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【STM32】【C】【嵌入式】分享一下我的项目经验--基于stm32桌面主从机械臂设计（三弹）_#define__motor_h

作者：很楠不爱3 | 2024-04-11 13:48:42

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#define__motor_h

本文为原创文章，转载需要注明转载出处

 前言：嵌入式开发是相比其他IT行业是比较难的行业，它不仅需要你去掌握软件的经验，还要去学习一些硬件的知识，

它是软件和硬件的一个粘合剂，起到一个至关重要的地位

下面我们接着讲第三弹 

 

【STM32】【C】【嵌入式】分享一下我的项目经验--基于stm32桌面主从机械臂设计（一弹）

【STM32】【C】【嵌入式】分享一下我的项目经验--基于stm32桌面主从机械臂设计（二弹）

【STM32】【C】【嵌入式】分享一下我的项目经验--基于stm32桌面主从机械臂设计（三弹）

 

下面是从机械臂的代码

 

下面是/*motor.h*/

  1. #ifndef __MOTOR_H__
  2. #define __MOTOR_H__
  3. #include "sys.h"
  4.  
  5. #define FALSE  0
  6. #define TRUE   1
  7. #define MS1_left	   PAout(0)
  8. #define MS2_left    PAout(1)
  9. #define MS3_left   PAout(2)
  10. #define DIR_left 	 PAout(3)
  11. #define STEP_left   PAout(4)
  12. #define ENABLE1_left PAout(5)
  13.  
  14. #define MS1_right PBout(0)
  15. #define MS2_right PAout(7)
  16. #define MS3_right PAout(6)
  17. #define DIR_right PBout(1)
  18. #define STEP_right PBout(10)
  19. #define ENABLE2_right PBout(11)
  20.  
  21.  
  22.  
  23. #define MS1				PBout(3)
  24. #define MS2				PBout(5)   //PA15ÓÐÎÊÌâ  PB4ÓÐÎÊÌâ
  25. #define MS3				PAout(8)
  26. #define DIR				PBout(15)
  27. #define STEP			PBout(14)
  28. #define ENABLE0   PBout(13)
  29.  
  30.  
  31.  
  32. #define Full_step   {MS1_left = 0;MS2_left = 0;MS3_left = 0;MS1_right = 0;MS2_right = 0;MS3_right = 0;}
  33. #define Half_step   {MS1_left = 1;MS2_left = 0;MS3_left = 0;MS1_right = 1;MS2_right = 0;MS3_right = 0;}
  34. #define Quarter_step {MS1_left = 0;MS2_left = 1;MS3_left = 0;MS1_right = 0;MS2_right = 1;MS3_right = 0;}
  35. #define Eighth_step  {MS1_left = 1;MS2_left = 1;MS3_left = 0;MS1_right = 1;MS2_right = 1;MS3_right = 0;}
  36. #define Sixteenth_step {MS1_left = 1;MS2_left = 1;MS3_left = 1;MS1_right = 1;MS2_right = 1;MS3_right = 1;}
  37. #define Full_step0  {MS1 = 0;MS2 = 0; MS3 = 0;}
  38. #define Half_step0   {MS1 = 1;MS2 = 0; MS3 = 0;}
  39. #define Quarter_step0  {MS1 = 0;MS2 = 1; MS3 = 0;}
  40. #define Eighth_step0     {MS1 = 1;MS2 = 1; MS3 = 0;}
  41. #define Sixteenth_step0    {MS1 = 1;MS2 = 1; MS3 = 1;}
  42.  
  43.  
  44.  
  45.  
  46. #define Full_360 5000
  47. #define Half_180 2500
  48. #define Quarter_90 1250
  49. #define Eighth_45  625
  50. #define Nine_9     125
  51. #define Eighteen_18 250
  52. #define Twenty_seven_27 375
  53. #define Thirty_six_36  500
  54. #define One_1	14  
  55. #define Four_5 70
  56. void MOTOR_Step_Control(int dir,u16 period,u32 steps);
  57.  
  58. void MOTOR_Init(void);
  59. void MOTOR_Step_Init(void);
  60. void MOTOR_Step_Enable(void);
  61. void MOTOR_Step_Micr(u16);
  62.  
  63.  
  64. void MOTOR_Step2_Enable(void);
  65. void MOTOR_Step2_Micr(u16);
  66. void MOTOR_Step2_Control(int dir,u16 period,u32 steps);
  67.  
  68. void MOTOR_Step3_Enable(void);
  69. void MOTOR_Step3_Micr(u16);
  70. void MOTOR_Step3_Control(int dir,u16 period,u32 steps);
  71.  
  72.  
  73. void TIM3_PWM_Init(u16 arr,u16 psc);
  74. #endif

 

