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单片机控制步进电机源码
硬件选型：
单片机：STM32开发板
步进电机及步进电机驱动控制器：谱思一体化步进电机
单片机控制步进电机源码：
#include "drv_step_motor.h"
uint8_t receivecmd[8];//接收的回传信息
uint8_t mspreceivecmd[30];//接收回传信息
uint8_t receivecmdflag=0;//成功接收到回传信息标志位
uint8_t mspreceivecmdflag=0;
uint8_t sdata[8];//发送命令数据
uint8_t motorcheckstate;//单片机控制步进电机状态检测
uint8_t motorflag=0;//串口中断状态机调用标志位
uint8_t motorstates[7];//电机状态
uint32_t msp60_start=0;//延时时间开始时刻
uint8_t msp60_flag=0;
//复位信号输入口配置
static void Step_Motor_Reset_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5| GPIO_Pin_6| GPIO_Pin_7;//IN1-IN2-IN3-IN4
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;//IN5-IN6
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
static uint8_t Step_Motor_Receive_Cmd(void)
{
uint32_t i=0;
while(receivecmdflag==0)
{
Delayms(1);
if(i++>1000)
{
return 0;
}
// if(keynum==stop)break;
}
receivecmdflag=0;
return 1;
}
static uint8_t Step_Motor_Send_Cmd(uint8_t id,uint8_t cmd,uint32_t cdata)
{
uint8_t i=0;
motorflag=0;
sdata[0]=0xa5;
sdata[1]=id;
sdata[2]=cmd;
sdata[3]=(uint8_t)cdata;
sdata[4]=(uint8_t)(cdata>>8);
sdata[5]=(uint8_t)(cdata>>16);
sdata[6]=(uint8_t)(cdata>>24);
sdata[7]=(uint8_t)(sdata[0]+sdata[1]+sdata[2]+sdata[3]+sdata[4]+sdata[5]+sdata[6]);
Set_DE;
Delayus(10);
for(i=0; i<8; i++)
{
USART3_Send_Byte(sdata[i]);
}
Delayus(10);
Clr_DE;
return(Step_Motor_Receive_Cmd());
}
static void Step_Motor_Clear_Ext_Stop1(uint8_t id)//清除EXT_Stop1标志位
{
Step_Motor_Send_Cmd(id,0x62,0);
}
static void Step_Motor_Clear_Ext_Stop2(uint8_t id)//清除EXT_Stop2标志位
{
Step_Motor_Send_Cmd(id,0x6c,0);
}
static void Step_Motor_Mov(uint8_t id,uint32_t step)//运行步数1~0x7fffffff
{
Step_Motor_Send_Cmd(id,0x73,(uint32_t)step);
}
static void Step_Motor_Set_Dir(uint8_t id,uint8_t dir)//设置运行方向
{
Step_Motor_Send_Cmd(id,0x64,(uint32_t)dir);
}
static void Step_Motor_Set_Speed(uint8_t id,uint16_t speed)//设置速度1~16000
{
Step_Motor_Send_Cmd(id,0x76,(uint32_t)speed);
}
static void Step_Motor_Set_Sub(uint8_t id,uint8_t sub)//设置细分0/2/4/8/16/32/64/128
{
Step_Motor_Send_Cmd(id,0x6d,(uint32_t)sub);
}
static void Step_Motor_Stop_Mov(uint8_t id)//单片机控制步进电机停止运行
{
Step_Motor_Send_Cmd(id,0x49,0x00);
}
static void Step_Motor_Set_IO(uint8_t id,uint8_t io)//IO输出
{
uint8_t iotemp=1;
Step_Motor_Send_Cmd(id,0x79,(uint32_t)(iotemp<<=(io-1)));
}
static uint8_t Step_Motor_Read_IO(uint8_t id)//IO状态读取
{
Step_Motor_Send_Cmd(id,0x78,0x00);
Step_Motor_Receive_Cmd();
return receivecmd[4];
}
static void Step_Motor_Set_Speed_Mod(uint8_t id,uint8_t state)//是否使能速度模式
{
Step_Motor_Send_Cmd(id,0x4e,(uint32_t)state);
}
static uint8_t Step_Motor_Get_Motoring(uint8_t id,uint8_t reg)//读取控制寄存器状态
{
Step_Motor_Send_Cmd(id,reg,(uint32_t)0x00);
Step_Motor_Receive_Cmd();
return receivecmd[3];
}
static void Step_Motor_Set_EXT(uint8_t id,uint8_t ext)//外部急停设置
{
Step_Motor_Send_Cmd(id,0x66,(uint32_t)ext);
}
static uint16_t Step_Motor_Read_Position(uint8_t id)//读取位置
{
Step_Motor_Send_Cmd(id,0x63,0x00);
Step_Motor_Receive_Cmd();
return ((receivecmd[4]<<8)+receivecmd[3]);
}
uint8_t Step_Motor_Read_State(uint8_t motor)//读取电机状态
{
