用定时器实现步进电机控制方案。

ljhlxq · 发表于 2010-9-12 11:07:10

步进电机要做好真正加速、高速、减速的控制过程，还是不容易的。

void Tim1_Configuration(void)//PA8-CH1-T1-DMA1CH5
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);

TIM_DeInit(TIM1);
/*TIM1时钟配置*/
TIM_TimeBaseStructure.TIM_Prescaler = 71;       //
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;       //
TIM_TimeBaseStructure.TIM_Period = 0xffff; //
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);

/* Channel 1 Configuration in oc mode */
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle; //
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;       //
TIM_OCInitStructure.TIM_Pulse =S_50HZ;          //
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;       //输出极性

TIM_OC1Init(TIM1,&TIM_OCInitStructure);       //通道1

TIM_ClearFlag(TIM1, TIM_FLAG_CC1|TIM_FLAG_CC2|TIM_FLAG_CC3|TIM_FLAG_CC4);
TIM_ITConfig(TIM1, TIM_IT_CC1, DISABLE);

TIM_OC1PreloadConfig(TIM1,DISABLE);
TIM_ARRPreloadConfig(TIM1, DISABLE);
TIM_Cmd(TIM1,DISABLE);
TIM_CtrlPWMOutputs(TIM1,ENABLE);
}
、、-------------------------------------------------上面是定时器初始化

//下面是定时器中断打开

void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

/* Configure one bit for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);

/* Timer1中断*/
NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* Enable the TIM2 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* Enable the TIM4 global Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* Enable the TIM3 global Interrupt */
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);

/*UART2*/
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/*RTC*/
NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}

//----------------------------实现控制
long double Tulun_datatemp=0.;
unsigned char MXUpDown_flag=0; //方向的标志
uint32_t COM_Refernce[9];    //中间变量

unsigned char Tulun_i=0;    //2次作为一个脉冲
unsigned char TLCLOSE_flag=0; //手动关闭运行的标志
unsigned char  Start_fre=50;  //启动频率
unsigned char  Add_celer=50;  //加、减速频率
uint32_t  Mxmc_timer=0;       //实际运行的脉冲数据

void clear_comref(void)  //把中间变量的数据清掉
{
unsigned char i=0;
for(i=0;i<9;i++)
{
COM_Refernce=0;
}
}

/*******************************************************************************
* Function Name  : TIM1_CC_IRQHandler
* Description : This function handles TIM1 capture compare interrupt request.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void TIM1_CC_IRQHandler(void)
{
uint16_t capture=0;
uint16_t temp=0;

if(TIM_GetITStatus(TIM1, TIM_IT_CC1) == SET)
{
      TIM_ClearITPendingBit(TIM1, TIM_IT_CC1 );
      capture = TIM_GetCapture1(TIM1);
Tulun_i++;
if(Tulun_i==2)
{
Mxmc_timer++;//2次中断为一个脉冲周期
Tulun_i=0;
}

temp=TIM1_CC1_handler(COM_Refernce,Mxmc_timer);
      TIM_SetCompare1(TIM1, capture + temp);
}
}

void step1_start(unsigned char arror)
{
if(arror==1)//正转
{
STEP1_UP;
}
else
{
STEP1_DW;
}

TIM_ITConfig(TIM1, TIM_IT_CC1, ENABLE);
TIM_Cmd(TIM1,ENABLE);
}

/********************************************************** ***
说明：运行过程中，定时器比较功能的实现函数
***************************************************************/
uint16_t TIM1_CC1_handler(uint32_t *ptr,uint32_t ym_data)
{
   uint16_t counter=0;
   static unsigned int i=0;
   static unsigned int temp=0;