下面是/*motor.c*/

  1. #include "motor.h"
  2. #include "stm32f10x.h"
  3. #include "delay.h"
  4. #include "sys.h"
  5. void MOTOR_Init(void){
  6. 		GPIO_InitTypeDef GPIO_InitStructure;
  7.  
  8. 	
  9. 		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE); // PA,PD 
  10. 	
  11. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; 
  12. 		GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //????
  13. 		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO ???? 50MHz
  14. 			
  15. 		
  16. 		//MS1->L MS2->L MS3->L Full step //2 Phase
  17. 		//MS3	
  18. 		
  19. 		GPIO_Init(GPIOA, &GPIO_InitStructure); //??? GPIOA.2
  20. 		GPIO_ResetBits(GPIOA,GPIO_Pin_0); //PA.1 ???
  21. 		//MS2
  22. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; 
  23. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  24. 		GPIO_ResetBits(GPIOA,GPIO_Pin_1); 
  25. 		//MS1
  26. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; 
  27. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  28. 		GPIO_ResetBits(GPIOA,GPIO_Pin_2); 
  29. 			
  30. 		//DIR 
  31. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; 
  32. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  33. 		GPIO_ResetBits(GPIOA,GPIO_Pin_3); 	
  34.  
  35. 		//STEP 
  36. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; 
  37. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  38. 		GPIO_ResetBits(GPIOA,GPIO_Pin_4); 
  39. 		
  40. 	
  41. 		//MS1->L MS2->L MS3->L Full step //2 Phase
  42. 		//ENABLE
  43. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; 
  44. 		GPIO_Init(GPIOB, &GPIO_InitStructure); //??? GPIOA.2
  45. 		GPIO_ResetBits(GPIOB,GPIO_Pin_11); //PA.1 ???
  46. 		//STEP 
  47. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; 
  48. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  49. 		GPIO_ResetBits(GPIOB,GPIO_Pin_10); 
  50. 		//DIR
  51. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; 
  52. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  53. 		GPIO_ResetBits(GPIOB,GPIO_Pin_1); 
  54. 			
  55. 		//MS1
  56. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; 
  57. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  58. 		GPIO_ResetBits(GPIOB,GPIO_Pin_0); 	
  59.  
  60. 		//MS2
  61. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; 
  62. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  63. 		GPIO_ResetBits(GPIOA,GPIO_Pin_7); 	
  64. 		//MS3
  65. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; 
  66. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  67. 		GPIO_ResetBits(GPIOA,GPIO_Pin_6); 	 
  68. 		
  69. 		
  70. 		//MS1
  71. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; 
  72. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  73. 		GPIO_ResetBits(GPIOB,GPIO_Pin_3); 	
  74.  
  75. 		//MS2
  76. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; 
  77. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  78. 		GPIO_ResetBits(GPIOB,GPIO_Pin_5); 	
  79. 		//MS3
  80. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; 
  81. 		GPIO_Init(GPIOA, &GPIO_InitStructure); 
  82. 		GPIO_ResetBits(GPIOA,GPIO_Pin_8); 			
  83. 		//DIR
  84. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; 
  85. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  86. 		GPIO_ResetBits(GPIOB,GPIO_Pin_15); 			
  87. 		//STEP
  88. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14; 
  89. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  90. 		GPIO_ResetBits(GPIOB,GPIO_Pin_14); 			
  91. 		//ENABLE
  92. 		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13; 
  93. 		GPIO_Init(GPIOB, &GPIO_InitStructure); 
  94. 		GPIO_ResetBits(GPIOB,GPIO_Pin_13); 		
  95.  
  96. }
  97.  
  98. void MOTOR_Step_Control(int dir,u16 period,u32 steps){
  99.  
  100. 		u32 i;
  101. 		if(dir == 1){
  102.  
  103. 		for(i = 0;i < steps;i++){
  104. 				DIR_left = 1;
  105. 				
  106. 				STEP_left = 0;
  107. 			  
  108. 			  //delay_ms(800);				
  109. 				delay_ms(1);
  110. 				STEP_left = 1;
  111. 			  
  112. 				//delay_ms(800);
  113.  
  114. 				delay_us(period);
  115.  
  116. 				
  117.  
  118. 		}
  119. 	}
  120. 		if(dir == 0){
  121. 		for(i = 0;i < steps;i++){
  122. 				DIR_left = 0;	
  123. 			  
  124. 							
  125. 				STEP_left = 0;
  126. 			  
  127. 				//delay_ms(800);			
  128. 				delay_ms(1);
  129. 				STEP_left = 1;
  130. 			  
  131. 				//delay_ms(800);
  132. 				delay_us(period);
  133.  
  134. 		}		
  135. 		
  136. 		
  137. 		
  138. 		
  139. 		}
  140. 		/*
  141. 				for(i = 0;i < steps * 2;i++){
  142. 			
  143. 				DIR = !dir;
  144. 				STEP = 1;
  145. 				delay_us(4);
  146. 				STEP = 0;
  147. 				delay_us(period);
  149. 				
  151. 		}
  152. 		*/
  153. 		//i = 0;
  154.  
  155. }
  156. void MOTOR_Step_Init(void){
  157. #if 0
  158. 	RCC->APB2ENR |= 1 << 3; //ʹÄÜʱÖÓ
  159. 	GPIOA->CRL &= 0xFF000000;
  160. 	GPIOA->CRL |= 0x00333333;
  161. #endif
  162. #if 0
  163. 	//RCC->APB2ENR |= 1 << 3;
  164. 	GPIOB->CRL &= 0x00000FFF;
  165. 	GPIOB->CRH &= 0xFFFFFFF0;
  166. 	GPIOB->CRL |= 0x33333000;
  167. 	GPIOB->CRH |= 0x00000003;
  168. 	//MS1 = 0;
  169. 	//MS2 = 0;
  170. 	//MS3 = 0;
  171. #endif
  172.  
  173. }
  174. void MOTOR_Step_Enable(void){
  175.  
  176.  
  177. 		ENABLE1_left = 0;
  178. 		ENABLE2_right = 0;
  179.  
  180. }
  181. void MOTOR_Step_Micr(u16 x){
  182.  
  183. 		switch(x){
  184. 		
  185. 			case 1:Full_step; break;
  186. 			case 2:Half_step; break;
  187. 			case 4:Quarter_step; break;
  188. 			case 8: Eighth_step; break;
  189. 			case 16: Sixteenth_step; break;
  190. 			defalut: break;
  191. 		
  192. 		
  193. 		
  194. 		}
  195.  
  196.  
  197. }
  198.  
  199. void MOTOR_Step2_Control(int dir,u16 period,u32 steps){
  200. 		u32 i;
  201. 		if(dir == 1){
  202. 		for(i = 0;i < steps;i++){
  203. 				DIR_right = 1;
  204. 				STEP_right = 0;
  205. 			  //delay_ms(800);				
  206. 				delay_ms(1);
  207. 			  STEP_right = 1;
  208. 				//delay_ms(800);
  209. 				delay_us(period);				
  210. 		}
  211. 	}
  212. 		if(dir == 0){
  213. 		for(i = 0;i < steps;i++){
  214. 				DIR_right = 0;							
  215. 				STEP_right = 0;
  216. 				//delay_ms(800);			
  217. 				delay_ms(1);
  218. 				STEP_right = 1;
  219. 				//delay_ms(800);
  220. 				delay_us(period);
  221.  
  222. 		}			
  223. 		}	
  224. 	
  225. 	
  226. }
  227. void MOTOR_Step2_Enable(void){
  228.  
  229. 		ENABLE0 = 0;
  230.  
  231.  
  232. }
  233. void MOTOR_Step2_Micr(u16 x){
  234.  
  235. 		switch(x){
  236. 		
  237. 			case 1:Full_step0; break;
  238. 			case 2:Half_step0; break;
  239. 			case 4:Quarter_step0; break;
  240. 			case 8: Eighth_step0; break;
  241. 			case 16: Sixteenth_step0; break;
  242. 			defalut: break;
  243. 		
  244. 		
  245. 		
  246. 		}
  247.  
  248.  
  249.  
  250.  
  251. }
  252.  
  253.  
  254.  
  255. void MOTOR_Step3_Control(int dir,u16 period,u32 steps){
  256. 		u32 i;
  257. 		if(dir == 1){
  258. 		for(i = 0;i < steps;i++){
  259. 				DIR = 1;
  260. 				STEP = 0;
  261. 			  //delay_ms(800);				
  262. 				delay_ms(1);
  263. 			  STEP = 1;
  264. 				//delay_ms(800);
  265. 				delay_us(period);				
  266. 		}
  267. 	}
  268. 		if(dir == 0){
  269. 		for(i = 0;i < steps;i++){
  270. 				DIR = 0;							
  271. 				STEP = 0;
  272. 				//delay_ms(800);			
  273. 				delay_ms(1);
  274. 				STEP = 1;
  275. 				//delay_ms(800);
  276. 				delay_us(period);
  277.  
  278. 		}			
  279. 		}	
  280. 	
  281. 	
  282. }
  283. void MOTOR_Step3_Enable(void){
  284.  
  285. 		ENABLE0 = 0;
  286.  
  287.  
  288. }
  289. void MOTOR_Step3_Micr(u16 x){
  290.  
  291. 		switch(x){
  292. 		
  293. 			case 1:Full_step0; break;
  294. 			case 2:Half_step0; break;
  295. 			case 4:Quarter_step0; break;
  296. 			case 8: Eighth_step0; break;
  297. 			case 16: Sixteenth_step0; break;
  298. 			defalut: break;
  299. 		
  300. 		
  301. 		
  302. 		}
  303.  
  304.  
  305.  
  306.  
  307. }

