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正点原子探索者STM32F407

引脚

PUL+ <—> VCC(+3.3v)
PUL- <—> TIM1_CH1（PA8）

DIR+ <—> VCC(+3.3v)
DIR- <—> PE5

ENA+ <—> VCC(+3.3v)
ENA- <—> PE6

按键：
控制使能：PE4
控制方向：PE3

TIM1的设置


key_exit.h

#ifndef __KEY_EXTI_H__
#define __KEY_EXTI_H__

#include "MyApplication.h"

//定义结构体类型
typedef struct
{
  uint8_t volatile KEY_Flag;  //按键标志位
  uint8_t Press_Num;              
	void (*KEY_EXTI_KEY_Detect)(void);   //按键检测
	
} KEY_EXTI_t;

/* extern variables-----------------------------------------------------------*/
extern KEY_EXTI_t KEY_EXTI_KEY0;
extern KEY_EXTI_t KEY_EXTI_KEY1;

#endif

key_exit.c

/* Includes ------------------------------------------------------------------*/
#include "MyApplication.h"

volatile Steerper_Motor_Enable_Val_t  Steerper_Motor_Enable_Status_Val = Steerper_Motor_No_EN_Val ;//默认不使能
volatile Steeper_Motor_DIR_Val_t  Steerper_Motor_Dir_Status_Val = Steerper_Motor_FWD_Val;   	 //默认正转


/* Private function prototypes------------------------------------------------*/
static void KEY_EXTI_KEY0_Detect(void); //按键0检测
static void KEY_EXTI_KEY1_Detect(void); //按键1检测

/* Public variables ----------------------------------------------------------*/
//结构体定义
KEY_EXTI_t KEY_EXTI_KEY0 = {FALSE,0,KEY_EXTI_KEY0_Detect};
KEY_EXTI_t KEY_EXTI_KEY1 = {FALSE,0,KEY_EXTI_KEY1_Detect};

/* Private function prototypes--------------------------*/
/*
 * @ name    KEY0_Detect
 * @ brief	 触摸按键0检测
 * @ param	 None
 * @ retval  None
*/
static void KEY_EXTI_KEY0_Detect(void) //按键0检测
{
	if(KEY_EXTI_KEY0.KEY_Flag == TRUE)
	{
		HAL_Delay(10);
		
		if(HAL_GPIO_ReadPin(KEY_EXTI_KEY0_GPIO_Port,KEY_EXTI_KEY0_Pin) == GPIO_PIN_SET)
		{
			KEY_EXTI_KEY0.Press_Num++;
		}
		
		if(KEY_EXTI_KEY0.Press_Num == 3)
		{
			KEY_EXTI_KEY0.Press_Num =1;
		}
		
		if(KEY_EXTI_KEY0.Press_Num == 1)
		{
			printf("Steerper Motor Enable.\r\n");
			Steerper_Motor.Steerper_Motor_Enable();
			Steerper_Motor_Enable_Status_Val=Steerper_Motor_EN_Val;
		}
		
		if(KEY_EXTI_KEY0.Press_Num == 2)
		{
			printf("Steerper Motor Disable.\r\n");
			Steerper_Motor.Steerper_Motor_Disable();
			Steerper_Motor_Enable_Status_Val=Steerper_Motor_No_EN_Val;
		}
		
		//清除按键0状态
		KEY_EXTI_KEY0.KEY_Flag = FALSE;
	}
}

/*
 * @ name    KEY1_Detect
 * @ brief	 触摸按键1检测
 * @ param	 None
 * @ retval  None
*/
static void KEY_EXTI_KEY1_Detect(void) //按键0检测
{
	if(Steerper_Motor_Enable_Status_Val == Steerper_Motor_EN_Val)
	{
		if(KEY_EXTI_KEY1.KEY_Flag == TRUE)
		{
			HAL_Delay(10);

			if(HAL_GPIO_ReadPin(KEY_EXTI_KEY1_GPIO_Port,KEY_EXTI_KEY1_Pin) == GPIO_PIN_SET)
			{
				KEY_EXTI_KEY1.Press_Num++;
			}
			
			if(KEY_EXTI_KEY1.Press_Num == 3)
			{
				KEY_EXTI_KEY1.Press_Num =1;
			}
			
			if(KEY_EXTI_KEY1.Press_Num == 1)
			{
				printf("Steerper Motor REV.\r\n");
				Steerper_Motor_Dir_Status_Val=Steerper_Motor_REV_Val;
			}
			
			if(KEY_EXTI_KEY1.Press_Num == 2)
			{
				printf("Steerper Motor FWD.\r\n");
				Steerper_Motor_Dir_Status_Val=Steerper_Motor_FWD_Val;
			}
			
			//清除按键1状态
			KEY_EXTI_KEY1.KEY_Flag = FALSE;
		}
	}
}

steeper_motor.h

#ifndef __STEEPER_MOTOR_H__
#define __STEEPER_MOTOR_H__

#include "MyApplication.h"

//定义电机运转的方向
typedef enum
{
  Steerper_Motor_FWD_Val = (uint8_t)1, 
  Steerper_Motor_REV_Val = (uint8_t)0
} Steeper_Motor_DIR_Val_t;

typedef enum
{
	Steerper_Motor_EN_Val = (uint8_t)1,
  Steerper_Motor_No_EN_Val = (uint8_t)0 
} Steerper_Motor_Enable_Val_t;

