步進(jìn)電機(jī)插補(bǔ)算法stm

1、#include #include #include #include #include #include #include #include void RCC_Configuration(void);void GPIO_Configuration(void);void NVIC_Configuration(void);void TIM_Configuration(void);void USART_Configuration(void);int fputc(int ch,FILE *f);int fgetc(FILE *f);float Mx=,My=; *This file provides

2、 template for all exceptionshandler and*peripherals interrupt service routine.* copy* THE PRESENTF IRMWAREW HICH IS FOR GUIDANCEO NLY AIMS AT PROVIDING CUSTOMERS* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABL

3、E FOR ANY* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.* © COPYRIGHT 2009 STMicroelectronics*/Includes/*/#include #i

4、nclude #include #include #include #include #include /* addtogroup Template_Project* */*/* Private define*/* Private macro*/*Privatevariables*/*Privatefunctionprototypes*/*Privatefunctions*/*/*/*/*Cortex-M3 Processor Exceptions Handlers* brief This function handles NMI exception.* param None* retval

5、: None*/void NMI_Handler(void)/* brief This function handles Hard Fault exception.* param None* retval : None*/void HardFault_Handler(void)/* Go to infinite loop when Hard Fault exception occurs */* param None* retval : None*/void MemManage_Handler(void)/* Go to infinite loop when Memory Manage exce

6、ption occurs */ while (1)/* brief This function handles Bus Fault exception.* param None* retval : None*/* Go to infinite loop when Bus Fault exception occurs */while (1)/* brief This function handles Usage Fault exception.* param None* retval : None*/void UsageFault_Handler(void)/* Go to infinite l

7、oop when Usage Fault exception occurs */while (1)/* brief This function handles SVCall exception.* param None* retval : None*/ void SVC_Handler(void)/* brief This function handles Debug Monitor exception.* param None* retval : None*/* brief This function handles PendSVC exception.* param None* retva

8、l : None*/ void PendSV_Handler(void)/* brief This function handles SysTick Handler.* param None* retval : None*/ void SysTick_Handler(void)*/*STM32F10x Peripherals Interrupt Handlers*/* Add here the InterruptHandler for the used peripheral(s)(PPP), for the*/* available peripheralinterrupt handlers n

9、ame please refer to thestartup */*/* file .*/* brief This function handles PPP interrupt request.* param None* retval : None*/*void PPP_IRQHandler(void)*/* */ void DMA1_Channel4_IRQHandler(void)(C) COPYRIGHT2 009 STMicroelectronics *ENDOFFILE*/extern int counter;extern double time;extern int a;exter

10、n int numx,numy,a,tx,ty;void TIM2_IRQHandler(void)/catch xif(TIM_GetITStatus(TIM2,TIM_IT_CC3)=SET)TIM_Cmd(TIM3, DISABLE);/X/ numx+;/ 走的步數(shù)tx=0;TIM_ClearITPendingBit(TIM2,TIM_IT_CC3);if(TIM_GetITStatus(TIM2,TIM_IT_CC4)=SET)TIM_Cmd(TIM4, DISABLE);/y/ numy+;/ 走的步數(shù)ty=0;TIM_ClearITPendingBit(TIM2,TIM_IT_CC4);void TIM6_IRQHandler(void)if(TIM_GetITStatus(TIM6, TIM_IT_Update)= SET)a+;/ counter=TIM_GetCounter(T