   if(TLCLOSE_flag==0)
   {
        if(ym_data<=ptr[1])//加速阶段
   {
        counter=500000/(Start_fre+Add_celer*ym_data);//500000为1M频率分为2；
   }
   else
   {
        counter=500000/ptr[4];//500000为1M频率分为2；
   }
   }
   else //获得了停止的按钮
   {
   if(i==0)
   {
     i++;
if(ym_data>=ptr[1])//减速的脉冲数必须为PTR[1]
{
temp=ptr[1];
}
else
{
temp=ym_data;
}
   }
   if(i<temp)
   {
   counter=500000/(Start_fre+Add_celer*temp-Add_celer*i);//500000为1M频率分为2
   i++;
   }
   else
   {
        counter=500000/Start_fre;//500000为1M频率分为2
   if(Tulun_i==0)
   {
      TIM_Cmd(TIM1,DISABLE);
      TIM_ITConfig(TIM1, TIM_IT_CC1, DISABLE);
   i=0;
   temp=0;
   TLCLOSE_flag=0;

      return 60000;//回一个非常的值
   }
   }
   }

   return counter;
}

/********************************************************** ***
说明：sudu_max表示运行的最高频率；i表示运行的方向正转还是反转
***************************************************************/
void step1_runhand(uint16_t sudu_max,unsigned char i)
{
   unsigned char arror_mx=0;
   double temp_data=0.;    //中间变量
   uint16_t High_fre =0;    //运行的最高频率
   uint32_t StEnd_mcdata=0;  //加速与减速需要的脉冲数据

   clear_comref();//先清数组
   if(sudu_max==0)//没有速度退出
   {
      return;
   }

   if(i==0x01) //上升，正转
   {
        arror_mx=1;
   MXUpDown_flag=1;
   }
   else if(i==0x00)
   {
   arror_mx=0;
   MXUpDown_flag=0;
   }

   High_fre=(uint16_t)sudu_max;//运行的最高频率值

   if(High_fre>Start_fre)
   {
StEnd_mcdata= (uint32_t)(High_fre-Start_fre)/Add_celer;
   }
   else
   {
StEnd_mcdata=0;
   }
   COM_Refernce[4]=High_fre;
   COM_Refernce[1]=StEnd_mcdata;

   TLCLOSE_flag=0;
   Tulun_i=0;
   Mxmc_timer=0;

   step1_start(arror_mx);
}

ljhlxq · 发表于 2010-9-12 11:09:37

上述方案进行简单更改，就可以与步进电机驱动器一起实现，步进电机的加速、减速、高速过程。运行频率10K以上，在我们的控制器里已经成功运行。同时，在我的水晶球数控系统中，运用良好。

ljhlxq · 发表于 2010-9-12 11:12:05

还得说上一句，以上应用，参考了九九的定时器应用笔记，表示感谢，对于九九本人，若有需要和项目合作，可以与本人联系。

dmxfeng · 发表于 2010-9-12 12:03:41

记号

823032003 · 发表于 2010-9-12 12:16:35

xuexi

shzxy9865 · 发表于 2010-9-12 12:44:41

mark~~~~~~~~~~~~~~

youxin2004 · 发表于 2010-9-12 13:35:17

请问楼主运行在10k以上是什么意思？用的多少细分来带步进电机？

ljhlxq · 发表于 2010-9-12 14:08:43

运行10K，细分为4，步距脚1.8。这个是与步进电机和驱动器有关的。大概1000转每分钟；实际运行700转每分钟，带负载。

ljhlxq · 发表于 2010-9-12 14:10:11

有兴趣关注 www.hymcu.com.

