基于STM32循迹小车（两相步进电机+ST188）

th13teenth 2012-12-09 04:15:06

之前做了一个基于STM32的循迹小车，刚开始调试代码的时候写法比较粗糙和简单，等后来将代码优化完成，类似于电脑鼠代码的格式，现在给大家分享下我的主函数，因为初始化配置等代码在看看了主函数之后就知道该配置哪些GPIO口，TIM2定时器中断等，其他的就是STM32库函数了。
步进电机用的是两相四线的电机，代码时序是8拍；红外用的是ST188两个红外，左右两个红外在黑线外面，当探测到黑线的时候电机停止。

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "StepperMotor.h"
#include "stm32f10x_exti.h"
#include <stdio.h>

/*
*左电机四引脚
*/

#define MT_LFT_A1 GPIO_Pin_6
#define MT_LFT_B1 GPIO_Pin_7
#define MT_LFT_A2 GPIO_Pin_9
#define MT_LFT_B2 GPIO_Pin_10
/*
*右电机四引脚
*/
#define MT_RGT_A1 GPIO_Pin_6
#define MT_RGT_B1 GPIO_Pin_7
#define MT_RGT_A2 GPIO_Pin_9
#define MT_RGT_B2 GPIO_Pin_10
/*
*左电机时序宏定义
*/
#define MT_LFT_OFF() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2)

#define MT_LFT_STEP1_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_A1);

#define MT_LFT_STEP2_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_A1|MT_LFT_B1);

#define MT_LFT_STEP3_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_B1);

#define MT_LFT_STEP4_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_B1|MT_LFT_A2);

#define MT_LFT_STEP5_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_A2);

#define MT_LFT_STEP6_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_A2|MT_LFT_B2);

#define MT_LFT_STEP7_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_B2);

#define MT_LFT_STEP8_SET() GPIO_SetBits(GPIOA,MT_LFT_A1|MT_LFT_B1|MT_LFT_A2|MT_LFT_B2); \
GPIO_ResetBits(GPIOA,MT_LFT_B2|MT_LFT_A1);

/*
*右电机时序宏定义
*/
#define MT_RGT_OFF() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2)

#define MT_RGT_STEP1_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_A1);

#define MT_RGT_STEP2_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_A1|MT_RGT_B1);

#define MT_RGT_STEP3_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_B1);

#define MT_RGT_STEP4_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_B1|MT_RGT_A2);

#define MT_RGT_STEP5_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_A2);

#define MT_RGT_STEP6_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_A2|MT_RGT_B2);

#define MT_RGT_STEP7_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_B2);

#define MT_RGT_STEP8_SET() GPIO_SetBits(GPIOC,MT_RGT_A1|MT_RGT_B1|MT_RGT_A2|MT_RGT_B2); \
GPIO_ResetBits(GPIOC,MT_RGT_B2|MT_RGT_A1);

/** @addtogroup FullHalfStepMode
* @{
*/

/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/

ErrorStatus HSEStartUpStatus;

/* Private function prototypes -----------------------------------------------*/
void RCC_Configuration(void);
void NVIC_Configuration1(void);
void NVIC_Configuration2(void);
void BUTTON_GPIO_Configuration(void);
void EXTI_Configruation(void);
void delay_ms(unsigned int time);
void StepLeft(void);
void StepRight(void);

/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval : None
*/
int main(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC Configuration */
NVIC_Configuration1();
NVIC_Configuration2();

EXTI_Configruation();
/* Activate the driver */
Stepper_Cmd(ENABLE);
/* Driver control pin configuration */
Stepper_PinControlConfig();
Stepper_Init();
while (1)
{

}
}
/*
*左步进电机时序
*/
void StepLeft(void)
{
static unsigned int ucRunStepLft=0;
switch(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_3))
{
case 0:
if(++ucRunStepLft>=8)
ucRunStepLft=0;
break;
case 1:
MT_LFT_OFF();
break;
default:
break;
}

switch(ucRunStepLft)
{
case 0:
MT_LFT_STEP1_SET();
break;
case 1:
MT_LFT_STEP2_SET();
break;
case 2:
MT_LFT_STEP3_SET();
break;
case 3:
MT_LFT_STEP4_SET();
break;
case 4:
MT_LFT_STEP5_SET();
break;
case 5:
MT_LFT_STEP6_SET();
break;
case 6:
MT_LFT_STEP7_SET();
break;
case 7:
MT_LFT_STEP8_SET();
break;
default:
break;
}
}
/*
*右步进电机时序
*/
void StepRight(void)
{
static unsigned int ucRunStepRgt=0;
switch(GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_3))
{
case 0:
if(++ucRunStepRgt>=8)
ucRunStepRgt=0;
break;
case 1:
MT_RGT_OFF();
break;
default:
break;
}
if(++ucRunStepRgt>=8)
ucRunStepRgt=0;
switch(ucRunStepRgt)
{
case 0:
MT_RGT_STEP1_SET();
break;
case 1:
MT_RGT_STEP2_SET();
break;
case 2:
MT_RGT_STEP3_SET();
break;
case 3:
MT_RGT_STEP4_SET();
break;
case 4:
MT_RGT_STEP5_SET();
break;
case 5:
MT_RGT_STEP6_SET();
break;
case 6:
MT_RGT_STEP7_SET();
break;
case 7:
MT_RGT_STEP8_SET();
break;
default:
break;
}
}
/*
*定时器中断
*/
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //清除TIMx的中断待处理位:TIM 中断源
StepLeft();
StepRight();
}
}

/**
* @brief Configures the different system clocks.
* @param None
* @retval : None
*/
void RCC_Configuration(void)
{
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}

}

/**
* @brief Configure the nested vectored interrupt controller.
* @param None
* @retval : None
*/
void NVIC_Configuration1(void)
{
NVIC_SetPriorityGrouping(7); /* 0 bits for pre-emption priority 4 bits for
subpriority*/
NVIC_SetPriority(DMA1_Channel2_IRQn, 0x01); /* 0x01 = 0x0 << 3 | (0x1 & 0x7), prority
is 0x01 << 4 */
NVIC_EnableIRQ(DMA1_Channel2_IRQn);
}

#ifdef USE_FULL_ASSERT

/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval : None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
while (1)
{

}
}
#endif
void EXTI_Configruation(void)
{
EXTI_InitTypeDef EXTI_InitStructure;
/* Connect Button EXTI Line to Button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource2);
/* Configure Button EXTI line */
EXTI_InitStructure.EXTI_Line = EXTI_Line2;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
/* Connect Button EXTI Line to Button GPIO Pin */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource3);
/* Configure Button EXTI line */
EXTI_InitStructure.EXTI_Line = EXTI_Line3;
EXTI_Init(&EXTI_InitStructure);
}

void NVIC_Configuration2(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
// NVIC_InitStructure.NVIC_IRQChannel = EXTI2_IRQn;
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0F;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0F;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
//NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
//NVIC_Init(&NVIC_InitStructure);
}

/************************END OF FILE**********************/

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