//定义结构体类型
typedef struct
{
	void (*Steerper_Motor_Enable)(void);     //步进电机使能
	void (*Steerper_Motor_Disable)(void);    //步进电机失能
	void (*Steerper_Motor_FWD)(void);				 //步进电机正转
	void (*Steerper_Motor_REV)(void);	 			 //步进电机反转
} Steerper_Motor_t;

extern Steerper_Motor_t Steerper_Motor;
extern void Steerper_Motor_Work(Steeper_Motor_DIR_Val_t Steerper_Motor_DIR_Val);

/* 控制步进电机使能引脚 */                                        		/* 高电平使能 */  
#define Cotrol_Steerper_Motor_Enable()   HAL_GPIO_WritePin(GPIOE, Control_Steeper_EN_Pin, GPIO_PIN_SET)  	   
#define Cotrol_Steerper_Motor_Disable()  HAL_GPIO_WritePin(GPIOE, Control_Steeper_EN_Pin, GPIO_PIN_RESET)  
																																			/* 低电平反能 */ 	
																																	
/* 控制步进电机方向引脚 */																						/* 高电平正转 */                                        				// 高电平打开-高电平使能 
#define Cotrol_Steerper_Motor_FWD()   	HAL_GPIO_WritePin(GPIOE, Control_Steeper_Dir_Pin, GPIO_PIN_SET)  	   
#define Cotrol_Steerper_Motor_REV()  		HAL_GPIO_WritePin(GPIOE, Control_Steeper_Dir_Pin, GPIO_PIN_RESET)  
																																			/* 低电平反转 */ 
					
/* 控制步进电机脉冲引脚 */									 /* 使能比较通道1 */
#define Cotrol_Steerper_Motor_PUL_Enable()   TIM_CCxChannelCmd(TIM1, TIM_CHANNEL_1, TIM_CCx_ENABLE)
#define Cotrol_Steerper_Motor_PUL_Disable()  TIM_CCxChannelCmd(TIM1, TIM_CHANNEL_1, TIM_CCx_DISABLE)  
																						 /* 失能比较通道1 */
#endif

steeper_motor.c

#include "MyApplication.h"

extern volatile Steerper_Motor_Enable_Val_t  Steerper_Motor_Enable_Status_Val  ;//默认不使能
extern volatile Steeper_Motor_DIR_Val_t  Steerper_Motor_Dir_Status_Val ;   	 //默认正转

void Steerper_Motor_Enable(void);
void Steerper_Motor_Disable(void);
void Steerper_Motor_FWD(void);
void Steerper_Motor_REV(void);

Steerper_Motor_t Steerper_Motor =
{
	Steerper_Motor_Enable,   	//步进电机正能
	Steerper_Motor_Disable,   //步进电机失能
	Steerper_Motor_FWD	,		  //步进电机正转
	Steerper_Motor_REV	 			//步进电机反转
};

//步进电机正能
void Steerper_Motor_Enable(void)
{
	Cotrol_Steerper_Motor_Enable();
	Cotrol_Steerper_Motor_PUL_Enable();
}

//步进电机失能
void Steerper_Motor_Disable(void)
{
	Cotrol_Steerper_Motor_PUL_Disable();
	Cotrol_Steerper_Motor_Disable();
}

//步进电机正转
void Steerper_Motor_FWD(void)
{
	Cotrol_Steerper_Motor_FWD();
}

//步进电机反转
void Steerper_Motor_REV(void)
{
	Cotrol_Steerper_Motor_REV();
}

//电机工作方向选择
void Steerper_Motor_Work(Steeper_Motor_DIR_Val_t Steerper_Motor_DIR_Val)
{
	if(Steerper_Motor_Enable_Status_Val == Steerper_Motor_EN_Val)
	{
		switch (Steerper_Motor_DIR_Val)
		{
			case Steerper_Motor_FWD_Val:	Steerper_Motor.Steerper_Motor_FWD(); 
				break;
			case Steerper_Motor_REV_Val:  Steerper_Motor.Steerper_Motor_REV(); 
				break;
			default       		:  System.Assert_Failed();
				break;
		}
	}	
}

CallBack.c

#include "MyApplication.h"

__IO uint16_t OC_Pulse_num_Channel1 = 200;    /* 通道1的比较值 */
//比较值为200时，整个脉冲周期的计数值应为400。

//168000000/168/400 = 10000/4 = 2500 Hz （分频系数为168,比较值为200）
//168000000/168/200 = 10000/2 = 5000 Hz （分频系数为168,比较值为100）
//168000000/6/400 = 280000 / 4 =70000 Hz（分频系数为6,比较值为200）

/**
  * @brief  定时器比较中断
  * @param  htim：定时器句柄指针
	*	@note 	无
  * @retval 无
  */
void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
{
  __IO uint16_t count;
  
  /*获取当前计数*/
  count = __HAL_TIM_GET_COUNTER(htim);
  
  /*判断触发中断的输出通道并设置新的比较数值*/
  if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
  {
    __HAL_TIM_SET_COMPARE(htim, TIM_CHANNEL_1, count + OC_Pulse_num_Channel1);
  }
}

/**
  * @brief  EXTI line detection callbacks.
  * @param  GPIO_Pin Specifies the pins connected EXTI line
  * @retval None
  */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	HAL_Delay(100);      //消抖
	
	switch(GPIO_Pin)
	{
		case KEY_EXTI_KEY0_Pin: KEY_EXTI_KEY0.KEY_Flag = TRUE;
		break;
		case KEY_EXTI_KEY1_Pin: KEY_EXTI_KEY1.KEY_Flag = TRUE;
		break;
		default:printf("Error\r\n");
		break;
	}
}

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