如何将两个步进电机驱动整合在一起，控制它们不冲突

resumebb · 发表于 2020-7-31 15:16:40

现在有两个电机驱动程序，一个驱动电机A旋转控制左右，一个驱动电机控制升降，是根据原子的例程改了一下，代码如下：

电机A:

#include "driver.h"
#include "delay.h"
#include "usart.h"
u8 rcr_remainder; //重复计数余数部分
u8 is_rcr_finish=1; //重复计数器是否设置完成
long rcr_integer; //重复计数整数部分
long target_pos=0; //有符号方向
long current_pos=0; //有符号方向
DIR_Type motor_dir=CW;//顺时针
/************** 驱动器控制信号线初始化 ****************/
void Driver_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);//使能GPIOG时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_2; //DRIVER_DIR DRIVER_OE对应引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100M
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOG, &GPIO_InitStructure);//初始化GPIOG3,4
GPIO_ResetBits(GPIOG,GPIO_Pin_0);//PG3输出低使能输出 DRIVER_ENA
GPIO_SetBits(GPIOG,GPIO_Pin_2);//PG4输出高顺时针方向 DRIVER_DIR
}
/***********************************************
//TIM8_CH2(PC7) 单脉冲输出+重复计数功能初始化
//TIM8 时钟频率 84*2=168MHz
//arr:自动重装值
//psc:时钟预分频数
************************************************/
void TIM8_OPM_RCR_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE); //TIM8时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能PORTC时钟
GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM8); //GPIOC7复用为定时器8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //GPIOC7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; //下拉
GPIO_Init(GPIOC,&GPIO_InitStructure); //初始化PC7
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ClearITPendingBit(TIM8,TIM_IT_Update);
TIM_UpdateRequestConfig(TIM8,TIM_UpdateSource_Regular); /********* 设置只有计数溢出作为更新中断 ********/
TIM_SelectOnePulseMode(TIM8,TIM_OPMode_Single);/******* 单脉冲模式 **********/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出2使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; /****** 比较输出2N失能 *******/
TIM_OCInitStructure.TIM_Pulse = arr>>1; //设置待装入捕获比较寄存器的脉冲值，右移一位
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM8, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable); //CH2预装载使能
TIM_ARRPreloadConfig(TIM8, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_ITConfig(TIM8, TIM_IT_Update ,ENABLE); //TIM8 使能或者失能指定的TIM中断
NVIC_InitStructure.NVIC_IRQChannel = TIM8_UP_TIM13_IRQn; //TIM8中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //先占优先级1级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //从优先级1级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ClearITPendingBit(TIM8, TIM_IT_Update); //清除TIMx的中断待处理位:TIM 中断源
TIM_Cmd(TIM8, ENABLE); //使能TIM8
}
/******* TIM8更新中断服务程序 *********/
void TIM8_UP_TIM13_IRQHandler(void)
{
if(TIM_GetITStatus(TIM8,TIM_FLAG_Update)!=RESET)//获取当前定时器状态，判断是否完成更新，更新中断
{
