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本帖最后由 磊磊映画 于 2014-7-21 10:14 编辑
学习过程中参考了ID：lxyppc的程序及思路
帖子http://www.amobbs.com/thread-3607403-1-1.html
stm32发送控制信号给驱动器，驱动器控制步进电机。
驱动器：控制一个步进电机转动，使用一路PWM信号，和一路方向信号，根据pwm信号的频率控制步进电机的转速，方向信号控制步进转动的方向。
之前看到很多寄存器版，我已成功移植到战舰的开发板上，对LXYPPC的程序进行了修改，使用了mdk，lxyppc的程序中调用了很多ARM标准的API，可见功底深厚。
对于程序有几点理解。
1.使用了定时器的主从门控模式，定时器3做主定时器，定时器1做从定时器，综合程序，我不禁要问主从门控模式发生的条件是什么，结果是什么？
根据程序中配置定时器的程序
TIM_SelectSlaveMode(TIM1,TIM_SlaveMode_Gated); goto definition后发现#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
查询参考手册发现符合3.15定时器同步中，使用一个定时器使能另一个定时器的类型
门控模式可以对内部计数，当定时器溢出的更新条件发生后，可以使能另一个定时器工作，也就是说，更新发生后，另一个定时器会使能工作，所以就会出现while(1)中，if(!(TIM3->CR1 & 1))这句话，判断定时器3的使能与否。
2.见原帖中的六楼，比如TIM1输出PWM， 频率为F，可以用TIM2通过Gate来控制TIM1的输出，将TIM2预频设为1/(F*2)，则TIM2的Period 就是 脉冲个数*2 - 1
对这句话不是很理解，为什么主定时器的频率要跟从定时器的频率发生关系，为什么是两倍，而不是三倍？
TIM1在配置好pwm输出后，就一直输出pwm波，TIM2的预分频跟TIM1设置PWM_Period/2 - 1，周期是waveNumber*2，当TIM1发生了F次PWM波之后，会使能TIM2，TIM2开始工作，这时将定时器TIM1计数器清零，将TIM2的周期修改，以便下次达到pwm发生预设的次数后，触发发生条件。
3.以上程序只是控制一路步进电机的，实际应用中要控制多路步进电机工作，在多路步进电机控制中使用该方法控制时要怎么做呢？
比如程序中使用的是定时器1的通道2和定时器3的通道4的主从门控工作模式，再多一路步进电机控制时，仍使用定时器1和定时器3的其他通道吗？还是使用另外两个定时器？
4.以上是我个人的理解，可能不对，欢迎指教。
- #include "led.h"
- #include "delay.h"
- #include "sys.h"
- #include "key.h"
- #include "usart.h"
- #include "exti.h"
- #include "wdg.h"
- #include "timer.h"
- #include "pwm.h"
- //Mini STM32开发板范例代码8
- //PWM输出 实验
- //正点原子@ALIENTEK
- //技术论坛:www.openedv.com
- #define PWM_Period 120
- void RCC_Configuration(void);
- void NVIC_Configuration(void);
- void TIMER_Configuration(void);
- u16 waveNumber = 10;
- /*---------------------------------------------------------------------------------------------------------------------------------------*/
- /* Just make parameter name shorter */
- #define _GetInternalTrigger(S,M) \
- (S == TIM1 ? (M == TIM5 ? TIM_TS_ITR0 : (M == TIM2 ? TIM_TS_ITR1 : (M == TIM3 ? TIM_TS_ITR2 :(M == TIM4 ? TIM_TS_ITR3 : (u16)-1)))): \
- (S == TIM8 ? (M == TIM1 ? TIM_TS_ITR0 : (M == TIM2 ? TIM_TS_ITR1 : (M == TIM4 ? TIM_TS_ITR2 :(M == TIM5 ? TIM_TS_ITR3 : (u16)-1)))): \
- (S == TIM2 ? (M == TIM1 ? TIM_TS_ITR0 : (M == TIM8 ? TIM_TS_ITR1 : (M == TIM3 ? TIM_TS_ITR2 :(M == TIM4 ? TIM_TS_ITR3 : (u16)-1)))): \
- (S == TIM3 ? (M == TIM1 ? TIM_TS_ITR0 : (M == TIM2 ? TIM_TS_ITR1 : (M == TIM5 ? TIM_TS_ITR2 :(M == TIM4 ? TIM_TS_ITR3 : (u16)-1)))): \
- (S == TIM4 ? (M == TIM1 ? TIM_TS_ITR0 : (M == TIM2 ? TIM_TS_ITR1 : (M == TIM3 ? TIM_TS_ITR2 :(M == TIM8 ? TIM_TS_ITR3 : (u16)-1)))): \
- (S == TIM5 ? (M == TIM2 ? TIM_TS_ITR0 : (M == TIM3 ? TIM_TS_ITR1 : (M == TIM4 ? TIM_TS_ITR2 :(M == TIM8 ? TIM_TS_ITR3 : (u16)-1)))): \
- (u16)-1))))))
- #define GetInternalTrigger(SlaveTimer,MasterTimer) _GetInternalTrigger(SlaveTimer,MasterTimer)
- #define compile_assert(exp) {extern char lxyppc_at_163_dot_com[(exp) ? 1:-1];}
- int main(void)
- {
- /* System Clocks Configuration */
- SystemInit();
- delay_init(72); //延时初始化
- NVIC_Configuration();
- //uart_init(9600);
- /* Enable related peripheral clocks */
- RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA,ENABLE);
- RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB,ENABLE);
- RCC_APB2PeriphClockCmd( RCC_APB2Periph_TIM1,ENABLE);
- RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM3,ENABLE);