foxaunt · 发表于 2010-9-12 14:11:09

MARK

MCU678 · 发表于 2010-9-12 14:58:23

mark

cyxavr · 发表于 2010-9-12 15:03:47

mark

slj0620 · 发表于 2010-9-12 15:13:42

定时器停中断有点太占用资源了

ljhlxq · 发表于 2010-9-12 15:33:12

12楼的想法在我设计之初，也是这样认为。可以用DMA的方式，关键看你的系统怎么设计

slj0620 · 发表于 2010-9-12 15:50:16

我就用TIM和DMA设计的一片带两个电机口，实际可支持到100K以上（程序速度优化），只在加速到恒速，恒速到减速，加速到减速切换过程中断

ljhlxq · 发表于 2010-9-12 16:04:00

14楼是高手，有幸认识。希望有很好的想法，并且实现了的话，可以拿出来共勉。

ljhlxq · 发表于 2010-9-13 10:36:40

对于文本显示器+PLC的方案；工业触摸屏+PLC的方案；在工业上已经非常成熟了，呵呵，最近做个项目，替代那个PLC.
由于PLC的价格相对而言，肯定比较高，用STM32替代PLC，那么与文本显示器、工业触摸屏就有个通信协议的问题，大家不知道有没有相关经验，一般而言，与文本、触摸屏就是RS232或RS485通信，目前我就用STM32替代了台达(DVP)的PLC，关键是MODBUS-RTU协议的实现，呵呵，可能还有些问题，所以，大家有没好的点子、经验，来晒晒。
我这个主题发到了AVR32中去了，请大家在这也进行一下讨论？？？？？？？？？？？？？？？？？？？？？？？

wjc1956 · 发表于 2010-9-13 12:10:55

mark

slj0620 · 发表于 2010-9-13 13:07:55

我就用TIM和DMA设计的一片带两个电机口，实际可支持到100K以上（程序速度优化）主要部分程序
void DMA_Configuration(void)
{

  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);

  DMA_DeInit(DMA1_Channel5);
  DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)TIM1_PSC_Address;
  DMA_InitStructure.DMA_MemoryBaseAddr = (u32)&MotorIncCurve[MotorA][1] ;
  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
  DMA_InitStructure.DMA_BufferSize = 5;
  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
  DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
  DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
  DMA_Init(DMA1_Channel5, &DMA_InitStructure);
  DMA_ITConfig(DMA1_Channel5,DMA_IT_TC,ENABLE);
  DMA_ClearITPendingBit(DMA1_IT_TC5);
  //DMA_Cmd(DMA1_Channel5, ENABLE);
}

//******************************************************************************
//TIM1_Init For MotorA
//******************************************************************************
void TIM1_Init_For_MotorA()
{
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

  TIM_TimeBaseStructure.TIM_Prescaler =0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period = 3;
  TIM_TimeBaseStructure.TIM_ClockDivision =TIM_CKD_DIV1;
  TIM_TimeBaseStructure.TIM_RepetitionCounter =0;
  TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 2;//Polarity_High
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

  TIM_OC1Init(TIM1, &TIM_OCInitStructure);
  TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
  TIM_CtrlPWMOutputs(TIM1, ENABLE);
  //TIM_Cmd(TIM1, ENABLE);

}
//******************************************************************************
//MOTORA_RUN
//******************************************************************************
void MotorA_Run(unsigned char MotorA_Dir,unsigned MotorA_Pulse)
{
  MotorA_BUMPFlag=0;
  GPIO_WriteBit(MotorA_EnPin,Bit_SET);
  GPIO_WriteBit(MotorA_SONPin,Bit_RESET);
  GPIO_WriteBit(MotorA_RSTPin,Bit_SET);

  if(MotorA_Dir) GPIO_WriteBit(MotorA_DirPin,Bit_SET);
  else GPIO_WriteBit(MotorA_DirPin,Bit_RESET);


  if(MotorA_Pulse)
  {
  if(MotorA_Pulse==1)
{
IncSpeedStepNumberA=MotorA_Pulse+1;
ConSpeedStepNumberA=0;
NecSpeedStepNumberA=0;
MotorA_CurveChangeStep=NecSpeed;
}
  else if(MotorA_Pulse<=(CurveStepNumber[MotorA]*2))
{
IncSpeedStepNumberA=MotorA_Pulse/2+MotorA_Pulse%2;
ConSpeedStepNumberA=0;
NecSpeedStepNumberA=MotorA_Pulse/2;
MotorA_CurveChangeStep=IncSpeed;
}
  else if((MotorA_Pulse>(CurveStepNumber[MotorA]*2)))
{
IncSpeedStepNumberA=CurveStepNumber[MotorA];
ConSpeedStepNumberA=MotorA_Pulse-(CurveStepNumber[MotorA]*2);
NecSpeedStepNumberA=CurveStepNumber[MotorA];
MotorA_CurveChangeStep=IncSpeed;
}

  if(ConSpeedStepNumberA)MotorA_ConSpeedFlag=1;
  else MotorA_ConSpeedFlag=0;

