文件管理序列号：[K8UY-K9IO69-O6M243-OL889-F88688]步进电机插补算法stm#include"stm32f10x.h"#include"delay.h"#include"misc.h"#include
#include"stm32f10x_tim.h"#include"stm32f10x_rcc.h"#include"stm32f10x_usart.h"#includevoidRCC_Configuration(void);voidGPIO_Configuration(void);voidNVIC_Configuration(void);voidTIM_Configuration(void);voidUSART_Configuration(void);intfputc(intch,FILE*f);intfgetc(FILE*f);floatMx=1.44f,My=2.88f;//起点floatNx=10.0f,Ny=7.61f;//终点floatX1,Y1;floatX2,Y2;floatX3,Y3;//三种
方法
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走后的坐标floatk;//斜率floatb;//y=kx+bfloatX,Y;//实际运行的坐标floatDelta1,Delta2,Delta3,Delta4;//三种方法的误差，4为不走最后一步的误差floatDelta;//实际误差//floatDeltaMax;//最大误差charway;//选择的走法inta;//TIM6中断次数intnum=0;//总步数inttx=1,ty=1;//用来判断中断是否发生intnumx,numy;//计ＸＹ的步数intcounter=0;//计数值floattime;//时间floatnxd,nyd;//开始减速坐标floatnx,ny;//nx=Nx-0.0144f;floatfenmu;//公式中分母//intfrex[20]={2,10,30,60,100,150,220,300,390,500};//intfrey[20]={2,10,30,60,100,150,220,300,390,500};intfrex[20]={1098,2931,7585,18242,37754,62245,81757,92414,97068,98901};intfrey[20]={1098,2931,7585,18242,37754,62245,81757,92414,97068,98901};intprex[20]={0};intprey[20]={0};intmain(void){inti,j;intnpwm=10;//加减速每段脉冲数//算出预分频值for(i=0;i<10;i++){}//配置，初始化RCC_Configuration();GPIO_Configuration();USART_Configuration();TIM_Configuration();NVIC_Configuration();Delay_Init();TIM_Cmd(TIM2,ENABLE);//catchXYTIM_Cmd(TIM6,ENABLE);//计时//TIM_SetCounter(TIM6,0);//开始运行{//计算相关量X=Mx;Y=My;k=(Ny-My)/(Nx-Mx);b=My-k*Mx;//y=kx+bnxd=Nx-90*0.0144f;nyd=Ny-90*0.0144f;nx=Nx-0.0144f;ny=Ny-0.0144f;fenmu=sqrt(k*k+1);for(i=1;i<10;i++)//加速阶段，分10段{while(jDeltaMax)//DeltaMax=Delta;}for(i=8;i>=0;i--)//减速阶段，分10段{TIM_PrescalerConfig(TIM3,prex[i]-1,TIM_PSCReloadMode_Immediate);//改预分频，频率TIM_PrescalerConfig(TIM4,prey[i]-1,TIM_PSCReloadMode_Immediate);while(jDeltaMax)//DeltaMax=Delta;}//判断是否要走超出终点{X1=X+0.0144f;Y1=Y;X2=X;Y2=Y+0.0144f;X3=X+0.0144f;Y3=Y+0.0144f;Delta1=sqrt((Nx-X1)*(Nx-X1)+(Ny-Y1)*(Ny-Y1));Delta2=sqrt((Nx-X2)*(Nx-X2)+(Ny-Y2)*(Ny-Y2));Delta3=sqrt((Nx-X3)*(Nx-X3)+(Ny-Y3)*(Ny-Y3));if(Delta1©COPYRIGHT2009STMicroelectronics*//*Includes------------------------------------------------------------------*/#include"stm32f10x_it.h"#include"stm32f10x_exti.h"#include"stm32f10x_rcc.h"#include"misc.h"#include"stm32f10x_dma.h"#include"stm32f10x_usart.h"#include/**@addtogroupTemplate_Project*@{*//*Privatetypedef-----------------------------------------------------------*//*Privatedefine------------------------------------------------------------*//*Privatemacro-------------------------------------------------------------*//*Privatevariables---------------------------------------------------------*//*Privatefunctionprototypes-----------------------------------------------*//*Privatefunctions---------------------------------------------------------*//******************************************************************************//*Cortex-M3ProcessorExceptionsHandlers*//******************************************************************************//***@briefThisfunctionhandlesNMIexception.*@paramNone*@retval:None*/voidNMI_Handler(void){}/***@briefThisfunctionhandlesHardFaultexception.*@paramNone*@retval:None*/voidHardFault_Handler(void){/*GotoinfiniteloopwhenHardFaultexceptionoccurs*///while(1){}}/***@briefThisfunctionhandlesMemoryManageexception.*@paramNone*@retval:None*/voidMemManage_Handler(void){/*GotoinfiniteloopwhenMemoryManageexceptionoccurs*/while(1){}}/***@briefThisfunctionhandlesBusFaultexception.*@paramNone*@retval:None*/voidBusFault_Handler(void){/*GotoinfiniteloopwhenBusFaultexceptionoccurs*/while(1){}}/***@briefThisfunctionhandlesUsageFaultexception.*@paramNone*@retval:None*/voidUsageFault_Handler(void){/*GotoinfiniteloopwhenUsageFaultexceptionoccurs*/while(1){}}/***@briefThisfunctionhandlesSVCallexception.*@paramNone*@retval:None*/voidSVC_Handler(void){}/***@briefThisfunctionhandlesDebugMonitorexception.*@paramNone*@retval:None*/voidDebugMon_Handler(void){}/***@briefThisfunctionhandlesPendSVCexception.*@paramNone*@retval:None*/voidPendSV_Handler(void){}/***@briefThisfunctionhandlesSysTickHandler.*@paramNone*@retval:None*/externvoidTimingDelay_Decrement(void);voidSysTick_Handler(void){}/******************************************************************************//*STM32F10xPeripheralsInterruptHandlers*//*AddheretheInterruptHandlerfortheusedperipheral(s)(PPP),forthe*//*availableperipheralinterrupthandler'snamepleaserefertothestartup*//*file(startup_stm32f10x_xx.s).*//******************************************************************************//***@briefThisfunctionhandlesPPPinterruptrequest.*@paramNone*@retval:None*//*voidPPP_IRQHandler(void){}*//***@}*//*******************(C)COPYRIGHT2009STMicroelectronics*****ENDOFFILE****/voidDMA1_Channel4_IRQHandler(void){}externintcounter;externdoubletime;externinta;externintnumx,numy,a,tx,ty;voidTIM2_IRQHandler(void)//catchx{if(TIM_GetITStatus(TIM2,TIM_IT_CC3)==SET){TIM_Cmd(TIM3,DISABLE);//X//numx++;//走的步数tx=0;TIM_ClearITPendingBit(TIM2,TIM_IT_CC3);}if(TIM_GetITStatus(TIM2,TIM_IT_CC4)==SET){TIM_Cmd(TIM4,DISABLE);//y//numy++;//走的步数ty=0;TIM_ClearITPendingBit(TIM2,TIM_IT_CC4);}}voidTIM6_IRQHandler(void){if(TIM_GetITStatus(TIM6,TIM_IT_Update)==SET){a++;//counter=TIM_GetCounter(TIM6);//TIM_Cmd(TIM6,DISABLE);//time=a*65536/72.0+counter/72.0;//printf("%d\n",a);//printf("%d\n",counter);//printf("%fus\n",time);TIM_ClearITPendingBit(TIM6,TIM_FLAG_Update);}}
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