sMotorHandle gs_MotorHandle =
{
0,
};
void Moto_Init( void )
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(ULN2003_SYSCTL_PERIPH_CLK, ENABLE);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_PHASE_PIN;
GPIO_Init(A_PHASE_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_PHASE_PIN;
GPIO_Init(B_PHASE_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = C_PHASE_PIN;
GPIO_Init(C_PHASE_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = D_PHASE_PIN;
GPIO_Init(D_PHASE_PORT, &GPIO_InitStructure);
ULN2003_ResetAllPhase( );
}
/**
* @name ULN2003_ResetAllPhase
* @brief 复位A、B、C、D（相位）
* @paramin void
* @return void
*/
void ULN2003_ResetAllPhase ( void )
{
A_PHASE_RESET;
B_PHASE_RESET;
C_PHASE_RESET;
D_PHASE_RESET;
}
static u8 i = 0;
/**
* @name Motorcw
* @brief 电机正转
* @paramin void
* @return void
*/
void Motorcw( void )
{
switch ( i++ )
{
case 0: //A
A_PHASE_SET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 1: //AB
A_PHASE_SET;B_PHASE_SET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 2: //
A_PHASE_RESET;B_PHASE_SET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 3: //B
A_PHASE_RESET;B_PHASE_SET;C_PHASE_SET;D_PHASE_RESET;
break;
case 4: //C
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_SET;D_PHASE_RESET;
break;
case 5: //CD
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_SET;D_PHASE_SET;
break;
case 6: //
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_SET;
break;
case 7: //D
i=0;
A_PHASE_SET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_SET;
break;
default:
break;
}
delay_ms(2);
}
void Motorccw( void )
{
switch ( i-- )
{
case 0: //A
i=7;
A_PHASE_SET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 1: //AB
A_PHASE_SET;B_PHASE_SET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 2: //
A_PHASE_RESET;B_PHASE_SET;C_PHASE_RESET;D_PHASE_RESET;
break;
case 3: //B
A_PHASE_RESET;B_PHASE_SET;C_PHASE_SET;D_PHASE_RESET;
break;
case 4: //C
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_SET;D_PHASE_RESET;
break;
case 5: //CD
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_SET;D_PHASE_SET;
break;
case 6: //
A_PHASE_RESET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_SET;
break;
case 7: //D
A_PHASE_SET;B_PHASE_RESET;C_PHASE_RESET;D_PHASE_SET;
break;
default:
break;
}
}
void MotorStop( void )
{
ULN2003_ResetAllPhase( );
}
//由于 *一个脉冲* *输出轴* 转0.08789度（电机实转0.08789*64=5.625度），即步进角为5.625度。则转完A-B-C-D为 *8个脉冲* ，即0.08789*8=0.70312度。若称A-B-C-D为一个周期，则j为需要的转完angle角度所需的周期数。
void Motor_PreSet(eMotorDutyCycle eM, u32 tim, u32 speed)
{
gs_MotorHandle.eStatus = eM;
gs_MotorHandle.u32Time = tim;
gs_MotorHandle.u32Speed = speed;
}
void Motor_Millisecond( void )
{
if (gs_MotorHandle.u32Time > 0)
{
gs_MotorHandle.u32Time--;
if (gs_MotorHandle.u32Time == 0)
{
gs_MotorHandle.eStatus = Staus_None;
MotorStop( );
}
}
gs_MotorHandle.u32Cnt++;
if (gs_MotorHandle.u32Cnt % gs_MotorHandle.u32Speed == 0)
{
switch (gs_MotorHandle.eStatus)
{
case Status_CW:
Motorcw( );
break;
case Status_CCW:
Motorccw( );
break;
case Staus_None:
default:
break;
}
}
if (gs_MotorHandle.u32Cnt % 1000 == 0)
{
gs_MotorHandle.u32Cnt = 0;
}
}