  DMA1_Channel5->CCR &= 0xFFFFFFFE;//Disable  DMA1_Channel5
  DMA1_Channel5->CNDTR=IncSpeedStepNumberA;//DMA_BufferSize
  DMA1_Channel5->CMAR=(u32)&MotorIncCurve[MotorA][1];//DMA_MemoryBaseAddr
  DMA1_Channel5->CCR |=0x0080;//DMA_MemoryInc_Enable
  DMA1_Channel5->CCR |=0x0001;//DMA启动

  TIM1->PSC =MotorIncCurve[MotorA][0];
  TIM1->EGR =TIM_PSCReloadMode_Immediate;
  //TIM1->RCR =0;
  //TIM1->ARR =5;
  TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
  //TIM_CtrlPWMOutputs(TIM1, ENABLE);
  TIM1->CR1 |=0x0001;//定时器启动

  MotorA_RunFlag=1;
  }
}

/*******************************************************************************
* Function Name  : DMA1_Channel5_IRQHandler
* Description : This function handles DMA1 Channel 5 interrupt request.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/

void DMA1_Channel5_IRQHandler(void)
{

  DMA1->IFCR = DMA1_IT_TC5;//清DMA中断标志
  if(MotorA_CurveChangeStep==NecSpeed)
  {
TIM1->CR1 &= 0xfffe;//定时器停止
MotorA_RunFlag=0;
  }

  if(MotorA_ConSpeedFlag)MotorA_CurveChangeStep++;
  else MotorA_CurveChangeStep +=2;

  if(MotorA_CurveChangeStep==ConSpeed)
  {
  DMA1_Channel5->CCR &= 0xFFFFFFFE;//Disable DMA1_Channel5
  DMA1_Channel5->CNDTR=ConSpeedStepNumberA;//DMA_BufferSize
  DMA1_Channel5->CMAR=(u32)&MotorIncCurve[MotorA][IncSpeedStepNumberA];//DMA_MemoryBaseAddr
  DMA1_Channel5->CCR &=0xff7f;//DMA_MemoryInc_Disable
  DMA1_Channel5->CCR |=0x0001;//DMA启动

  //TIM1->PSC=MotorIncCurve[ConSpeedStepNumber];
  //TIM1->CR1 |= 0x0001;//定时器启动
  }
  if(MotorA_CurveChangeStep==NecSpeed)
  {
  DMA1_Channel5->CCR &=0xFFFFFFFE;//Disable DMA1_Channel5
  DMA1_Channel5->CNDTR=NecSpeedStepNumberA+1;//DMA_BufferSize
  DMA1_Channel5->CMAR=(u32)&MotorNecCurve[MotorA][Inc_NecCurveUseRamSpace[MotorA]-NecSpeedStepNumberA];//DMA_MemoryBaseAddr
  DMA1_Channel5->CCR |=0x0080;//DMA_MemoryInc_Enable
  DMA1_Channel5->CCR |=0x0001;//DMA启动

  //TIM1->PSC=MotorNecCurve[Inc_NecCurveUseRamSpace-NecSpeedStepNumber-1];
  //TIM1->CR1 |= 0x0001;//定时器启动
  }
}

