STM32控制步进电机程序

#include "sys.h"

#include "usart.h"

#include "delay.h"

#include "led.h"

#include "timer.h"

#include "key.h"

int main(void)

{

u8 t;

u32 v=100;

Stm32_Clock_Init(9); //系统时钟设置

delay_init(72); //延时初始化

uart_init(72,9600); //串口初始化

LED_Init(); //初始化与LED连接的硬件接口KEY_Init(); //初始化与按键连接的硬件接口

RCC->APB2ENR|=1<<2; //使能PORTA时钟

GPIOA->CRL&=0X0FFFFFFF;

GPIOA->CRL|=0X30000000;//PA7推挽输出

GPIOA->ODR|=1<<7; //PA7 输出高

GPIOA->CRL&=0XFF0FFFFF;

GPIOA->CRL|=0X00300000;//PA5推挽输出

GPIOA->ODR|=1<<5; //PA5 输出高

LED1=1;

LED0=1;

while(1)

{

t=KEY_Scan(0); //得到键值

switch(t)

{ case KEY0_PRES:

v=v+10;

TIM3_Int_Init(v,7199);//10Khz的计数频率

TIM3->CR1|=0x01;

break;

case KEY1_PRES:

v=v-10 ;

TIM3_Int_Init(v,7199);//10Khz的计数频率

TIM3->CR1|=0x01; //使能定时器3 break;

case WKUP_PRES:

TIM3->CR1&=0xFE;//关定时器3；

break;

}

}

2.LED初始化

#include "sys.h"

#include "led.h"

void LED_Init(void)

{

RCC->APB2ENR|=1<<2; //使能PORTA时钟

RCC->APB2ENR|=1<<5; //使能PORTD时钟

GPIOA->CRH&=0XFFFFFFF0;

GPIOA->CRH|=0X00000003;//PA8 推挽输出

GPIOA->ODR|=1<<8; //PA8 输出高

GPIOD->CRL&=0XFFFFF0FF;

GPIOD->CRL|=0X00000300;//PD.2推挽输出

GPIOD->ODR|=0x0004; //PD.2输出高

}

3.按键初始化

#include "key.h"

#include "delay.h"

void KEY_Init(void)

{

RCC->APB2ENR|=1<<2; //使能PORTA时钟

RCC->APB2ENR|=1<<4; //使能PORTC时钟

JTAG_Set(SWD_ENABLE); //关闭JTAG,开启SWD

GPIOA->CRL&=0XFFFFFFF0; //PA0设置成输入

GPIOA->CRL|=0X00000008;

GPIOA->CRH&=0X0FFFFFFF; //PA15设置成输入

GPIOA->CRH|=0X80000000;

GPIOA->ODR|=1<<15; //PA15上拉,PA0默认下拉GPIOC->CRL&=0XFF0FFFFF; //PC5设置成输入

GPIOC->CRL|=0X00800000;

GPIOC->ODR|=1<<5; //PC5上拉

}

u8 KEY_Scan(u8 mode)

{

static u8 key_up=1;//按键按松开标志

if(mode)key_up=1; //支持连按

if(key_up&&(KEY0==0||KEY1==0||WK_UP==1))

{

delay_ms(10);//去抖动

key_up=0;

if(KEY0==0)return

KEY0_PRES;

else if(KEY1==0)return

KEY1_PRES;

else if(WK_UP==1)return

WKUP_PRES;

}else if(KEY0==1&&KEY1==1&&WK_UP==0)

key_up=1;

return 0;// 无按键按下

}

4.定时器初始化

#include "timer.h"

#include "led.h"

u32 i=0;

//定时器3中断服务程序

void TIM3_IRQHandler(void)

{

if(TIM3->SR&0X0001)//溢出中断

{

//GPIOA->ODR^=0x0100;

GPIOA->ODR^=0x0080;

LED0=!LED0;

}

TIM3->SR&=~(1<<0);//清除中断标志位

}

void TIM3_Int_Init(u16 arr,u16 psc)

{

RCC->APB1ENR|=1<<1; //TIM3时钟使能

TIM3->ARR=arr; //设定计数器自动重装值

TIM3->PSC=psc; //预分频器设置

TIM3->DIER|=1<<0; //允许更新中断

//TIM3->CR1|=0x01; //使能定时器3

MY_NVIC_Init(3,3,TIM3_IRQn,2);//抢占3，子优先级3，组2 }