 

下面是/*blue.h*/

  1. #ifndef __BLUE_H__
  2. #define __BLUE_H	__
  3. #include "sys.h"
  4. #include "stdarg.h"	 	 
  5. #include "stdio.h"	 	 
  6. #include "string.h"	 
  7. #include "usart.h"
  8. #include <stdio.h>
  9. #include <string.h>
  10.  
  11. void BLUE_Init(void);
  12. //void RCC_Configuration(void);    
  13. //void GPIO_Configuration(void);   
  14. //void USART_Configuration(void);   
  15.  
  16. //void UART_PutChar(USART_TypeDef* USARTx, uint8_t Data);  
  17. //void UART_PutStr (USART_TypeDef* USARTx, uint8_t *str);
  18. //int Putchar(int c);
  19.  void USART1_IRQHandler(void);	
  20. extern void data_IRQHandller1(void);
  21. #endif

 

下面是/*blue.c*/

  1. #include "blue.h"
  2. //#include "usart.h"
  3. #include "delay.h"
  4.  
  5. void BLUE_Init(void){
  6. 	
  7. 			GPIO_InitTypeDef GPIO_InitStrue;
  8. 			USART_InitTypeDef USART_InitStrue;
  9. 			NVIC_InitTypeDef NVIC_InitStrue;
  10. 			
  11. 			RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);//?
  12. 			RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);
  13. 			
  14. 			GPIO_InitStrue.GPIO_Mode=GPIO_Mode_AF_PP;
  15. 			GPIO_InitStrue.GPIO_Pin=GPIO_Pin_9;
  16. 			GPIO_InitStrue.GPIO_Speed=GPIO_Speed_10MHz;
  17. 			GPIO_Init(GPIOA,&GPIO_InitStrue);//?
  18. 			
  19. 			GPIO_InitStrue.GPIO_Mode= GPIO_Mode_IN_FLOATING; //GPIO_Mode_IPU;
  20. 			GPIO_InitStrue.GPIO_Pin=GPIO_Pin_10;
  21. 			GPIO_InitStrue.GPIO_Speed=GPIO_Speed_10MHz;
  22. 			GPIO_Init(GPIOA,&GPIO_InitStrue);
  23. 			
  24. 			USART_InitStrue.USART_BaudRate=9600;
  25. 			USART_InitStrue.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
  26. 			USART_InitStrue.USART_Mode=USART_Mode_Tx|USART_Mode_Rx;
  27. 			USART_InitStrue.USART_Parity=USART_Parity_No;
  28. 			USART_InitStrue.USART_StopBits=USART_StopBits_1;
  29. 			USART_InitStrue.USART_WordLength=USART_WordLength_8b;
  30. 			
  31. 			USART_Init(USART1,&USART_InitStrue);//?
  32. 			
  33. 			USART_Cmd(USART1,ENABLE);
  34. #if 1
  35. 			USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);
  36. 			
  37. 			NVIC_InitStrue.NVIC_IRQChannel=USART1_IRQn;
  38. 			NVIC_InitStrue.NVIC_IRQChannelCmd=ENABLE;
  39. 			NVIC_InitStrue.NVIC_IRQChannelPreemptionPriority=3;
  40. 			NVIC_InitStrue.NVIC_IRQChannelSubPriority=3;
  41. 			NVIC_Init(&NVIC_InitStrue);
  42. #endif
  43.  
  44.  
  45. }
  46. #if 0
  47. void data_IRQHandller1(void){
  48. 		u8 a = 0;
  49. 		u8 Res;
  50. 		int len;
  51. 		BUF4[1] = '\0';
  52. 	   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  53. 		 Res= USART_ReceiveData(USART1); 
  54. 		  printf("%c",Res);
  55. 			BUF2[u++] = (Res & (uint16_t)0x01FF);
  56. 		 //USART1->DR = (Res & (uint16_t)0x01FF);
  57. 		 USART1->DR = (uint16_t)BUF2[u-1] ;
  58. 		while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  59. 		   
  60. 			if(BUF2[0] == 0x61 && BUF2[1] == 0x3d){
  61. 			
  62. 				printf("ok");
  63. 			}
  64. 			
  65. 			
  66. 		 //USART1->DR = (0x2a & (uint16_t)0x01FF);
  67. 		 //while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  68. 	   
  69. 		 }
  70. 		 
  71.  
  72.  
  73.  
  74.  
  75. }
  76. #endif
  77. #if 0
  78. void USART1_IRQHandler(void)
  79. {	  u8 a = 0;
  80. 	  u8 Res;
  81. 	  //BUF4[1] = '\0';
  82. 	  //printf("%s\r\n","Im fun");
  83.    	data_IRQHandller1();
  84. 		
  85. 		//printf("%s\r\n","Im fun");
  86.  
  87. #if 0
  88. 	 if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET)
  89.  {
  90.      Res= USART_ReceiveData(USART1);
  91. 		//printf("%c",(Res & (uint16_t)0x01FF));
  92. 	 //USART1->DR = (Res & (uint16_t)0x01FF);
  93.  
  94. 		BUF2[a] = (Res & (uint16_t)0x01FF);
  95. 		
  96. 		//strcat(str,BUF2);
  97. 		USART_SendData(USART1,BUF2[a]); 
  98. 	  while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  99. 			a++;
  100. 	  //BUF4[0] = 0;
  101.  
  102. 			BUF2[a] = '\0';
  103. 			USART_SendData(USART1,BUF2[5]); 
  104. 			while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  105. 		//printf("str=%s,strlen(str)=%d",str,strlen(str));
  106. #endif
  107. 		//USART_SendData(USART1,Res); 
  108. 	 
  109. 		//while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  110. 			
  111. 		//printf("jieshoudaole");
  112. #if 0
  113. 		 if((USART_RX_STA & 0x8000)== 0){
  114. 				if(USART_RX_STA&0x4000){
  115. 					if(Res!=0x0a)
  116. 						USART_RX_STA=0;
  117. 					else {
  118. 						USART_RX_STA|=0x8000;	
  119. 						//printf("jieshoudaole");
  120. 						//USART_SendData(USART1,Res);
  121. 					}	
  122. 						//USART_SendData(USART1,Res);
  123. 					
  124. 				}
  125. 				else{
  126. 					if(Res==0x0d)
  127. 						USART_RX_STA|=0x4000;
  128. 					else
  129. 						{
  130. 							USART_RX_BUF[USART_RX_STA&0X3FFF]=Res;
  131. 							
  132. 							if((USART_RX_BUF[USART_RX_STA&0X3FFF] == 0x6f)){
  133. 								 BUF2[0] = 0x6f;
  134. #if 0							
  135. 									while(BUF[a] != 0){
  136. 										USART_SendData(USART1,BUF[a]);
  137. 										while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  138. 										a++;
  139. 										
  140. 									}
  141. #endif									
  142. 							}
  143. 							if((USART_RX_BUF[(USART_RX_STA)&0X3FFF] == 0x6b )){
  144. 							
  145. 								BUF2[1] = 0x6b;
  146. 							
  147. 							}
  148. 							if(USART_RX_BUF[(USART_RX_STA)&0X3FFF] != 0){
  149. 									BUF4[0] = (char)USART_RX_BUF[(USART_RX_STA)&0X3FFF];
  150. 									strcat(str,BUF4);
  151. 								
  152. 									USART_SendData(USART1,BUF4[0]); 
  153. 									
  154. 									while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  155. 										printf("\r\n");
  156. 									BUF4[0] = 0;
  157. 									printf("str=%s,strlen(str)=%d\r\n",str,strlen(str));									
  158. 							}
  159. 							if(BUF2[0] == 0x6f && BUF2[1] == 0x6b){
  160. 										while(BUF[a] != 0){
  161. 										USART_SendData(USART1,BUF[a]);
  162. 										while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  163. 										a++;
  164. 										BUF2[0] = 0;
  165. 										BUF2[1] = 0;
  166. 							
  167. 							}
  168. 							if(strlen(str) >= 5){
  169. 								printf("oknihao");
  170. 								printf(str);
  171. 								sscanf(str,"%s:%d,%s:%d %s:%d,%s:%d %s:%d,%s:%d",s1,a,s2,n,s3,a2,s4,n2,s5,a3,s6,n3);
  172. 								
  173. 								printf(s1);
  174. 							}
  175. 								//USART_RX_STA++;
  176. 	
  177. 							}
  178. 							//USART_SendData(USART1,USART_RX_BUF[USART_RX_STA&0X3FFF] );  //send ok
  179. 							USART_RX_STA++;
  180. 							a++;
  181. 						
  182. 							if(USART_RX_STA>(USART_REC_LEN-1))
  183. 								USART_RX_STA=0;	 
  184. 							
  185. 						}		 				
  186. 				//USART_SendData(USART1,Res);   //send ok
  187. 				}	 
  188. 		 }
  189.  
  190.      //USART_SendData(USART1,Res);   
  191. 	 }
  192. #endif 
  193. }
  194.  
  195.  
  196.  #endif
  197. int Putchar(int c)                                             
  198. {    
  199.     if (c == '\n'){putchar('\r');}                                
  200.     USART_SendData(USART1,c);                                  
  201.     while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
  202.     return c;                                                       
  203. }   
  204. void UART_PutChar(USART_TypeDef* USARTx, uint8_t Data)  
  205. {  
  206.     USART_SendData(USARTx, Data);  
  207.     while(USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET){}  
  208. }  
  209. void UART_PutStr (USART_TypeDef* USARTx, uint8_t *str)    
  210. {   //str--;
  211.     while (0 != *str)    
  212.     {    
  213.         UART_PutChar(USARTx, *str++);    
  214.         //str++;      
  215.     }    
  216. }