#pragma location=".Curve8"
//100K
const unsigned short  MotorCurve8[1024] =
{
0xf6ea,0xe02c,0xc56b,0xad01,0x98bd,0x885d,0x1226,0x0ffc,0x0e77,0x0d51,0x0c6a,
0x0bac,0x0b0e,0x0a86,0x0a11,0x09aa,0x094e,0x08fc,0x08b2,0x086f,0x0832,0x07f9,
0x07c5,0x0795,0x0768,0x073e,0x0717,0x06f2,0x06d0,0x06af,0x0690,0x0673,0x0657,
0x063d,0x0624,0x060c,0x05f5,0x05df,0x05ca,0x05b6,0x05a2,0x0590,0x057e,0x056d,
0x055c,0x054c,0x053c,0x052d,0x051f,0x0511,0x0503,0x04f6,0x04ea,0x04dd,0x04d1,
0x04c6,0x04ba,0x04af,0x04a4,0x049a,0x0490,0x0486,0x047c,0x0473,0x046a,0x0461,
0x0458,0x044f,0x0447,0x043f,0x0437,0x042f,0x0427,0x0420,0x0418,0x0411,0x040a,
0x0403,0x03fd,0x03f6,0x03ef,0x03e9,0x03e3,0x03dd,0x03d7,0x03d1,0x03cb,0x03c5,
0x03bf,0x03ba,0x03b5,0x03af,0x03aa,0x03a5,0x03a0,0x039b,0x0396,0x0391,0x038c,
0x0388,0x0383,0x037e,0x037a,0x0376,0x0371,0x036d,0x0369,0x0365,0x0360,0x035c,
0x0358,0x0354,0x0351,0x034d,0x0349,0x0345,0x0342,0x033e,0x033a,0x0337,0x0333,
0x0330,0x032d,0x0329,0x0326,0x0323,0x031f,0x031c,0x0319,0x0316,0x0313,0x0310,
0x030d,0x030a,0x0307,0x0304,0x0301,0x02fe,0x02fb,0x02f9,0x02f6,0x02f3,0x02f0,
0x02ee,0x02eb,0x02e8,0x02e6,0x02e3,0x02e1,0x02de,0x02dc,0x02d9,0x02d7,0x02d5,
0x02d2,0x02d0,0x02cd,0x02cb,0x02c9,0x02c7,0x02c4,0x02c2,0x02c0,0x02be,0x02bc,
0x02b9,0x02b7,0x02b5,0x02b3,0x02b1,0x02af,0x02ad,0x02ab,0x02a9,0x02a7,0x02a5,
0x02a3,0x02a1,0x029f,0x029d,0x029b,0x029a,0x0298,0x0296,0x0294,0x0292,0x0290,
0x028f,0x028d,0x028b,0x0289,0x0288,0x0286,0x0284,0x0283,0x0281,0x027f,0x027e,
0x027c,0x027a,0x0279,0x0277,0x0276,0x0274,0x0273,0x0271,0x0270,0x026e,0x026c,
0x026b,0x0269,0x0268,0x0267,0x0265,0x0264,0x0262,0x0261,0x025f,0x025e,0x025d,
0x025b,0x025a,0x0258,0x0257,0x0256,0x0254,0x0253,0x0252,0x0250,0x024f,0x024e,
0x024d,0x024b,0x024a,0x0249,0x0247,0x0246,0x0245,0x0244,0x0243,0x0241,0x0240,
0x023f,0x023e,0x023d,0x023b,0x023a,0x0239,0x0238,0x0237,0x0236,0x0234,0x0233,
0x0232,0x0231,0x0230,0x022f,0x022e,0x022d,0x022c,0x022b,0x0229,0x0228,0x0227,
0x0226,0x0225,0x0224,0x0223,0x0222,0x0221,0x0220,0x021f,0x021e,0x021d,0x021c,
0x021b,0x021a,0x0219,0x0218,0x0217,0x0216,0x0215,0x0214,0x0213,0x0212,0x0211,
0x0211,0x0210,0x020f,0x020e,0x020d,0x020c,0x020b,0x020a,0x0209,0x0208,0x0207,
0x0207,0x0206,0x0205,0x0204,0x0203,0x0202,0x0201,0x0201,0x0200,0x01ff,0x01fe,
0x01fd,0x01fc,0x01fc,0x01fb,0x01fa,0x01f9,0x01f8,0x01f7,0x01f7,0x01f6,0x01f5,
0x01f4,0x01f4,0x01f3,0x01f2,0x01f1,0x01f0,0x01f0,0x01ef,0x01ee,0x01ed,0x01ed,
0x01ec,0x01eb,0x01ea,0x01ea,0x01e9,0x01e8,0x01e7,0x01e7,0x01e6,0x01e5,0x01e5,
0x01e4,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,0x01e3,
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0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
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0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
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0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,0x01e0,
0x01e0
};