uint8_t state=0;
if(Step_Motor_Send_Cmd(motor,0x6a,0x00)==1)
{
state=receivecmd[3]&0x01;
}
return state;
}
void Step_Motor_Mov_Control(uint8_t motor,uint8_t dir,uint16_t speed,uint32_t step)
{
switch(motor)
{
case my1:
if(dir==cw)Step_Motor_Set_Dir(my1,1);
else if(dir==ccw)Step_Motor_Set_Dir(my1,0);
Step_Motor_Set_Speed(my1,speed);
Step_Motor_Mov(my1,step);
// Step_Motor_Send_Cmd(my1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(my1,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case mx1:
if(dir==cw)Step_Motor_Set_Dir(mx1,0);
else if(dir==ccw)Step_Motor_Set_Dir(mx1,1);
Step_Motor_Set_Speed(mx1,speed);
Step_Motor_Mov(mx1,step);
// Step_Motor_Send_Cmd(mx1,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(mx1,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case my2:
if(dir==cw)
{
Step_Motor_Set_Dir(my2,0);
}
else if(dir==ccw)
{
Step_Motor_Set_Dir(my2,1);
}
Step_Motor_Set_Speed(my2,speed);
Step_Motor_Mov(my2,step);
// Step_Motor_Send_Cmd(my2,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(my2,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case pump1:
if(dir==cw)Step_Motor_Set_Dir(pump1,0);
else if(dir==ccw)Step_Motor_Set_Dir(pump1,1);
Step_Motor_Set_Speed(pump1,speed);
Step_Motor_Mov(pump1,step);
// Step_Motor_Send_Cmd(pump1,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(pump1,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case pump2:
if(dir==cw)Step_Motor_Set_Dir(pump2,0);
else if(dir==ccw)Step_Motor_Set_Dir(pump2,1);
Step_Motor_Set_Speed(pump2,speed);
Step_Motor_Mov(pump2,step);
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case mr1:
if(dir==cw)Step_Motor_Set_Dir(mr1,0);
else if(dir==ccw)Step_Motor_Set_Dir(mr1,1);
Step_Motor_Set_Speed(mr1,speed);
Step_Motor_Mov(mr1,step);
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
case mr2:
if(dir==cw)Step_Motor_Set_Dir(mr2,0);
else if(dir==ccw)Step_Motor_Set_Dir(mr2,1);
Step_Motor_Set_Speed(mr2,speed);
Step_Motor_Mov(mr2,step);
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// while((receivecmd[3]&0x01)==1)
// {
// Step_Motor_Send_Cmd(pump2,0x6a,0x00);
// Delayms(10);
// if(keynum==stop)break;
// }
break;
default :
break;
}
}
void Step_Motor_MX1_Reset(void)
{
if(IN2==0)
{
Step_Motor_Set_Dir(mx1,cw);
Step_Motor_Set_Speed(mx1,500);
Step_Motor_Mov(mx1,1000);
while(IN2==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mx1);
Step_Motor_Mov_Control(mx1,cw,500,100);
Step_Motor_Send_Cmd(mx1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mx1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
else if(IN2!=0)
{
Step_Motor_Set_Dir(mx1,ccw);
Step_Motor_Set_Speed(mx1,3000);
Step_Motor_Mov(mx1,65000);
while(IN2!=0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mx1);
Step_Motor_Set_Dir(mx1,cw);
Step_Motor_Set_Speed(mx1,500);
Step_Motor_Mov(mx1,1000);
while(IN2==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mx1);
Step_Motor_Mov_Control(mx1,cw,500,100);
Step_Motor_Send_Cmd(mx1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mx1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
mresetflag[mx1]=1;
Delayms(10);
}