- TIMER_Configuration();
- /* Create relationship between timer1 and timer3, timer3 is master, timer1 is slave
- timer1 is work under gate control mode, and controled by timer3
- timer3's channel 4 is used as the control signal */
- /* Enable timer's master/slave work mode */
- TIM_SelectMasterSlaveMode(TIM3,TIM_MasterSlaveMode_Enable);
- TIM_SelectMasterSlaveMode(TIM1,TIM_MasterSlaveMode_Enable);
- /* timer3's channel 4 is used as the control signal */
- TIM_SelectOutputTrigger(TIM3,TIM_TRGOSource_OC4Ref );
- /* Check the master/slave is valid or not */
- compile_assert((u16)GetInternalTrigger(TIM1,TIM3) != (u16)-1);
- /* Config timer1's external clock */
- TIM_ITRxExternalClockConfig(TIM1, GetInternalTrigger(TIM1,TIM3));
- TIM_SelectSlaveMode(TIM1,TIM_SlaveMode_Gated);
- /* Enable the slave timer*/
- TIM_Cmd(TIM1,ENABLE);
- while(1){
- /* Check whether the previous action is done or not */
- if(!(TIM3->CR1 & 1)){
- TIM1->CNT = 0; /* It would be very perfect if gate mode can
- reset the slave timer automatically */
- TIM3->ARR = waveNumber*2; /* Reload wave number*/
- TIM3->CCR4 = waveNumber*2 - 1;
- TIM3->CR1|=1; /* Re-enable the timer */
- /* update waveform number */
- waveNumber++;
- if(waveNumber == 13){
- waveNumber = 10;
- }
- }
- }
- }
- /* Config IO for related timers */
- void TIMER_Configuration(void)
- {
- GPIO_InitTypeDef GPIO_InitStructure;
- /* Timer1 Channel 2, PA9 */
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- /* Timer3 Channel 4, PB1*/
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
- /* Setup Timer3 channel 4, Timer3 is master timer
- This timer is used to control the waveform count of timer1 */
- do
- {
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
- TIM_DeInit(TIM3);
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
- TIM_OCStructInit(&TIM_OCInitStructure);
- TIM_TimeBaseStructure.TIM_Prescaler = PWM_Period/2 - 1;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseStructure.TIM_Period = waveNumber*2;
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
-
- /* Timer2 Channel 3 Configuration in PWM2 mode, this is used for enable Recive clcok */
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = waveNumber*2 - 1;
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
- TIM_OC4Init(TIM3,&TIM_OCInitStructure);
- TIM_CtrlPWMOutputs(TIM3, ENABLE);
- TIM_SelectOnePulseMode(TIM3, TIM_OPMode_Single);
-
- do
- {
- /* Setup timer1 channel 2, Timer1 is slave timer
- This timer is used to output waveforms */
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
- TIM_DeInit(TIM1);
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
- TIM_OCStructInit(&TIM_OCInitStructure);
- TIM_TimeBaseStructure.TIM_Prescaler = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseStructure.TIM_Period = PWM_Period;
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);
-
- /* Timer2 Channel 3 Configuration in PWM2 mode, this is used for enable Recive clcok */
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = PWM_Period/2;
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
- TIM_OC2Init(TIM1,&TIM_OCInitStructure);
- TIM_CtrlPWMOutputs(TIM1, ENABLE);
- }
- while(0);
- }
- while(0);
- }
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发表于 2014-7-21 10:12:41
楼主
学习中。