 

下面是/*main.c*/

  1. #include "stm32f10x.h"
  2. #include "motor.h"
  3. #include "key.h"
  4. #include "sys.h"
  5. #include "delay.h"
  6. #include <stdio.h>
  7. //#include "usart.h"
  8. #include "blue.h"
  9. #include <string.h>
  10. int USART1_RX_STA=0;
  11. #define USART1_MAX_RECV_LEN 7
  12. char BUF2[8] ;
  13. char BUF3[5] = {0x0d,0x59,0x65,0x73};
  14. #define USART_REC_LEN  			200  
  15. u8  USART_RX_BUF[USART_REC_LEN]; 
  16. char BUF[5] = {0x59,0x65,0x73};
  17.  
  18. char BUF4[2];
  19.  
  20. char *str = BUF2;
  21.  
  22. u16 USART_RX_STA=0;  
  23.  
  24. int u =0;
  25. int a,a2,a3;
  26. int n,n2,n3;
  27. char *s1 = NULL,*s2 = NULL,*s3 = NULL;
  28. char *s4 = NULL,*s5 = NULL,*s6 = NULL;
  29. int IRQ_RX = 0;//·½Ïò±ê־λ
  30. int IRQ_RX_a = 0,IRQ_RX_b = 0,IRQ_RX_c = 0; //Èý¸ö·½Ïò±ê־λ
  31. char step_a = 0,step_b = 0,step_c = 0; 
  32. char step_a1 = 0x30,step_a2 = 0x30,step_b1 = 0x30, step_b2 = 0x30,step_c1 = 0x30,step_c2 = 0x30;
  33. int fputc(int ch,FILE *p)  //
  34. {
  35.  
  36. USART_SendData(USART1,(u8)ch);
  37.  
  38. while(USART_GetFlagStatus(USART1,USART_FLAG_TXE)==RESET);
  39.  
  40. return ch;
  41.  
  42. }
  43. int chartoint10(char a){
  44. 	int w; 
  45. 	switch(a){
  46. 		// 0-9
  47. 		case 0x30: w = 0;break;
  48. 		case 0x31: w = 1;break;
  49. 		case 0x32: w = 2;break;
  50. 		case 0x33: w = 3;break;
  51. 		case 0x34: w = 4;break;
  52. 		case 0x35: w = 5;break;
  53. 		case 0x36: w = 6;break;
  54. 		case 0x37: w = 7;break;
  55. 		case 0x38: w = 8;break;
  56. 		case 0x39: w = 9;break;
  57. 		
  58. 		
  59. 		
  60. 	
  61. 	
  62. 	
  63. 	}
  64. 	return w;
  65.  
  66.  
  67. }
  68. int chartoint_two(char a,char b){
  69. 	int w,v;//Ê®½øÖÆ
  70. 	int sum;
  71. 		switch(a){
  72. 		// 0-9
  73. 		case 0x30: w = 0;break;
  74. 		case 0x31: w = 1;break;
  75. 		case 0x32: w = 2;break;
  76. 		case 0x33: w = 3;break;
  77. 		case 0x34: w = 4;break;
  78. 		case 0x35: w = 5;break;
  79. 		case 0x36: w = 6;break;
  80. 		case 0x37: w = 7;break;
  81. 		case 0x38: w = 8;break;
  82. 		case 0x39: w = 9;break;
  83. 		
  84. 		
  85. 		
  86. 	
  87. 	
  88. 	
  89. 	}
  90. 		w = w * 10;
  91. 			switch(b){
  92. 		// 0-9
  93. 		case 0x30: v = 0;break;
  94. 		case 0x31: v = 1;break;
  95. 		case 0x32: v = 2;break;
  96. 		case 0x33: v = 3;break;
  97. 		case 0x34: v = 4;break;
  98. 		case 0x35: v = 5;break;
  99. 		case 0x36: v = 6;break;
  100. 		case 0x37: v = 7;break;
  101. 		case 0x38: v = 8;break;
  102. 		case 0x39: v = 9;break;
  103. 		
  104. 		
  105. 		
  106. 	
  107. 	
  108. 	
  109. 	}
  110. 			sum = w + v;
  111. 			printf("%d\r\n",sum);
  112. 			return sum ;
  113.  
  114. }
  115. void USART1_IRQHandler(void)
  116. {	 
  117. 		u8 a = 0;
  118. 		u8 Res;
  119. 		int len;
  120. 		//BUF4[1] = '\0';
  121. 	//&& BUF2[7] ==0x0D && BUF2[8] == 0x0A
  122. #if 1
  123. 		   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  124. 			 //USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  125. 		 Res= USART_ReceiveData(USART1); 
  126. 		  //printf("%c",Res);
  127. 			// if(USART1_RX_STA< USART1_MAX_RECV_LEN){
  128. 				 
  129. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  130. 						USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  131. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  132.  
  133. 			if( BUF2[0] == 0x59 && (BUF2[1] == 0x61 || BUF2[1] == 0x62 || BUF2[1] == 0x30 )&& (BUF2[2] >= 0x30 && BUF2[2] <= 0x39) \
  134. 		&& (BUF2[3] >= 0x30 && BUF2[3] <= 0x39)  && (BUF2[4] == 0x61 || BUF2[4] == 0x62 || BUF2[4] == 0x30) &&  (BUF2[5] >= 0x30 && BUF2[5] <= 0x39) \
  135. 			&&  (BUF2[6] >= 0x30 && BUF2[6] <= 0x39) &&  (BUF2[7] == 0x61 || BUF2[7] == 0x62 || BUF2[7] == 0x30)&& (BUF2[8] >= 0x30 && BUF2[8] <= 0x39) \
  136. 			&& (BUF2[9] >= 0x30 && BUF2[9] <= 0x39) && BUF2[10] == 0x0d && BUF2[11] == 0x0a){
  137. 							//printf("ok\r\n");
  138. 							step_a1 = BUF2[2];
  139. 							step_a2 = BUF2[3];
  140. 							step_b1 = BUF2[5];
  141. 							step_b2 = BUF2[6];
  142. 							step_c1 = BUF2[8];
  143. 							step_c2 = BUF2[9];
  144.  
  145. 							if(BUF2[1] == 0x61){
  146. 									IRQ_RX_a = 1;
  147. 							
  148. 							}
  149. 							else if( BUF2[1] == 0x62 ){
  150.  
  151. 								IRQ_RX_a = 2;		
  152. 							}
  153. 							else if(BUF2[1] == 0x30){
  154. 									IRQ_RX_a = 3;
  155. 							
  156. 							}
  157. 								if(BUF2[4] == 0x61){
  158. 								
  159. 									IRQ_RX_b  = 1;
  160. 								}
  161. 							  else	if(BUF2[4] == 0x62){
  162. 									IRQ_RX_b = 2;
  163. 								}
  164. 							  else	if(BUF2[4] == 0x30){
  165. 									IRQ_RX_b = 3;