TIM_ClearITPendingBit(TIM8,TIM_FLAG_Update);//清除更新中断标志位
if(is_rcr_finish==0)//重复计数器未设置完成重复计数器默认初始值为1，已完成状态
{
if(rcr_integer!=0) //整数部分脉冲还未发送完成
{
TIM8->RCR=RCR_VAL;//设置重复计数值
rcr_integer--;//减少RCR_VAL+1个脉冲
}else if(rcr_remainder!=0)//余数部分脉冲不为0
{
TIM8->RCR=rcr_remainder-1;//设置余数部分
rcr_remainder=0;//清零
is_rcr_finish=1;//重复计数器设置完成
}else goto out; //rcr_remainder=0，直接退出
TIM_GenerateEvent(TIM8,TIM_EventSource_Update);//产生一个更新事件重新初始化计数器
TIM_CtrlPWMOutputs(TIM8,ENABLE); //MOE 主输出使能
TIM_Cmd(TIM8, ENABLE); //使能TIM8
if(motor_dir==CW) //如果方向为顺时针
current_pos+=(TIM8->RCR+1);//加上重复计数值
else //否则方向为逆时针
current_pos-=(TIM8->RCR+1);//减去重复计数值
}else
{
out: is_rcr_finish=1;//重复计数器设置完成
TIM_CtrlPWMOutputs(TIM8,DISABLE); //MOE 主输出关闭
TIM_Cmd(TIM8, DISABLE); //关闭TIM8 V
printf("当前位置=%ld\r\n",current_pos);//打印输出
}
}
}
/***************** 启动TIM8 *****************/
void TIM8_Startup(u32 frequency) //启动定时器8
{
u16 temp_arr=1000000/frequency-1;
TIM_SetAutoreload(TIM8,temp_arr);//设定自动重装值
TIM_SetCompare1(TIM8,temp_arr>>1); //匹配值2等于重装值一半，是以占空比为50%
TIM_SetCounter(TIM8,0);//计数器清零
TIM_Cmd(TIM8, ENABLE); //使能TIM8
}
/********************************************
//相对定位函数
//num 0～2147483647
//frequency: 20Hz~100KHz
//dir: CW(顺时针方向) CCW(逆时针方向)
*********************************************/
void Locate_Rle(long num,u32 frequency,DIR_Type dir) //相对定位函数
{
if(num<=0) //数值小等于0 则直接返回
{
printf("\r\nThe num should be greater than zero!!\r\n");
return;
}
if(TIM8->CR1&0x01)//上一次脉冲还未发送完成直接返回
{
printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//脉冲频率不在范围内直接返回
{
printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
motor_dir=dir;//得到方向
DRIVER_DIR=motor_dir;//设置方向
if(motor_dir==CW)//顺时针
target_pos=current_pos+num;//目标位置
else if(motor_dir==CCW)//逆时针
target_pos=current_pos-num;//目标位置
rcr_integer=num/(RCR_VAL+1);//重复计数整数部分
rcr_remainder=num%(RCR_VAL+1);//重复计数余数部分
is_rcr_finish=0;//重复计数器未设置完成
TIM8_Startup(frequency);//开启TIM8
}
/********************************************
//绝对定位函数
//num -2147483648～2147483647
//frequency: 20Hz~100KHz
*********************************************/
void Locate_Abs(long num,u32 frequency)//绝对定位函数
{
if(TIM8->CR1&0x01)//上一次脉冲还未发送完成直接返回
{
printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//脉冲频率不在范围内直接返回
{
printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
target_pos=num;//设置目标位置
if(target_pos!=current_pos)//目标和当前位置不同
{
if(target_pos>current_pos)
motor_dir=CW;//顺时针
else
motor_dir=CCW;//逆时针
DRIVER_DIR=motor_dir;//设置方向
rcr_integer=abs(target_pos-current_pos)/(RCR_VAL+1);//重复计数整数部分
rcr_remainder=abs(target_pos-current_pos)%(RCR_VAL+1);//重复计数余数部分
is_rcr_finish=0;//重复计数器设置完成
TIM8_Startup(frequency);//开启TIM8
}
}