void Step_Motor_MY1_Reset(void)
{
if(IN1==0)
{
Step_Motor_Set_Dir(my1,1);
Step_Motor_Set_Speed(my1,500);
Step_Motor_Mov(my1,1000);
while(IN1==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my1);
Step_Motor_Mov_Control(my1,cw,500,100);
Step_Motor_Send_Cmd(my1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(my1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
else if(IN1!=0)
{
Step_Motor_Set_Dir(my1,0);
Step_Motor_Set_Speed(my1,3000);
Step_Motor_Mov(my1,65000);
while(IN1!=0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my1);
Step_Motor_Set_Dir(my1,1);
Step_Motor_Set_Speed(my1,500);
Step_Motor_Mov(my1,1000);
while(IN1==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my1);
Step_Motor_Mov_Control(my1,cw,500,100);
Step_Motor_Send_Cmd(my1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(my1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
mresetflag[my1]=1;
Delayms(10);
}
void Step_Motor_MY2_Reset(void)
{
if(IN3==0)
{
Step_Motor_Set_Dir(my2,cw);
Step_Motor_Set_Speed(my2,500);
Step_Motor_Mov(my2,1000);
while(IN3==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my2);
Step_Motor_Mov_Control(my2,cw,500,50);
Step_Motor_Send_Cmd(my2,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(my2,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
else if(IN3!=0)
{
Step_Motor_Set_Dir(my2,ccw);
Step_Motor_Set_Speed(my2,3000);
Step_Motor_Mov(my2,65000);
while(IN3!=0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my2);
Step_Motor_Set_Dir(my2,cw);
Step_Motor_Set_Speed(my2,500);
Step_Motor_Mov(my2,1000);
while(IN3==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(my2);
Step_Motor_Mov_Control(my2,cw,500,50);
Step_Motor_Send_Cmd(my2,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(my2,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
mresetflag[my2]=1;
Delayms(10);
}
void Step_Motor_MR1_Reset(void)
{
if(IN6==0)
{
Step_Motor_Set_Dir(mr1,cw);
Step_Motor_Set_Speed(mr1,500);
Step_Motor_Mov(mr1,1000);
while(IN6==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mr1);
Step_Motor_Mov_Control(mr1,ccw,500,250);
Step_Motor_Send_Cmd(mr1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mr1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
else if(IN6!=0)//未挡住光电
{
Step_Motor_Set_Dir(mr1,ccw);
Step_Motor_Set_Speed(mr1,3000);
Step_Motor_Send_Cmd(mr1,0x4e,1);
//Step_Motor_Mov(mr1,65000);
while(IN6!=0)
{
if(keynum==stop)break;
}
Step_Motor_Send_Cmd(mr1,0x4e,0);
// Step_Motor_Stop_Mov(mr1);
Step_Motor_Set_Dir(mr1,cw);
Step_Motor_Set_Speed(mr1,500);
Step_Motor_Mov(mr1,1000);
while(IN6==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mr1);
Step_Motor_Mov_Control(mr1,ccw,500,250);
Step_Motor_Send_Cmd(mr1,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mr1,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
mresetflag[mr1]=1;
Delayms(10);
}
void Step_Motor_MR2_Reset(void)
{
if(IN5==0)//光电里面
{
Step_Motor_Set_Dir(mr2,cw);
Step_Motor_Set_Speed(mr2,500);
Step_Motor_Mov(mr2,15000);
while(IN5==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mr2);
Step_Motor_Mov_Control(mr2,cw,500,50);