  166. 								}								
  167. 								if(BUF2[7] == 0x61){
  168. 									IRQ_RX_c =1;
  169. 								}
  170. 								else if(BUF2[7] == 0x62){
  171. 									IRQ_RX_c = 2;
  172. 								
  173. 								}
  174. 								else if(BUF2[7] == 0x30){
  175. 									IRQ_RX_c = 3;
  176. 									
  177. 								}
  178. #if 0
  179. 								if(IRQ_RX_a == 0 && IRQ_RX_b == 0 && IRQ_RX_c == 0){
  180. 										USART1_RX_STA = 0;
  181. 										printf("test2\r\n");
  182. 								}
  183.  
  184. #endif
  185. 								//printf("test1\r\n");
  186. 								//printf("......");
  187. 								//memset(BUF2,0,sizeof(BUF2));
  188. 								
  189. 							
  190. 				}
  191.  
  192. //						}		
  193. //						else{
  194. 						
  195. 									//USART1_RX_STA|=1<<15;	
  196. //									USART1_RX_STA = 0;
  197. 									
  198. 	//					}
  199. 					}			
  200. 	
  201. 	
  202. #endif	
  203. 	
  204. 	
  205. 	
  206. //test6  OK
  207. #if 0
  208. 		   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  209. 			 //USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  210. 		 Res= USART_ReceiveData(USART1); 
  211. 		  //printf("%c",Res);
  212. 			// if(USART1_RX_STA< USART1_MAX_RECV_LEN){
  213. 				 
  214. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  215. 						USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  216. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  217.  
  218. 			if( BUF2[0] == 0x59 && (BUF2[1] == 0x61 || BUF2[1] == 0x62 )&& (BUF2[2] >= 0x30 && BUF2[2] <= 0x39) \
  219. 		 && (BUF2[3] == 0x61 || BUF2[3] == 0x62 ) &&  (BUF2[4] >= 0x30 && BUF2[4] <= 0x39) \
  220. 			&&  (BUF2[5] == 0x61 || BUF2[5] == 0x62 )&& (BUF2[6] >= 0x30 && BUF2[6] <= 0x39) \
  221. 			){
  222. 							step_a = BUF2[2];
  223. 							step_b = BUF2[4];
  224. 							step_c = BUF2[6];
  225.  
  226. 							if(BUF2[1] == 0x61){
  227. 									IRQ_RX_a = 1;
  228. 							
  229. 							}
  230. 							else if( BUF2[1] == 0x62 ){
  231.  
  232. 								IRQ_RX_a = 2;		
  233. 							}
  234. 								if(BUF2[3] == 0x61){
  235. 								
  236. 									IRQ_RX_b  = 1;
  237. 								}
  238. 							  else	if(BUF2[3] == 0x62){
  239. 									IRQ_RX_b = 2;
  240. 								}
  241. 								if(BUF2[5] == 0x61){
  242. 									IRQ_RX_c =1;
  243. 								}
  244. 								else if(BUF2[5] == 0x62){
  245. 									IRQ_RX_c = 2;
  246. 								
  247. 								}
  248. 								//memset(BUF2,0,sizeof(BUF2));
  249. 								
  250. 							
  251. 				}
  252.  
  253. //						}		
  254. //						else{
  255. 						
  256. 									//USART1_RX_STA|=1<<15;	
  257. //									USART1_RX_STA = 0;
  258. 									
  259. 	//					}
  260. 					}			
  261. 	
  262. 	
  263. #endif
  264. 	
  265. 	
  266. 	
  267. #if 0
  268. //test4
  269.    if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  270. 			 USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  271. 		 Res= USART_ReceiveData(USART1); 
  272. 		  //printf("%c",Res);
  273. 			 if(USART1_RX_STA< USART1_MAX_RECV_LEN){
  274. 				 
  275. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  276. 					 USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  277. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  278.  
  279.  
  280. 			 
  281. 		 //USART1->DR = (Res & (uint16_t)0x01FF);
  282.  
  283. // 0x2c ,  | 0x61 a   |   0x62 b |  0x63 c |  0x31  1 | 0x39 9 |   0x3d = | 0x6d m } 0x6e n | 0x6f o |
  284. 		
  285. 		if(BUF2[0] == 0x61 && BUF2[1] == 0x3D  && BUF2[USART1_RX_STA - 2] ==0x0D && BUF2[USART1_RX_STA - 1] == 0x0A){
  286. 							step_a = BUF2[6];
  287. 							step_b = BUF2[14];
  288. 							step_c = BUF2[22];
  289.  
  290. 							if(BUF2[2] == 0x31){
  291. 									IRQ_RX_a = 1;
  292. 							
  293. 							}
  294. 							else if( BUF2[2] == 0x32 ){
  295.  
  296. 								IRQ_RX_a = 2;		
  297. 							}
  298. 								if(BUF2[10] == 0x31){
  299. 								
  300. 									IRQ_RX_b  = 1;
  301. 								}
  302. 							  else	if(BUF2[10] == 0x32){
  303. 									IRQ_RX_b = 2;
  304. 								}
  305. 								if(BUF2[18] == 0x31){
  306. 									IRQ_RX_c =1;
  307. 								}
  308. 								else if(BUF2[18] == 0x32){
  309. 									IRQ_RX_c = 2;
  310. 								
  311. 								}
  312. 								//memset(BUF2,0,sizeof(BUF2));
  313.  
  314. 							
  315. 				}
  316.  
  317. 						}		
  318. 						else{
  319. 						
  320. 									//USART1_RX_STA|=1<<15;	
  321. 									USART1_RX_STA = 0;
  322. 									USART_ClearFlag(USART1, USART_FLAG_TC);
  323. 						}
  324. 					}				
  325.  
  326. 	
  327. 	#endif
  328. 	
  329. //test3 
  330. 	
  331. #if 0	