复制代码

电机B:

#include "driver.h"
#include "delay.h"
#include "usart.h"
u8 rcr_remainder; //重复计数余数部分
u8 is_rcr_finish=1; //重复计数器是否设置完成
long rcr_integer; //重复计数整数部分
long target_pos=0; //有符号方向
long current_pos=0; //有符号方向
DIR_Type motor_dir=CCW;//顺时针
/************** 驱动器控制信号线初始化 ****************/
void Driver_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);//使能GPIOG时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4; //DRIVER_DIR DRIVER_OE对应引脚
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100M
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOG, &GPIO_InitStructure);//初始化GPIOG3,4
GPIO_ResetBits(GPIOG,GPIO_Pin_3);//PG3输出低使能输出 DRIVER_ENA
GPIO_SetBits(GPIOG,GPIO_Pin_4);//PG4输出高顺时针方向 DRIVER_DIR
}
/***********************************************
//TIM8_CH2(PC7) 单脉冲输出+重复计数功能初始化
//TIM8 时钟频率 84*2=168MHz
//arr:自动重装值
//psc:时钟预分频数
************************************************/
void TIM8_OPM_RCR_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE); //TIM8时钟使能
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //使能PORTC时钟
GPIO_PinAFConfig(GPIOC,GPIO_PinSource7,GPIO_AF_TIM8); //GPIOC7复用为定时器8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //GPIOC7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; //速度100MHz
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; //下拉
GPIO_Init(GPIOC,&GPIO_InitStructure); //初始化PC7
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_ClearITPendingBit(TIM8,TIM_IT_Update);
TIM_UpdateRequestConfig(TIM8,TIM_UpdateSource_Regular); /********* 设置只有计数溢出作为更新中断 ********/
TIM_SelectOnePulseMode(TIM8,TIM_OPMode_Single);/******* 单脉冲模式 **********/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出2使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; /****** 比较输出2N失能 *******/
TIM_OCInitStructure.TIM_Pulse = arr>>1; //设置待装入捕获比较寄存器的脉冲值，右移一位
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC2Init(TIM8, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable); //CH2预装载使能
TIM_ARRPreloadConfig(TIM8, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_ITConfig(TIM8, TIM_IT_Update ,ENABLE); //TIM8 使能或者失能指定的TIM中断
NVIC_InitStructure.NVIC_IRQChannel = TIM8_UP_TIM13_IRQn; //TIM8中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; //先占优先级1级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; //从优先级1级
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
NVIC_Init(&NVIC_InitStructure); //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器
TIM_ClearITPendingBit(TIM8, TIM_IT_Update); //清除TIMx的中断待处理位:TIM 中断源
TIM_Cmd(TIM8, ENABLE); //使能TIM8
}
/******* TIM8更新中断服务程序 *********/
void TIM8_UP_TIM13_IRQHandler(void)
{
if(TIM_GetITStatus(TIM8,TIM_FLAG_Update)!=RESET)//获取当前定时器状态，判断是否完成更新，更新中断
{
TIM_ClearITPendingBit(TIM8,TIM_FLAG_Update);//清除更新中断标志位