Step_Motor_Send_Cmd(mr2,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mr2,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
else if(IN5!=0)
{
Step_Motor_Set_Dir(mr2,ccw);
Step_Motor_Set_Speed(mr2,3000);
Step_Motor_Send_Cmd(mr2,0x4e,1);
// Step_Motor_Mov(mr2,65000);
while(IN5!=0)
{
if(keynum==stop)break;
}
Step_Motor_Send_Cmd(mr2,0x4e,0);
// Step_Motor_Stop_Mov(mr2);
//Step_Motor_Set_Dir(mr2,ccw);
Step_Motor_Set_Dir(mr2,cw);
Step_Motor_Set_Speed(mr2,500);
Step_Motor_Mov(mr2,1000);
while(IN5==0)
{
if(keynum==stop)break;
}
Step_Motor_Stop_Mov(mr2);
Step_Motor_Mov_Control(mr2,cw,500,50);
//Step_Motor_Mov_Control(mr2,ccw,500,50);
Step_Motor_Send_Cmd(mr2,0x6a,0x00);//每隔10ms读取一次电机运行是否完成
while((receivecmd[3]&0x01)==1)
{
Step_Motor_Send_Cmd(mr2,0x6a,0x00);
Delayms(10);
if(keynum==stop)break;
}
}
// Step_Motor_Mov_Control(mr2,ccw,500,2000);
mresetflag[mr2]=1;
Delayms(10);
}
uint8_t Step_Motor_Check(void)
{
uint8_t i=0,j=0;
// Step_Motor_Send_Cmd(5,0x77,6);
for(i=0; i<7; i++)
{
if(Step_Motor_Send_Cmd(i,0x6a,0x00)==1)
{
j=j|(1<<i);
}
}
return j;
}
void Step_Motor_Init(void)
{
Step_Motor_Reset_GPIO_Config();
Step_Motor_Send_Cmd(0,0x6d,8);//单片机控制步进电机设置细分8
Delayms(2);
Step_Motor_Send_Cmd(1,0x6d,8);
Delayms(2);
Step_Motor_Send_Cmd(2,0x6d,8);
Delayms(2);
Step_Motor_Send_Cmd(3,0x6d,8);
Delayms(2);
Step_Motor_Send_Cmd(4,0x6d,8);//蠕动泵2
Delayms(2);
Step_Motor_Send_Cmd(5,0x6d,8);//蠕动泵2
Delayms(2);
Step_Motor_Send_Cmd(6,0x6d,8);//蠕动泵2
Delayms(2);
Step_Motor_Send_Cmd(0,0x74,1);//设置加减速使能
Delayms(2);
Step_Motor_Send_Cmd(1,0x74,1);
Delayms(2);
Step_Motor_Send_Cmd(2,0x74,1);
Delayms(2);
// Step_Motor_Send_Cmd(3,0x74,1);
// Delayms(2);
Step_Motor_Send_Cmd(4,0x74,1);
Delayms(2);
Step_Motor_Send_Cmd(5,0x74,1);
Delayms(2);
Step_Motor_Send_Cmd(6,0x74,1);
Delayms(2);
Step_Motor_Send_Cmd(0,0x61,1);//设置自动电流衰减使能
Delayms(2);
Step_Motor_Send_Cmd(1,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(2,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(3,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(4,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(5,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(6,0x61,1);
Delayms(2);
Step_Motor_Send_Cmd(0,0x75,3);//设置加减速系数
Delayms(2);
Step_Motor_Send_Cmd(1,0x75,3);
Delayms(2);
Step_Motor_Send_Cmd(2,0x75,3);
Delayms(2);
Step_Motor_Send_Cmd(3,0x75,3);
Delayms(2);
Step_Motor_Send_Cmd(3,0x6f,3);
Delayms(2);
Step_Motor_Send_Cmd(4,0x75,6);
Delayms(2);
Step_Motor_Send_Cmd(5,0x75,6);
Delayms(2);
Step_Motor_Send_Cmd(6,0x75,6);
Delayms(2);
Step_Motor_Send_Cmd(0,0x4c,100);//设置启动速度
Delayms(2);
Step_Motor_Send_Cmd(1,0x4c,100);
Delayms(2);
Step_Motor_Send_Cmd(2,0x4c,100);
Delayms(2);
Step_Motor_Send_Cmd(3,0x4c,100);
Delayms(2);
Step_Motor_Send_Cmd(4,0x4c,300);
Delayms(2);
Step_Motor_Send_Cmd(5,0x4c,300);
Delayms(2);
Step_Motor_Send_Cmd(6,0x4c,300);
Delayms(2);
Step_Motor_Set_Speed(0,3000);//设置速度
Delayms(2);
Step_Motor_Set_Speed(1,3000);
Delayms(2);
Step_Motor_Set_Speed(2,3000);
Delayms(2);
Step_Motor_Set_Speed(3,1200);
Delayms(2);
Step_Motor_Set_Speed(4,1200);
Delayms(2);
Step_Motor_Set_Speed(5,4500);
Delayms(2);