  332. 	   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  333. 			 //USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  334. 		 Res= USART_ReceiveData(USART1); 
  335. 		  //printf("%c",Res);
  336. 			 if(USART1_RX_STA< USART1_MAX_RECV_LEN){
  337. 				 
  338. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  339. 						USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  340. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  341.  
  342.  
  343. 			 
  344. 		 //USART1->DR = (Res & (uint16_t)0x01FF);
  345.  
  346. // 0x2c ,  | 0x61 a   |   0x62 b |  0x63 c |  0x31  1 | 0x39 9 |   0x3d = | 0x6d m } 0x6e n | 0x6f o |
  347. 		
  348. 		if(BUF2[0] == 0x61 && BUF2[1] == 0x3D  && (BUF2[2] == 0x31 || BUF2[2] == 0x32 ) \
  349. 			&& BUF2[3] ==0x2C  && BUF2[4] == 0x6D  \
  350. 			&& BUF2[5] == 0x3D && (BUF2[6] >= 0x30 && BUF2[6] <= 0x39) && BUF2[7] == 0x2C \
  351. 		 && BUF2[8] == 0x62 && BUF2[9] == 0x3D && (BUF2[10] == 0x31 || BUF2[10] == 0x32) && BUF2[11] == 0x2C \
  352. 			&& BUF2[12] == 0x6E && BUF2[13] == 0x3D && (BUF2[14] >= 0x30 && BUF2[14] <= 0x39) \
  353. 		 && BUF2[15] == 0x2C && BUF2[16] == 0x63 && BUF2[17] == 0x3D && (BUF2[18] == 0x31 || BUF2[18] == 0x32) \
  354. 			&& BUF2[19] == 0x2C && BUF2[20] == 0x6F && BUF2[21] == 0x3D && (BUF2[22] >= 0x30 && BUF2[22] <= 0x39) \
  355. 			&& BUF2[23] ==0x0D && BUF2[24] == 0x0A){
  356. 							step_a = BUF2[6];
  357. 							step_b = BUF2[14];
  358. 							step_c = BUF2[22];
  359.  
  360. 							if(BUF2[2] == 0x31){
  361. 									IRQ_RX_a = 1;
  362. 							
  363. 							}
  364. 							else if( BUF2[2] == 0x32 ){
  365.  
  366. 								IRQ_RX_a = 2;		
  367. 							}
  368. 								if(BUF2[10] == 0x31){
  369. 								
  370. 									IRQ_RX_b  = 1;
  371. 								}
  372. 							  else	if(BUF2[10] == 0x32){
  373. 									IRQ_RX_b = 2;
  374. 								}
  375. 								if(BUF2[18] == 0x31){
  376. 									IRQ_RX_c =1;
  377. 								}
  378. 								else if(BUF2[18] == 0x32){
  379. 									IRQ_RX_c = 2;
  380. 								
  381. 								}
  382.  
  383. 								//memset(BUF2,0,sizeof(BUF2));
  384.  
  385. 							
  386. 				}
  387.  
  388. 						}		
  389. 						else{
  390. 						
  391. 									//USART1_RX_STA|=1<<15;	
  392. 									USART1_RX_STA = 0;
  393. 									
  394. 						}
  395. 					}				
  396. #endif	
  397. 	
  398. 	
  399. 	
  400. 	
  401. //test2 word   OK ------------------------------------	
  402. 	//#define USART1_MAX_RECV_LEN  24
  403.  //char BUF2[23];				
  404. #if 0	
  405. 	   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  406. 			 //USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  407. 		 Res= USART_ReceiveData(USART1); 
  408. 		  //printf("%c",Res);
  409. 			 if(USART1_RX_STA<USART1_MAX_RECV_LEN){
  410. 				 
  411. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  412. 						USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  413. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  414.  
  415.  
  416. 			 
  417. 		 //USART1->DR = (Res & (uint16_t)0x01FF);
  418.  
  419.  
  420. 		
  421. 		if(BUF2[0] == 0x61 && BUF2[1] == 0x3d  && (BUF2[2] == 0x31 || BUF2[2] == 0x32 \
  422. 			&& (BUF2[3] >= 0x30 || BUF2[3] <= 0x39) && BUF2[4] == 0x2c && BUF2[5] ==  0x6d \
  423. 			&& BUF2[6] == 0x3d && (BUF2[7] >= 0x30 || BUF2[7] <= 0x39) && BUF2[8] == 0x2c \
  424. 		 && BUF2[9] == 0x62 && BUF2[10] == 0x3d && (BUF2[11] >= 0x30 || BUF2[11] <= 0x39) && BUF2[12] == 0x2c \
  425. 			&& BUF2[13] == 0x6e && BUF2[14] == 0x3d && (BUF2[15] >= 0x30 || BUF2[15] <= 0x39) \
  426. 		 && BUF2[16] == 0x2c && BUF2[17] == 0x63 && BUF2[18] == 0x3d && (BUF2[19] >= 0x30 || BUF2[19] <= 0x39)\
  427. 			&& BUF2[20] == 0x2c && BUF2[21] == 0x6f && BUF2[22] == 0x3d && (BUF2[23] >= 0x30 || BUF2[23] <= 0x39) )){
  428. 			  
  429. 							//printf("ok");
  430. 						//MOTOR_Step3_Micr(1);
  431. 							//MOTOR_Step3_Control(BUF2[2],1600,BUF2[3] );
  432. 							//MOTOR_Step3_Control(1,1600,125 );
  433. 							//MOTOR_Step3_Enable();
  434. 						//USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);
  435. 							if(BUF2[2] == 0x31){
  436. 									IRQ_RX = 1;
  437. 							
  438. 							}
  439. 			       
  440. 							//memset(BUF2,0,u);
  441. 						//USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
  442. 							//MOTOR_Step3_Control(0,1600,125); 
  443. 							//if(u > 4){
  444. 							//memset(BUF2,0,sizeof(BUF2));
  445. 							//u = 0;
  446. 						//	}
  447. 								if( BUF2[2] == 0x32 ){
  448. 								//MOTOR_Step3_Micr(1);
  449. 								//USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);
  450. 								IRQ_RX = 2;
  451. 								//MOTOR_Step3_Control(2,1600,125 );
