moveto(value);
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printf("MOVE TO %d\r\n", value);
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}
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if (strcmp(p, "BY") == 0) {
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// 旋转了
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p = strtok(NULL, "#");
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value = atoi(p);
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MotorStat.NmberoTarget=value;
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moveby();
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printf("MOVE BY %d\r\n", value);
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}
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if (strcmp(p, "ZERO") == 0) {
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// 旋转到负极限，归零
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movetozero();
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printf("MOVE TO ZERO\r\n");
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}
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if (strcmp(p, "INFO") == 0) {
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// 获取当前信息（状态，位置，速度）
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// if ( MotorStat.zero_flag == 1 && MotorStat.fu_LimitTrigger == 1){
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// printf("Stats: %d, Pos: 0, Speed: %.1f\r\n", MotorStat.move_phase, MotorStat.current_speed);
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// }
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// else{
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printf(" Stats: %d, Pos: %d, Speed: %.1f\r\n", MotorStat.move_phase, MotorStat.NmberoNow, MotorStat.current_speed);
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// printf("fu : %d\r\n", MotorStat.fu_LimitTrigger);
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// printf("GPIO : %d\r\n", GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_6 ));
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//}
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}
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}
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memset(USART_RX_BUF, 0, sizeof(USART_RX_BUF));
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}
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// switch_fan();
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// switch_zheng();
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}
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}
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void moveby(void)
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{
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MotorStat.MoveMode=1;
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MotorStat.moveflag = 1;
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if(MotorStat.NmberoTarget>0){
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GPIO_ResetBits(GPIOA, GPIO_Pin_12);//正转NmberoTarget个脉冲
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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GPIO_SetBits(GPIOA, GPIO_Pin_11);
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MotorStat.direction=0;
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printf("zhengzhuan\r\n");
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}
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if(MotorStat.NmberoTarget<0){
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GPIO_SetBits(GPIOA,GPIO_Pin_12);//反转
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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GPIO_SetBits(GPIOA, GPIO_Pin_11);
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MotorStat.direction=1;
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printf("fan\r\n");
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}
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}
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void moveto(int target)
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{
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stopmotormove();
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MotorStat.target_position = target; // 保存目标位置到结构体
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if (MotorStat.NmberoNow == target && MotorStat.zero_flag == 0) {
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stopmotormove();
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printf("Already at target: %d\r\n", target);
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return;
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}
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int steps = target - MotorStat.NmberoNow;
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// 运动参数设置
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MotorStat.total_steps = abs(steps);
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MotorStat.direction = (steps > 0) ? 0 : 1;
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// 计算梯形曲线参数
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double max_reachable_speed = sqrt(1.0* (2 * MotorStat.accel * MotorStat.total_steps));
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MotorStat.max_speed = (max_reachable_speed < MotorStat.max_speed) ?
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max_reachable_speed : MotorStat.max_speed;
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MotorStat.accel_steps = (MotorStat.max_speed * MotorStat.max_speed) / (2 * MotorStat.accel);
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MotorStat.decel_steps = (MotorStat.max_speed * MotorStat.max_speed) / (2 * MotorStat.decel);
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if(MotorStat.accel_steps + MotorStat.decel_steps <= MotorStat.total_steps){
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MotorStat.const_steps = MotorStat.total_steps - MotorStat.accel_steps - MotorStat.decel_steps;
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} else {
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MotorStat.accel_steps = MotorStat.total_steps * MotorStat.decel / (MotorStat.accel + MotorStat.decel);
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MotorStat.decel_steps = MotorStat.total_steps - MotorStat.accel_steps;