if(is_rcr_finish==0)//重复计数器未设置完成重复计数器默认初始值为1，已完成状态
{
if(rcr_integer!=0) //整数部分脉冲还未发送完成
{
TIM8->RCR=RCR_VAL;//设置重复计数值
rcr_integer--;//减少RCR_VAL+1个脉冲
}else if(rcr_remainder!=0)//余数部分脉冲不为0
{
TIM8->RCR=rcr_remainder-1;//设置余数部分
rcr_remainder=0;//清零
is_rcr_finish=1;//重复计数器设置完成
}else goto out; //rcr_remainder=0，直接退出
TIM_GenerateEvent(TIM8,TIM_EventSource_Update);//产生一个更新事件重新初始化计数器
TIM_CtrlPWMOutputs(TIM8,ENABLE); //MOE 主输出使能
TIM_Cmd(TIM8, ENABLE); //使能TIM8
if(motor_dir==CW) //如果方向为顺时针
current_pos+=(TIM8->RCR+1);//加上重复计数值
else //否则方向为逆时针
current_pos-=(TIM8->RCR+1);//减去重复计数值
}else
{
out: is_rcr_finish=1;//重复计数器设置完成
TIM_CtrlPWMOutputs(TIM8,DISABLE); //MOE 主输出关闭
TIM_Cmd(TIM8, DISABLE); //关闭TIM8 V
printf("当前位置=%ld\r\n",current_pos);//打印输出
}
}
}
/***************** 启动TIM8 *****************/
void TIM8_Startup(u32 frequency) //启动定时器8
{
u16 temp_arr=1000000/frequency-1;
TIM_SetAutoreload(TIM8,temp_arr);//设定自动重装值
TIM_SetCompare2(TIM8,temp_arr>>1); //匹配值2等于重装值一半，是以占空比为50%
TIM_SetCounter(TIM8,0);//计数器清零
TIM_Cmd(TIM8, ENABLE); //使能TIM8
}
/********************************************
//相对定位函数
//num 0～2147483647
//frequency: 20Hz~100KHz
//dir: CW(顺时针方向) CCW(逆时针方向)
*********************************************/
void Locate_Rle(long num,u32 frequency,DIR_Type dir) //相对定位函数
{
if(num<=0) //数值小等于0 则直接返回
{
printf("\r\nThe num should be greater than zero!!\r\n");
return;
}
if(TIM8->CR1&0x01)//上一次脉冲还未发送完成直接返回
{
printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//脉冲频率不在范围内直接返回
{
printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
motor_dir=dir;//得到方向
DRIVER_DIR=motor_dir;//设置方向
if(motor_dir==CW)//顺时针
target_pos=current_pos+num;//目标位置
else if(motor_dir==CCW)//逆时针
target_pos=current_pos-num;//目标位置
rcr_integer=num/(RCR_VAL+1);//重复计数整数部分
rcr_remainder=num%(RCR_VAL+1);//重复计数余数部分
is_rcr_finish=0;//重复计数器未设置完成
TIM8_Startup(frequency);//开启TIM8
}
/********************************************
//绝对定位函数
//num -2147483648～2147483647
//frequency: 20Hz~100KHz
*********************************************/
void Locate_Abs(long num,u32 frequency)//绝对定位函数
{
if(TIM8->CR1&0x01)//上一次脉冲还未发送完成直接返回
{
printf("\r\nThe last time pulses is not send finished,wait please!\r\n");
return;
}
if((frequency<20)||(frequency>100000))//脉冲频率不在范围内直接返回
{
printf("\r\nThe frequency is out of range! please reset it!!(range:20Hz~100KHz)\r\n");
return;
}
target_pos=num;//设置目标位置
if(target_pos!=current_pos)//目标和当前位置不同
{
if(target_pos>current_pos)
motor_dir=CW;//顺时针
else
motor_dir=CCW;//逆时针
DRIVER_DIR=motor_dir;//设置方向
rcr_integer=abs(target_pos-current_pos)/(RCR_VAL+1);//重复计数整数部分
rcr_remainder=abs(target_pos-current_pos)%(RCR_VAL+1);//重复计数余数部分
is_rcr_finish=0;//重复计数器设置完成
TIM8_Startup(frequency);//开启TIM8
}
}