  452. 							  //MOTOR_Step3_Enable();
  453.  
  454. 											
  455. 							}
  456. 				}
  457. 							//USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  458. 						}		
  459. 						else{
  460. 						
  461. 									//USART1_RX_STA|=1<<15;	
  462. 									USART1_RX_STA = 0;
  463. 						}
  464. 					}				
  465. #endif	
  466. 						
  467. #if 0					
  468. 				if((BUF2[2] == 0x31 || BUF2[2] == 0x32) && (BUF2[3] >= 0x30 && BUF2[3]  <= 0x39)){
  469.  
  470. 							//MOTOR_Step3_Micr(1);
  471. 							//MOTOR_Step3_Control(BUF2[2],1600,BUF2[3] );
  472. 							memset(BUF2,0,u);
  473. 							//MOTOR_Step3_Control(0,1600,chartoint10(BUF2[3]) * One_1);
  474. 							//MOTOR_Step3_Control(1,1600,625); 
  475. 							//MOTOR_Step3_Enable();
  476. 							//BUF2[3] =0; 
  477. 							//BUF2[2] = 0; 
  478. 							//BUF2[0] = 0;
  479. 							//BUF2[1] = 0;
  480. 							//u = 0;
  481. 							
  482. 						USART_ClearITPendingBit(USART1, USART_IT_RXNE);
  483. 					}
  484. #endif 
  485. 					
  486. //test1 word   OK ------------------------------------
  487. 	//#define USART1_MAX_RECV_LEN  4
  488.  //char BUF2[5];				
  489. 	
  490. #if 0
  491. 	   if(USART_GetITStatus(USART1,USART_IT_RXNE)!= RESET){
  492. 		 Res= USART_ReceiveData(USART1); 
  493. 		  //printf("%c",Res);
  494. 			 if(USART1_RX_STA<USART1_MAX_RECV_LEN){
  495. 				 
  496. 						BUF2[USART1_RX_STA++] = (Res & (uint16_t)0x01FF);
  497. 						USART1->DR = (uint16_t)BUF2[USART1_RX_STA-1];
  498. 						while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  499.  
  500. 		
  501. 		if(BUF2[0] == 0x61 && BUF2[1] == 0x3d  && (BUF2[2] == 0x31 || BUF2[2] == 0x32  )){
  502. 			  
  503.  
  504. 							if(BUF2[2] == 0x31){
  505. 									IRQ_RX = 1;
  506. 							
  507. 							}
  508. 			       
  509. 							if( BUF2[2] == 0x32 ){
  510.  
  511. 								IRQ_RX = 2;
  512.  
  513. 							}
  514. 						}
  515.  
  516. 						}		
  517. 						else{
  518. 					
  519. 									USART1_RX_STA = 0;
  520. 						}
  521. 						
  522. 					
  523. 					
  524. 					
  525. 					}				
  526. 					
  527. 					
  528. #endif
  529. 					
  530. 					
  531. 					
  532. 					
  533. 				
  534.  
  535. 			
  536. 			
  537.  
  538. 		 //USART1->DR = (0x2a & (uint16_t)0x01FF);
  539. 		 //while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET){}
  540. 	   
  541. 	 }	 
  542. 	
  543.  
  544. int main(void){
  545. 	//int ret=0;
  546. 	//	u16 led0pwmval=0;    
  547. 	//u8 dir=1;	
  548. 	int i = 0;
  549. 	u8 Res;
  550. 	u8 temp;
  551. 	MOTOR_Step_Init();
  552. 	MOTOR_Init(); 
  553. 	delay_init();
  554. 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);  
  555. 	BLUE_Init();
  556. 	//uart_init(115200);
  557. 	//DIR = TRUE;
  558. 	//½ÓÏß×óµç»ú
  559. 	//printf("\r\nhello");
  560. 	#if 0
  561. 	for(i = 0;i < 4;i++){
  562. 		
  563. 	USART_SendData(USART1,BUF3[i]);
  564. 	while(USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
  565. 	
  566. 	//BUF2[0] = 0;
  567. 	//BUF2[1] = 0;
  568. 	}	
  569. #endif
  570. /*
  571. 	for(i = 0;i < 1 ;i++){
  572. 		MOTOR_Step_Micr(1);
  573. 		MOTOR_Step3_Micr(1);
  574. 		//delay_ms(1000);
  576. 		
  578. 		MOTOR_Step_Control(1,1600,625); 
  579. 		MOTOR_Step3_Control(1,1600,1250);
  580. 		MOTOR_Step3_Control(0,1600,1250);
  581. 		MOTOR_Step3_Enable();
  582. 		delay_ms(1000);
  583. 	  MOTOR_Step_Control(0,1600,625); 
  584. 		MOTOR_Step_Control(1,1600,625);
  585. 		MOTOR_Step_Enable();
  586. 	}
  587. 	*/
  588.  
  589. 	while(1){
  590. 		//printf("**************************\n");
  591. 		//MOTOR_Step_Control(FALSE,3600,400);
  592. 		//MOTOR_Step_Control(0,1600,200);
  593. 		
  594. 		//delay_ms(1000);
  595. 		//delay_ms(1000);	
  596. //test4
  597. #if 1
  598. 			if(IRQ_RX_a == 1){
  599. 								
  600. 								MOTOR_Step_Micr(1);
  601. 								//MOTOR_Step_Control(1,1600,150);
  602. 								MOTOR_Step_Control(0,1600,chartoint_two(step_a1,step_a2) * One_1);
  603. 							  MOTOR_Step_Enable();
  604. 								IRQ_RX_a = 0;
  605. 								step_a1 = 0x30;
  606. 								step_a2 = 0x30;
  607. 								USART1_RX_STA = 0;
  608. 		}
  609. 		else if(IRQ_RX_a == 2){
  610. 									MOTOR_Step_Micr(1);
  611. 								//MOTOR_Step_Control(0,1600,150);
  612. 								MOTOR_Step_Control(1,1600,chartoint_two(step_a1,step_a2) * One_1 );
  613. 							  MOTOR_Step_Enable();		
  614. 								IRQ_RX_a= 0;
  615. 								step_a1 = 0x30;
  616. 								step_a2 = 0x30;
  617. 								USART1_RX_STA = 0;
  618. 		}
  619. 		else if(IRQ_RX_a == 3){
  620.  
  621. 			USART1_RX_STA = 0;
  622. 		
  623. 		}
  624.  
  625. 				if(IRQ_RX_b == 1){
  626. 								