ljhlxq · 发表于 2010-9-13 13:21:27

MARK。
18楼的无私贡献

ljhlxq · 发表于 2010-9-25 13:17:13

具体实现，上图和相关资料了。

(原文件名:3.JPG)

(原文件名:4.JPG)

(原文件名:1.JPG)

点击此处下载 ourdev_585506K4SS8H.zip(文件大小:312K) (原文件名:THB7128芯片说明书.zip)
点击此处下载 ourdev_585507VF53WO.zip(文件大小:24K) (原文件名:原理图.zip)

xiaomage_2000 · 发表于 2010-9-25 16:29:56

这个要顶~

ljhlxq · 发表于 2010-10-18 14:12:28

对于STM32中实现圆弧插补算法？有没有好的意见和建议？

lgnq · 发表于 2010-10-18 17:17:32

mark

zxc2769 · 发表于 2010-10-21 19:30:25

MARK

albert_lu · 发表于 2010-10-23 05:58:04

MARK

tigerchen · 发表于 2010-10-23 13:56:55

mark，多谢了

acmilann · 发表于 2010-10-25 19:52:51

mark，研究不透，思考中……

yu_studio · 发表于 2010-10-25 20:24:40

先记下，有时间好好看看

tongyf · 发表于 2010-11-23 15:30:16

学习，帮顶

tkxlll · 发表于 2010-11-24 17:55:31

学习拉。收藏。

28182900 · 发表于 2011-1-14 12:24:05

坐在马桶上常常被扔下的BoB!!!溅得满屁股花~~哪位高人掌握了压水花的技术近来传授小弟呀？

gpfrank · 发表于 2011-1-14 12:44:19

mark 好的。

willbai · 发表于 2011-1-16 15:19:00

学习了，赞！

tigerchen · 发表于 2011-1-23 13:26:52

mark。很好啊

sailing8 · 发表于 2011-2-9 10:11:37

正在找这个资料，必须顶！

lzy_0323 · 发表于 2011-2-9 11:15:45

mark!

aaroncy79 · 发表于 2011-2-10 09:18:31

mark

sufeila · 发表于 2011-2-10 09:21:38

MARK 步进电机

fjb0522 · 发表于 2011-2-22 19:23:51

做个标记，有项目可用

tangwei039 · 发表于 2011-2-22 23:27:31

确实值得参考

gzfslt · 发表于 2011-2-23 11:54:37

mark

huzcmail · 发表于 2011-2-24 09:57:52

mark

gpfrank · 发表于 2011-2-24 17:13:40

mark 研究中

cong2010 · 发表于 2011-2-28 13:58:11

步进电机，不错，准备要用，可以借鉴

gallle · 发表于 2011-2-28 15:01:37

回复【31楼】28182900
坐在马桶上常常被扔下的bob!!!溅得满屁股花~~哪位高人掌握了压水花的技术近来传授小弟呀？
-----------------------------------------------------------------------