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MotorStat.const_steps = 0;
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}
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// 初始化运动参数
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MotorStat.NmberoTarget = MotorStat.total_steps;
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MotorStat.MoveMode = 1;
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MotorStat.step_counter = 0;
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MotorStat.current_speed = 0;
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MotorStat.move_phase = 0;
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MotorStat.moveflag = 1;
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MotorStat.speedflag = 1;
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if (MotorStat.direction == 0)
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{
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GPIO_ResetBits(GPIOA, GPIO_Pin_12);
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}
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else
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{
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GPIO_SetBits(GPIOA, GPIO_Pin_12);
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}
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// 启动定时器和电机
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GPIO_SetBits(GPIOA, GPIO_Pin_11);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
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}
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//void moveto(void)
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//{
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// if(MotorStat.NmberoNow>0)
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// {
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// GPIO_SetBits(GPIOA,GPIO_Pin_12);//反转
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// MotorStat.direction=1;
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// }
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// else if(MotorStat.NmberoNow<0)
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// {
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// GPIO_ResetBits(GPIOA,GPIO_Pin_12);
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// MotorStat.direction=0;
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// }
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// MotorStat.backzero = 1;
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// if(MotorStat.NmberoNow==0)
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// {
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// stopmotormove();
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// printf("already at zero\r\n");
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// }
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//}
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void stopmotormove(void)
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{
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GPIO_ResetBits(GPIOA, GPIO_Pin_11);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, DISABLE);
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MotorStat.moveflag = 0;
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MotorStat.step_counter = 0; // 重置步数计数器
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MotorStat.current_speed = 0;
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}
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void setfreq(int freq)
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{
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uint32_t timer_clk = 72000000; // TIM1 时钟频率
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uint32_t arr;
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uint16_t psc = 0; // 预分频值，默认 0（即不分频）
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if (freq <= 0)
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{
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TIM_Cmd(TIM1, DISABLE);
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return;
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}
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// 计算初始 ARR 值（PSC = 0）
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arr = (timer_clk / freq) - 1;
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// 如果 ARR 超过 16 位（65535），增加预分频值，直到 ARR 适配
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while (arr > 65535 && psc < 65535)
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{
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psc++;
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arr = (timer_clk / (freq * (psc))) - 1;
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}
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if (arr > 65535)
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{
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return;
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}
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TIM_Cmd(TIM1, DISABLE);
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TIM_ARRPreloadConfig(TIM1, DISABLE);
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TIM1->PSC = psc; // 设置新的预分频值
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TIM1->ARR = arr;
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TIM1->CCR1 = arr / 2; // 50% 占空比
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TIM_ARRPreloadConfig(TIM1, ENABLE);
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TIM_Cmd(TIM1, ENABLE);
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// printf("Freq = %d Hz, ARR = %u, PSC = %u\r\n", freq, arr, psc);
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// printf("Freq = %d Hz\r\n", freq);
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}
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void setgpiovalue(GPIO_TypeDef *GPIOx, int pinnumber, int vlue)
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{
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if (vlue == 0) {
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GPIO_ResetBits(GPIOx, pinnumber);
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} else {
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GPIO_SetBits(GPIOx, pinnumber);
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}