Step_Motor_Set_Speed(6,4500);
Delayms(2);
Step_Motor_Set_EXT(0,0);//失能外部急停
Delayms(2);
Step_Motor_Set_EXT(1,0);
Delayms(2);
Step_Motor_Set_EXT(2,0);
Delayms(2);
Step_Motor_Set_EXT(3,0);
Delayms(2);
Step_Motor_Set_EXT(4,0);
Delayms(2);
Step_Motor_Set_EXT(5,0);
Delayms(2);
Step_Motor_Set_EXT(6,0);
Delayms(2);
Step_Motor_Set_Dir(0,0);//设置方向
Delayms(2);
Step_Motor_Set_Dir(1,0);
Delayms(2);
Step_Motor_Set_Dir(2,1);
Delayms(2);
Step_Motor_Set_Dir(3,1);
Delayms(2);
Step_Motor_Set_Dir(4,1);
Delayms(2);
Step_Motor_Set_Dir(5,1);
Delayms(2);
Step_Motor_Set_Dir(6,1);
Delayms(2);
Step_Motor_Send_Cmd(0,0x65,1500);//设置最大相电流mA
Delayms(2);
Step_Motor_Send_Cmd(1,0x65,1500);
Delayms(2);
Step_Motor_Send_Cmd(2,0x65,1000);
Delayms(2);
Step_Motor_Send_Cmd(3,0x65,1500);
Delayms(2);
Step_Motor_Send_Cmd(4,0x65,1500);
Delayms(2);
Step_Motor_Send_Cmd(5,0x65,1500);
Delayms(2);
Step_Motor_Send_Cmd(6,0x65,1500);
Delayms(2);
Step_Motor_Send_Cmd(0,0x50,1000);//设置高速模式切换速度
Delayms(2);
Step_Motor_Send_Cmd(1,0x50,1000);
Delayms(2);
Step_Motor_Send_Cmd(2,0x50,1000);
Delayms(2);
Step_Motor_Send_Cmd(3,0x50,1000);
Delayms(2);
Step_Motor_Send_Cmd(4,0x50,1000);
Delayms(2);
Step_Motor_Send_Cmd(5,0x50,1000);
Delayms(2);
Step_Motor_Send_Cmd(6,0x50,1000);
Delayms(2);
}
void Msp60_Reset(void)
{
motorflag=1;
Set_DE;
Delayus(100);
USART3_Send_String("/1Z14R\r\n");
Clr_DE;
Delayms(13000);
}
void Msp60_Set_Radiotube(uint8_t state)
{
motorflag=1;
if(state==open)
{
Set_DE;
Delayus(100);
USART3_Send_String("/1OR\r\n");
Clr_DE;
}
else if(state==close)
{
Set_DE;
Delayus(100);
USART3_Send_String("/1IR\r\n");
Clr_DE;
}
Delayms(20);
}
void Msp60_Mov_Control(char *speed,char *position)
{
char fhs[]="/1S",fhp[]="/1A",fe[]="R\r\n";
char spe[9];
char pos[11];
motorflag=1;
memcpy(spe,fhs,3);
memcpy(spe+3,speed,2);
memcpy(spe+5,fe,strlen(fe));
Set_DE;
Delayus(100);
USART3_Send_String(spe);
Clr_DE;
Delayms(5);
memcpy(pos,fhp,3);
memcpy(pos+3,position,4);
memcpy(pos+7,fe,strlen(fe));
Set_DE;
Delayus(100);
USART3_Send_String(pos);
Clr_DE;
Delayms(5);
// Msp60_Send_Cmd("/1Q\r\n");
// while(mspreceivecmd[2]!=0x60)
// {
// Msp60_Send_Cmd("/1Q\r\n");
// Delayms(10);
// }
}
void Msp60_Send_Cmd(char *step)
{
motorflag=1;
Set_DE;
Delayus(100);
USART3_Send_String(step);
Clr_DE;
}
uint8_t Msp60_Delay_nms(uint32_t ms)
{
uint32_t now_time=0;
if(msp60_flag==0)
{
msp60_start=time;
msp60_flag=1;
}
else if(msp60_flag==1)
{
now_time=time;
if(now_time>=(msp60_start+ms))
{
msp60_flag=0;
return 1;
}
}
return 0;
}
void Step_Motor_Stop(void)//停止所有动作
{
Step_Motor_Stop_Mov(my1);
Step_Motor_Stop_Mov(mx1);
Step_Motor_Stop_Mov(mr1);
Step_Motor_Stop_Mov(mr2);
Step_Motor_Stop_Mov(my2);
Step_Motor_Stop_Mov(pump1);
Step_Motor_Stop_Mov(pump2);
// Msp60_Send_Cmd("/1TR\r\n");
}
//查询电机运行状态
void Step_Motor_States(void)
{
uint8_t i=0;
memset(motorstates,0,sizeof(motorstates));
for(i=0;i<5;i++)
{
if(Step_Motor_Send_Cmd(i,0x6a,0x00)==1)
{
if((receivecmd[3]&0x01)==1)
{
motorstates[i]=1;
}
else
{
motorstates[i]=0;
}
}
}
}
void Set_ID(uint8_t old_id,uint8_t new_id)
{
Step_Motor_Send_Cmd(old_id,0x77,new_id);
}
以上为完整的基于STM32单片机控制步进电机源码