[syntax=c]#include "stm32f10x.h"
#include "stm32f1xx_nucleo.h"
#include "stm32f10x.h"
#include <math.h>
int i = 0;
//============Dane==========
float vMin = 1.0;
float vMax = 10.0;
int accelerationTime = 10;
int decelerationTime = 10;
volatile int totalSteps = 100;
volatile int currentStep = 0;
//============Szukane==========
float accelerationPerMs = 0;
float decelerationPerMs = 0;
int stepsAcceleration = 0;
int stepsDeceleration = 0;
//============================
float currentSpeed = 0.0;
int period = 0;
u16 PWM_Buf[100];
void TIMInit(void);
void GPIOInit(void);
void DMAInit(void);
void PWMInit(void);
void generateSignal(int totalSteps, float vMin, float vMax,int accelerationTime, int decelerationTime);
int main(void) {
GPIOInit();
TIMInit();
DMAInit();
PWMInit();
generateSignal(totalSteps,vMin,vMax,accelerationTime,decelerationTime);
while (1) {
}
}
void generateSignal(int totalSteps, float vMin, float vMax,int accelerationTime, int decelerationTime) {
accelerationPerMs = (vMax - vMin) / (accelerationTime);
decelerationPerMs = (vMax - vMin) / (decelerationTime);
stepsAcceleration = ceil(((vMin * accelerationTime) +
(accelerationPerMs * (accelerationTime * accelerationTime)) / 2));
stepsDeceleration = ceil(((vMin * decelerationTime) +
(decelerationPerMs * (decelerationTime * decelerationTime)) / 2));
if (totalSteps <= stepsAcceleration + stepsDeceleration)
totalSteps = stepsAcceleration + stepsDeceleration + 1;
for (currentStep = 0; i < totalSteps; currentStep++){
if(currentStep == 0)
currentSpeed = vMin;
else if(currentStep < stepsAcceleration)
currentSpeed += accelerationPerMs;
else if(currentStep >= stepsAcceleration)
currentSpeed = vMax;
else if(currentStep >= totalSteps - stepsDeceleration)
currentSpeed -= decelerationPerMs - 1;
period = 1000/currentSpeed;
PWM_Buf[currentStep] = period;
}
}
void TIMInit(void) {
TIM_TimeBaseInitTypeDef TIMInit;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
//TIMInit.TIM_Period = 1000 - 1;
TIMInit.TIM_Prescaler = 64000 - 1;
TIMInit.TIM_ClockDivision = TIM_CKD_DIV1;
TIMInit.TIM_CounterMode = TIM_CounterMode_Up;
TIMInit.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIMInit);
}
void GPIOInit(void) {
GPIO_InitTypeDef GPIOInit;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIOInit.GPIO_Pin = GPIO_Pin_8;
GPIOInit.GPIO_Mode = GPIO_Mode_AF_PP;
GPIOInit.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIOInit);
}
void DMAInit(void) {
DMA_InitTypeDef DMAInit;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
DMA_DeInit(DMA1_Channel5);
DMAInit.DMA_PeripheralBaseAddr = (u32)&TIM1 -> ARR;
DMAInit.DMA_MemoryBaseAddr = (u32) PWM_Buf;
DMAInit.DMA_DIR = DMA_DIR_PeripheralDST;
DMAInit.DMA_BufferSize = totalSteps;
DMAInit.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMAInit.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMAInit.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word;
DMAInit.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMAInit.DMA_Mode = DMA_Mode_Circular;
DMAInit.DMA_Priority = DMA_Priority_High;
DMAInit.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel5, &DMAInit);
DMA_Cmd(DMA1_Channel5, ENABLE);
}
void PWMInit(void) {
TIM_OCInitTypeDef PWMInit;
PWMInit.TIM_OCMode = TIM_OCMode_PWM1;
PWMInit.TIM_OutputState = TIM_OutputState_Enable;
PWMInit.TIM_Pulse = 30;
PWMInit.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM1, &PWMInit);
//TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
//TIM_ARRPreloadConfig(TIM1, ENABLE);
TIM_DMACmd(TIM1, TIM_DMA_Update, ENABLE);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}[/syntax]Statystyki: Napisane przez LesterNowicjusz — 31 sty 2018, o 21:42
]]>