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}
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//void STEP_SUBDIVIDE(int divide)
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//{ // 设置细分
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// setgpiovalue(GPIOB, GPIO_Pin_13, divide & 0x01); /// 0
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// setgpiovalue(GPIOB, GPIO_Pin_14, divide >> 1 & 0x01); // 1
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// setgpiovalue(GPIOB, GPIO_Pin_15, divide >> 2 & 0x01); // 0
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//}
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void STEP_SUBDIVIDE(int divide)// 设置细分
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{
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// 设置细分
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switch (divide) {
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case 1:
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setgpiovalue(GPIOB, GPIO_Pin_13, 0); // LLL
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setgpiovalue(GPIOB, GPIO_Pin_14, 0);
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setgpiovalue(GPIOB, GPIO_Pin_15, 0);
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break;
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case 2:
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setgpiovalue(GPIOB, GPIO_Pin_13, 1); // HLL
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setgpiovalue(GPIOB, GPIO_Pin_14, 0);
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setgpiovalue(GPIOB, GPIO_Pin_15, 0);
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break;
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case 4:
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setgpiovalue(GPIOB, GPIO_Pin_13, 0); // LHL
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setgpiovalue(GPIOB, GPIO_Pin_14, 1);
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setgpiovalue(GPIOB, GPIO_Pin_15, 0);
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break;
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case 8:
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setgpiovalue(GPIOB, GPIO_Pin_13, 1); // HHL
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setgpiovalue(GPIOB, GPIO_Pin_14, 1);
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setgpiovalue(GPIOB, GPIO_Pin_15, 0);
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break;
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case 16:
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setgpiovalue(GPIOB, GPIO_Pin_13, 0); // LLH
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setgpiovalue(GPIOB, GPIO_Pin_14, 0);
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setgpiovalue(GPIOB, GPIO_Pin_15, 1);
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break;
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case 32:
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setgpiovalue(GPIOB, GPIO_Pin_13, 1); // HLH
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setgpiovalue(GPIOB, GPIO_Pin_14, 1);
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setgpiovalue(GPIOB, GPIO_Pin_15, 0);
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break;
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case 64:
|
||
setgpiovalue(GPIOB, GPIO_Pin_13, 0); // LHH
|
||
setgpiovalue(GPIOB, GPIO_Pin_14, 1);
|
||
setgpiovalue(GPIOB, GPIO_Pin_15, 1);
|
||
break;
|
||
case 128:
|
||
setgpiovalue(GPIOB, GPIO_Pin_13, 1); // HHH
|
||
setgpiovalue(GPIOB, GPIO_Pin_14, 1);
|
||
setgpiovalue(GPIOB, GPIO_Pin_15, 1);
|
||
break;
|
||
default:
|
||
printf("Error value: %d\r\n", divide);
|
||
break;
|
||
}
|
||
// printf("xifen = %d, %d %d %d \r\n", divide, GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_13), GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_14), GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_15));
|
||
}
|
||
|
||
void set_CurrentValue(int value) // 设置电流
|
||
{
|
||
Dac1_Set_Vol(value);
|
||
}
|
||
void switch_zheng (void) //脱机
|
||
{
|
||
|
||
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_6)==1&&s1==0) //PB6 1 -->极限
|
||
{
|
||
|
||
GPIO_ResetBits(GPIOA,GPIO_Pin_12); //正转
|
||
MotorStat.direction=0;
|
||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, DISABLE);
|
||
printf("already close & zheng\r\n");
|
||
GPIO_ResetBits(GPIOA,GPIO_Pin_11);
|
||
}
|
||
if(GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_6)==1&&s1!=0)
|
||
{
|
||
GPIO_ResetBits(GPIOA,GPIO_Pin_12); //,一定要注意初始化，将函数提前声明，将PA12拉低，正转
|
||
MotorStat.direction=0;
|
||
GPIO_SetBits(GPIOA,GPIO_Pin_11);
|
||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
|
||
s1++;
|
||
printf("s%d \r\n",s1);
|
||
if(s1==500)
|
||
s1=0;
|
||
}
|
||
}
|
||
void switch_fan(void) //脱机
|
||
{
|
||
|
||
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)==1&&s2==0) //PA0 1 -->极限
|
||
{
|
||
GPIO_SetBits(GPIOA,GPIO_Pin_12); //将PA12拉高，反转
|
||
MotorStat.direction=1;
|
||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, DISABLE);
|
||
printf("already close & fan\r\n");
|
||
GPIO_ResetBits(GPIOA,GPIO_Pin_11);
|
||
}
|
||
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)==1&&s2!=0)
|
||
{
|
||
GPIO_SetBits(GPIOA,GPIO_Pin_11);
|
||
GPIO_SetBits(GPIOA,GPIO_Pin_12); //将PA12拉高，反转
|
||
MotorStat.direction=1;
|
||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
|
||
s2++;
|
||
|
||
printf(" s%d \r\n",s2);
|
||
if(s2==500)
|
||
s2=0;
|
||
}
|
||
}
|
||
|
||
//float pulse_to_distance(int pulse_count) {
|
||
// const float pulse_distance = 0.0046; // 每个脉冲对应的位移 (mm)
|
||
// return pulse_count * pulse_distance;
|
||
//}
|
||
|
||
//bool is_reached_target(int pulse_count, float target_distance) {
|
||
// const float pulse_distance = 0.0046;
|
||
// float current_distance = pulse_count * pulse_distance;
|
||
// return fabs(current_distance - target_distance) < 0.001; // 允许一定的误差范围
|
||
//}
|
||
|
||
|
||
void movetozero(void) {
|
||
|
||
// MotorStat.fu_LimitTrigger = 0;
|
||
// 启动归零流程
|
||
MotorStat.zero_flag = 1;
|
||
|
||
if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_6 ) ==1) {
|
||
stopmotormove();
|
||
MotorStat.NmberoNow = 0;
|
||
}
|
||
|
||
// 持续向负极限方向移动
|
||
if(MotorStat.zero_flag == 1 && GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_6 ) ==0) {
|
||
moveto(-6666); // 目标位置设为极大值
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
|