哈哈，每天半斤巴豆

zj_t · 发表于 2011-3-1 21:58:35

定时器加减速，MARK

li0713 · 发表于 2011-3-1 22:24:33

好东西！！学习一下

kevinvan · 发表于 2011-3-11 14:25:59

mark

zywh · 发表于 2011-3-19 22:21:34

好东西。。。。

newhz · 发表于 2011-5-18 13:16:14

刚买了楼主的板子，这个的顶。

wenfeiexe · 发表于 2011-5-18 17:59:15

mark

luzj05 · 发表于 2011-5-18 18:29:18

呵呵
不错~

shanyan · 发表于 2011-5-18 18:34:09

我的STM32+文本显示器+控制2个步进电机：

(原文件名:ourdev_640061FSR6MU.jpg)

shanyan · 发表于 2011-5-18 18:35:17

带加减速，恒速回零！

win100 · 发表于 2011-7-10 21:08:10

标记，步进电机

beipan1982 · 发表于 2011-7-11 22:34:26

好东西啊

hpyanghua · 发表于 2011-7-12 10:13:49

MARK。。。。

wellrun · 发表于 2011-7-17 00:40:22

dma的方案值得参考，不过要动态实现s形曲线估计不容易

yanghai-M · 发表于 2011-7-17 10:01:47

我使用TMC429来实现加，减速控制，效果很不错点击此处下载 ourdev_658546DDMAM9.pdf(文件大小:2.76M) (原文件名:3轴控制芯片SD,SPI 输出 .pdf)

kevin_ares · 发表于 2011-7-17 10:57:34

mark,

每次脉冲一个中断,

两个电机,高速的时候啥都不用干了

wind2100 · 发表于 2011-7-17 17:11:49

有不用定时器中断做步进电机的吗？

john78 · 发表于 2011-7-17 21:46:17

回复【59楼】yanghai-M
我使用tmc429来实现加，减速控制，效果很不错点击此处下载 (原文件名:3轴控制芯片sd,spi 输出 .pdf)

-----------------------------------------------------------------------
tmc429 - 什么价格?

wxws · 发表于 2011-8-1 08:01:35

同问

Joyliz · 发表于 2011-8-1 08:50:46

先记着，有时间慢慢研究！

along0425 · 发表于 2011-8-1 13:51:07

正在调试，参考了，谢谢

Feco · 发表于 2011-8-1 14:06:55

mark

jiang47 · 发表于 2011-8-9 11:10:56

要用STM32控制6个42型的步进电机，过来学习学习。

xuanxs · 发表于 2011-8-28 13:27:32

程序，看的不是很明白

hong_hong789 · 发表于 2011-8-29 12:00:31

mark

251131250 · 发表于 2011-9-14 20:11:10

mark,学习了马上要做的东西

kumosheng · 发表于 2011-9-19 14:36:52

这个不标记上，对不起自己，好东西。

lihe · 发表于 2011-10-10 15:35:42

mark

wwqq · 发表于 2011-10-17 12:46:06

mark

aibama · 发表于 2011-10-18 22:06:06

学习

lihe · 发表于 2011-10-20 13:42:36

回复【18楼】slj0620
-----------------------------------------------------------------------
你好，我想用dma去对定时器分频。结果DMA没有反应。大家帮忙看看呀。
#define TIM1_PSC_ADDRESS    0x40010028

uint16_t SRC_Buffer[2] = {2};
int main(void)
{
  SystemInit();
  TIM_Config();

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
  /* Time Base configuration */
  TIM_TimeBaseStructure.TIM_Prescaler = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period = TimerPeriod;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;

  TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

  /* Channel 3 Configuration in PWM mode */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = 3414;
  TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
  TIM_OC3Init(TIM1, &TIM_OCInitStructure);
  TIM_Cmd(TIM1, ENABLE);
  /* DMA enable*/
  DMA_Cmd(DMA2_Stream6, ENABLE);
  /* TIM1 Update DMA Request enable */
  TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
  /* Main Output Enable */
  TIM_CtrlPWMOutputs(TIM1, ENABLE);
  while (1)
  { }
}
void TIM_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  DMA_InitTypeDef DMA_InitStructure;

  /* GPIOA and GPIOB clock enable */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB, ENABLE);

  /* GPIOA Configuration: Channel 3 as alternate function push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_8 ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_TIM1);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource10, GPIO_AF_TIM1);

  /* GPIOB Configuration: Channel 3N as alternate function push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_TIM1);