  627. 								MOTOR_Step2_Micr(1);
  628. 								//MOTOR_Step2_Control(1,1600,150);
  629. 								MOTOR_Step2_Control(0,1600,chartoint_two(step_b1,step_b2) * One_1);
  630. 							  MOTOR_Step2_Enable();
  631. 								IRQ_RX_b = 0;
  632. 								step_b1 = 0x30;
  633. 								step_b2 = 0x30;
  634. 					
  635. 					USART1_RX_STA = 0;
  636. 		}
  637. 		else if(IRQ_RX_b == 2){
  638. 									MOTOR_Step2_Micr(1);
  639. 								//	MOTOR_Step2_Control(0,1600,150);
  640. 								MOTOR_Step2_Control(1,1600,chartoint_two(step_b1,step_b2) * One_1 );
  641. 							  MOTOR_Step2_Enable();		
  642. 								IRQ_RX_b= 0;
  643. 								step_b1 = 0x30;
  644. 								step_b2 = 0x30;
  645. 			USART1_RX_STA = 0;
  646. 		
  647. 		}
  648. 		else if(IRQ_RX_b == 3){
  649.  
  650. 		USART1_RX_STA = 0;
  651. 		}
  652. 			
  653.  
  654. 			if(IRQ_RX_c == 1){
  655. 								
  656. 								MOTOR_Step3_Micr(1);
  657. 								//MOTOR_Step3_Control(1,1600,150);
  658. 								MOTOR_Step3_Control(0,1600,chartoint_two(step_c1,step_c2) * One_1);
  659. 							  MOTOR_Step3_Enable();
  660. 								IRQ_RX_c = 0;
  661. 								step_c1 =0x30;
  662. 								step_c2 =0x30;
  663. 				USART1_RX_STA = 0;
  664. 								
  665. 		}
  666. 		else if(IRQ_RX_c == 2){
  667. 									MOTOR_Step3_Micr(1);
  668. 								//	MOTOR_Step3_Control(0,1600,150);
  669. 								MOTOR_Step3_Control(1,1600,chartoint_two(step_c1,step_c2) * One_1 );
  670. 							  MOTOR_Step3_Enable();		
  671. 								IRQ_RX_c= 0;
  672. 								step_c1 = 0x30;
  673. 								step_c2 = 0x30;
  674. 			USART1_RX_STA = 0;
  675. 			
  676. 		}	
  677. 		else if(IRQ_RX_c == 3){
  678.  
  679. 		USART1_RX_STA = 0;
  680. 		}
  681.  
  682. 					
  683.  
  684. #endif 		
  685. 		
  686. //test3  ok
  687. #if 0
  688. 			if(IRQ_RX_a == 1){
  689. 								
  690. 								MOTOR_Step_Micr(1);
  691. 								//MOTOR_Step_Control(1,1600,150);
  692. 								MOTOR_Step_Control(1,1600,chartoint10(step_a) * One_1);
  693. 							  MOTOR_Step_Enable();
  694. 								IRQ_RX_a = 0;
  695. 								step_a = 0;
  696. 								USART1_RX_STA = 0;
  697. 		}
  698. 		else if(IRQ_RX_a == 2){
  699. 									MOTOR_Step_Micr(1);
  700. 								//MOTOR_Step_Control(0,1600,150);
  701. 								MOTOR_Step_Control(0,1600,chartoint10(step_a) * One_1 );
  702. 							  MOTOR_Step_Enable();		
  703. 								IRQ_RX_a= 0;
  704. 								step_a = 0;
  705. 								USART1_RX_STA = 0;
  706. 		}
  707.  
  708. 				if(IRQ_RX_b == 1){
  709. 								
  710. 								MOTOR_Step2_Micr(1);
  711. 								//MOTOR_Step2_Control(1,1600,150);
  712. 								MOTOR_Step2_Control(1,1600,chartoint10(step_b) * One_1);
  713. 							  MOTOR_Step2_Enable();
  714. 								IRQ_RX_b = 0;
  715. 								step_b = 0;
  716. 					
  717. 					USART1_RX_STA = 0;
  718. 		}
  719. 		else if(IRQ_RX_b == 2){
  720. 									MOTOR_Step2_Micr(1);
  721. 								//	MOTOR_Step2_Control(0,1600,150);
  722. 								MOTOR_Step2_Control(0,1600,chartoint10(step_b) * One_1 );
  723. 							  MOTOR_Step2_Enable();		
  724. 								IRQ_RX_b= 0;
  725. 								step_b = 0;
  726. 			USART1_RX_STA = 0;
  727. 		
  728. 		}
  729.  
  730. 			if(IRQ_RX_c == 1){
  731. 								
  732. 								MOTOR_Step3_Micr(1);
  733. 								//MOTOR_Step3_Control(1,1600,150);
  734. 								MOTOR_Step3_Control(1,1600,chartoint10(step_c) * One_1);
  735. 							  MOTOR_Step3_Enable();
  736. 								IRQ_RX_c = 0;
  737. 								step_c = 0;
  738. 				USART1_RX_STA = 0;
  739. 								
  740. 		}
  741. 		else if(IRQ_RX_c == 2){
  742. 									MOTOR_Step3_Micr(1);
  743. 								//	MOTOR_Step3_Control(0,1600,150);
  744. 								MOTOR_Step3_Control(0,1600,chartoint10(step_c) * One_1 );
  745. 							  MOTOR_Step3_Enable();		
  746. 								IRQ_RX_c= 0;
  747. 								step_c = 0;
  748. 			USART1_RX_STA = 0;
  749. 			
  750. 		}		
  751. #endif 
  752. 		
  753. //test1 and 2 word OK		------------------------------------------------
  754. #if 0		
  755. 			if(IRQ_RX == 1){
  756. 								
  757. 								MOTOR_Step3_Micr(1);
  758. 								MOTOR_Step3_Control(1,1600,150);
  759. 								//MOTOR_Step3_Control(1,1600,chartoint10(BUF2[3]) * One_1);
  760. 							  MOTOR_Step3_Enable();
  761. 								IRQ_RX = 0;
  762. 		}
  763. 		else if(IRQ_RX == 2){
  764. 									MOTOR_Step3_Micr(1);
  765. 									MOTOR_Step3_Control(0,1600,150);
  766. 								//MOTOR_Step3_Control(0,1600,chartoint10(BUF2[3]) * One_1 );
  767. 							  MOTOR_Step3_Enable();		
  768. 								IRQ_RX = 0;
  769. 		
  770. 		
  771. 		}	
  772. #endif
  773. 		
  774.  
  775. 	}
  776. 	while(1);
  777. }

完结~,谢谢

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