步进电机控制程序编写 stm32步进电机控制程序系统( 二 ) _减速

4. Const数组存储在内部的flash ，数值表共占用2048字节。
STM32F103RTC6共256K ，程序组和设置参数占用48K ， bootloader程序占用了8K ，远程升级空间占用了100K ，目前应用程序只用到40K左右。
剩余60K左右的空间，腾出2K的空间来存储数值表，有空间，就是这么任性。
5. 在中断程序中，根据总的更新次数以及当前的更新计数值，计算
值，再映射到0-1023的数值有的索引值，通过索引获取数值。
6. 需要注意的是stm32f103不支持浮点数的运算，所以对于浮点数的运算，需要换算成乘以一个数再除以另一个数，比如*α ，需要转变为*65535/13107 。
下面一段代码是根据更新的计数值获取频率的函数：
U16 fnMC_GetFreq(U16 n, U16 halftn, U16 alpha, U16 minfreq, U16 maxfreq){//alpha=alpha * 4096 signed int udataA; signed short uiDataA; U16 uiRes; U32 uwData; udataA = (signed int)alpha * (signed int)n; udataA = (signed int)udataA / halftn; if(udataA > 32767){udataA = 32767; } uiDataA = (signed short)alpha - (signed short)udataA; uiDataA = (signed short)4 * 4096 - uiDataA; if(uiDataA < 0){ uiDataA = 0; } uiRes = (U16)uiDataA;uiRes = uiRes / 32;//*1023/8/4096 if(uiRes > 1023){ uiRes = 1023; } udataA = (signed int)(maxfreq - minfreq) * g_mc_uchExp[uiRes]; udataA = udataA / 65535; uiDataA = (signed int)udataA; uiDataA= minfreq; if(uiDataA < 200){ uiDataA = 200; } return(uiDataA); } 下面一段代码是产生步进电机控制信号的PWM周期中断程序：
int data; U16 freq; STRMotorRegs *motor; motor = &g_motor_regs[0]; MOTOR_A_CLEARINT(); motor->steps; data = https://www.haocat.cn/shenghuo/(int)MOTOR_A_STEPS_GET(); if(motor->direction == 0) { data = https://www.haocat.cn/shenghuo/data1;} else { data = data - 1; } MOTOR_A_STEPS_SET(data); freq = motor->runfrequency; if(motor->runstate == MOTOR_RUN_STATE_INC){if(motor->runtimer >= motor->starttime){motor->runstate = MOTOR_RUN_STATE_IDLE;}else{freq = fnMC_GetFreq(motor->runtimer, motor->halfstarttime, motor->alpha, motor->startfreq, motor->runfrequency);//U16 n,U16 halftn,U16 alpha,U16 maxfreq,U16 minfreq)}motor->runsnapfreq = freq; }else if(motor->runstate == MOTOR_RUN_STATE_IDLE){if(motor->totalstep <= (motor->stepsmotor->stopremainstep)){motor->runstate = MOTOR_RUN_STATE_DEC;motor->runtimer = 0;}motor->runsnapfreq = freq; }else{ if(motor->runtimer >= motor->stoptime){freq = motor->stopfreq;}else{freq = fnMC_GetFreq(motor->runtimer, motor->halfstoptime, motor->alpha, motor->runsnapfreq, motor->stopfreq);//U16 n,U16 halftn,U16 alpha,U16 maxfreq,U16 minfreq)} }if(motor->steps >= motor->totalstep) {motor->starting = FALSE; }if(FALSE == motor->starting) { MOTOR_A_DISABLE(); }else{ motor->curfrequency = freq; fnMT_Cal_MotorA_TimeConf(); } 实践下面是生成S曲线数值表、控制步进电机启动、停止的视频，从视频上可以明显看到启动时慢加速->快加速->慢加速的过程，以及停止时慢减速->快减速->慢减速的过程。

步进电机控制程序编写 stm32步进电机控制程序系统( 二 )

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