复制代码

两个驱动大部分都是一样的，不同的就是用到的引脚，通道不同，如何做可以使主函数里面可以驱动这两个电机，我现在放在一个项目里面，只有一个电机动，另外一个不动，有大佬给我说用RTOS多线程去做，是怎么个方法思路呢，我也是刚接触STM32不到两周的时间，比较迷茫，清各位给我指导一下。

resumebb · 发表于 2020-7-31 15:16:41

已解决

xsx127 · 发表于 2020-7-31 16:38:47

看看我的，希望给你思路，一个定时器控制十几个电机

static Motor GB_Motors[Motor_Total_Num] =
{
//Motor_1
{
.name = Motor_1,
.step_gpio_group = Motor1_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor1_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor1_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor1_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor1_Origin_Group, BloodHolder_On_Start_Group}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor1_Origin_Pin, BloodHolder_On_Start_Pin}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 50}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//测量最大行程为18000,设置超限位置为20000
//.max_location = 20000,
//精确测量全程运行4.5秒
//.out_time = 6000,
.minPwmCnt = 20,
.maxPwmCnt = 4,
.seriesParm = 4,
.changeParm = 100,
},
//Motor_2
{
.name = Motor_2,
.step_gpio_group = Motor2_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor2_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor2_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor2_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Blood_Check_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Blood_Check_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_SET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {250, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 3,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = true,
//.max_location = 5000,
//.out_time = 50000,
.minPwmCnt = 40,
.maxPwmCnt = 5,
.seriesParm = 4,
.changeParm = 35
},
//Motor_3
{
.name = Motor_3,
.step_gpio_group = Motor3_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor3_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor3_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor3_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_SET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_3_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_3_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
.minPwmCnt = 20,
.maxPwmCnt = 4,
.seriesParm = 4,
.changeParm = 500
},
//Motor_4
{
.name = Motor_4,
.step_gpio_group = Motor4_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor4_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor4_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor4_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_SET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_4_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_4_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_SET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {250, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = true,
//.max_location = 27000,
//.out_time = 10000,
.minPwmCnt = 15,
.maxPwmCnt = 4,
.seriesParm = 6,
.changeParm = 1500
},
//Motor_5
{
.name = Motor_5,
.step_gpio_group = Motor5_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor5_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor5_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor5_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_5_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_5_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 28000,
//.out_time = 7500,
.minPwmCnt = 20,
.maxPwmCnt = 3,
.seriesParm = 6,
.changeParm = 500
},
//Motor_6
{
.name = Motor_6,
.step_gpio_group = Motor6_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor6_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor6_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor6_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_6_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_6_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 15,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 5500,
//.out_time = 2300,
.minPwmCnt = 20,
.maxPwmCnt = 3,
.seriesParm = 6,
.changeParm = 500
},
//Motor_7
{
.name = Motor_7,
.step_gpio_group = Motor7_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor7_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor7_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor7_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_7_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_7_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {250, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = true,
//.max_location = 20000,
//.out_time = 8000,
.minPwmCnt = 15,
.maxPwmCnt = 4,
.seriesParm = 6,
.changeParm = 1000
},
//Motor_8 排液针电机，即三轴平台Z2
{
.name = Motor_8,
.step_gpio_group = Motor8_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor8_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor8_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor8_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_SET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_8_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_8_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 8,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 2000,
//.out_time = 2000,
.minPwmCnt = 20,
.maxPwmCnt = 4,
.seriesParm = 4,
.changeParm = 100
},
//Motor_10
{
.name = Motor_10,
.step_gpio_group = Motor10_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor10_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor10_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor10_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_10_Origin_Group, Water_Deep_Check_Group}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_10_Origin_Pin, Water_Deep_Check_Pin}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_SET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 50}, //传感器确认触发次数
.normalTotalPwmCnt = 3,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 13500,
//.out_time = 3000,
.minPwmCnt = 20,
.maxPwmCnt = 4,
.seriesParm = 4,
.changeParm = 100
},
//Motor_12
{
.name = Motor_12,
.step_gpio_group = Motor12_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor12_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor12_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor12_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_12_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_12_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 3,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
.minPwmCnt = 20,
.maxPwmCnt = 4,
.seriesParm = 4,
.changeParm = 100
},
//Motor_14
{
.name = Motor_14,
.step_gpio_group = Motor14_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor14_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor14_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor14_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_14_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_14_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 4,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 28000,
//.out_time = 7500,
.minPwmCnt = 20,
.maxPwmCnt = 3,
.seriesParm = 6,
.changeParm = 500
},
//Motor_15
{
.name = Motor_15,
.step_gpio_group = Motor15_CLK_Group, //电机clk gpio group
.step_gpio_pin = Motor15_CLK_Pin, //电机clk gpio pin
.dir_gpio_group = Motor15_DIR_Group, //电机方向 gpio group
.dir_gpio_pin = Motor15_DIR_Pin, //电机方向 gpio pin
.forward_value = GPIO_PIN_RESET, //电机正向运动电平
.en_gpio_group = NULL, //电机使能 gpio group
.sensor_gpio_group = {Motor_15_Origin_Group, NULL}, //电机传感器 gpio group
.sensor_gpio_pin = {Motor_15_Origin_Pin, NULL}, //电机传感器 gpio pin
.sensor_triggered_value = {GPIO_PIN_RESET, GPIO_PIN_RESET}, //电机传感器触发电平
.sensor_enable = {true, true}, //电机传感器使能，默认打开,可动态调整
.sensor_triggered_cnt = {0, 0}, //传感器连续触发次数
.sensor_triggered_pass_cnt = {50, 1}, //传感器确认触发次数
.normalTotalPwmCnt = 15,
.motorLocation = 0,
.targetLocation = 0,
.isSLine = false,
//.max_location = 5500,
//.out_time = 2300,
.minPwmCnt = 20,
.maxPwmCnt = 3,
.seriesParm = 6,
.changeParm = 500
},
};

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正点原子 · 发表于 2020-8-2 23:33:09

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如何将两个步进电机驱动整合在一起，控制它们不冲突

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