  /* DMA clock enable */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 , ENABLE);

  DMA_DeInit(DMA2_Stream6);
  DMA_InitStructure.DMA_Channel = DMA_Channel_6;
  DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(TIM1_PSC_ADDRESS) ;
  DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)SRC_Buffer;
  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
  DMA_InitStructure.DMA_BufferSize = 1;
  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
  DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_HalfWord;

  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
  DMA_InitStructure.DMA_Priority = DMA_Priority_High;
  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;

  DMA_Init(DMA2_Stream6, &DMA_InitStructure);
}

gylsxcn · 发表于 2011-10-20 21:24:24

正在搞不进电机

maxsuntech · 发表于 2011-11-24 08:24:12

mark

gpfrank · 发表于 2011-11-24 09:59:13

mark

yangpeng · 发表于 2011-11-25 00:48:47

关注！！！！

52171314 · 发表于 2011-11-25 01:00:19

LZ想得过于麻烦了

ddrfft · 发表于 2011-11-25 08:21:52

到网上搜索下激光雕刻机光驱；你会的到文章里面使用avr 8位实现运动控制功能并能进行G代码解析参考下那个代码吧灰常不错我想应该可以转到stm上的 8位实现了直线运动梯形加减速直线插补圆弧插补。。。。。16M晶振步进频率可以到30k。内部使用命令缓冲序列形式缓存20个命令序列；如果做舞台灯用只用把运动序列改为死的或者放到eep中进行合理加载进行类似循环播放的形式应该灰常不错，估计控制舞台灯轻松。
点击此处下载 ourdev_698790ER2TJG.zip(文件大小:45K) (原文件名:simen-grbl-74576a8.zip)

ministar · 发表于 2011-12-29 22:44:01

学习，顶一下！

tianfe2010 · 发表于 2012-2-15 19:03:55

回复【83楼】ministar
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学习

schlang · 发表于 2012-6-4 17:30:58

mark一下，学习ing

bbandpp · 发表于 2012-6-14 22:38:28

学习下，电机的

cdlxzlp · 发表于 2012-10-23 22:37:30

看到了就顶一个

zooky · 发表于 2012-10-24 09:11:02

步进控制，收藏

hisun · 发表于 2012-12-9 13:12:24

slj0620 发表于 2010-9-13 13:07
我就用TIM和DMA设计的一片带两个电机口，实际可支持到100K以上（程序速度优化）主要部分程序
void DMA_Conf ...

请问19楼中的const unsigned short MotorCurve8[1024]这个大数据表格是怎么计算出来的？知道的科谱一下计算方法啊。

lcmdw · 发表于 2012-12-17 22:03:23

mark

geiter001 · 发表于 2013-2-28 18:13:42

hisun 发表于 2012-12-9 13:12
请问19楼中的const unsigned short MotorCurve8[1024]这个大数据表格是怎么计算出来的？知道的科谱一下 ...

这样的问题有得到解答吗？我也有这样的问题啊！知道的可以说说。

99252598 · 发表于 2013-4-27 14:05:44

必须顶起但是没看明白

dayaue · 发表于 2013-4-28 14:44:25

mark , 我要控制5个电机

jiang316300541 · 发表于 2013-8-18 22:38:53

mark

yuexiangquan · 发表于 2013-9-11 09:26:29

正在研究步进电机加速。不是很明白，学习学习

魏东江 · 发表于 2013-9-18 15:53:50

MARK

szmini2006 · 发表于 2013-9-18 17:17:08

做过这个东西，深知其做好不容易

wugq_sh · 发表于 2013-9-18 21:56:49

MARK 步进电机

ZHAOBO10375 · 发表于 2013-9-26 21:12:33

不能在中间过程计数吧

gaoxiaohu110 · 发表于 2016-3-29 22:32:47

这个大赞！不知道能不能实现100K+的频率！

用定时器实现步进电机控制方案。

阿莫论坛20周年了！感谢大家的支持与爱护！！