使用 powerSTEP01 和 STM32L073RZ 实现平稳且精准的步进电机控制

/*!
 * @file main.c
 * @brief Power Step 2 Click example
 *
 * # Description
 * This example demonstrates the use of the Power Step 2 Click board for precise control of stepper motors. 
 * The application showcases various step modes, directions, and speeds while demonstrating the board's 
 * ability to control motors using different operation modes.
 *
 * The demo application is composed of two sections:
 *
 * ## Application Init
 * Initializes the logger and configures the Power Step 2 Click board. The default settings are applied 
 * to prepare the device for motor control operations.
 *
 * ## Application Task
 * Demonstrates motor control with various configurations. The example alternates between multiple step 
 * modes (1/8, 1/16, 1/32, 1/4), directions (CW, CCW), speeds, and control modes (voltage, current). 
 * Each configuration is applied sequentially, with the motor driven through specified steps before switching 
 * to the next configuration.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "powerstep2.h"

static powerstep2_t powerstep2;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    powerstep2_cfg_t powerstep2_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    powerstep2_cfg_setup( &powerstep2_cfg );
    POWERSTEP2_MAP_MIKROBUS( powerstep2_cfg, MIKROBUS_1 );
    if ( SPI_MASTER_ERROR == powerstep2_init( &powerstep2, &powerstep2_cfg ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( POWERSTEP2_ERROR == powerstep2_default_cfg ( &powerstep2 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    log_printf ( &logger, " Step mode: 1/8\r\n" );
    log_printf ( &logger, " Direction: CW\r\n" );
    log_printf ( &logger, " Steps: 16000\r\n" );
    log_printf ( &logger, " Speed: [0, 500]\r\n" );
    log_printf ( &logger, " Acc-Dec: [200, 100]\r\n" );
    log_printf ( &logger, " Control mode: Command voltage\r\n\n" );
    powerstep2_clear_status ( &powerstep2 );
    powerstep2_set_control_mode ( &powerstep2, POWERSTEP2_CONTROL_MODE_VOLTAGE );
    powerstep2_set_step_mode ( &powerstep2, POWERSTEP2_STEP_MODE_1_OVER_8 );
    powerstep2_set_speed ( &powerstep2, 0, 500 );
    powerstep2_set_acc_dec ( &powerstep2, 200, 100 );
    powerstep2_move ( &powerstep2, POWERSTEP2_DIR_CW, 16000 );
    powerstep2_soft_hiz ( &powerstep2 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Step mode: 1/16\r\n" );
    log_printf ( &logger, " Direction: CCW\r\n" );
    log_printf ( &logger, " Steps: 32000\r\n" );
    log_printf ( &logger, " Speed: [350, 600]\r\n" );
    log_printf ( &logger, " Acc-Dec: [100, 200]\r\n" );
    log_printf ( &logger, " Control mode: Command current\r\n\n" );
    powerstep2_clear_status ( &powerstep2 );
    powerstep2_set_control_mode ( &powerstep2, POWERSTEP2_CONTROL_MODE_CURRENT );
    powerstep2_set_step_mode ( &powerstep2, POWERSTEP2_STEP_MODE_1_OVER_16 );
    powerstep2_set_speed ( &powerstep2, 350, 600 );
    powerstep2_set_acc_dec ( &powerstep2, 100, 200 );
    powerstep2_move ( &powerstep2, POWERSTEP2_DIR_CCW, 32000 );
    powerstep2_soft_hiz ( &powerstep2 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Step mode: 1/32\r\n" );
    log_printf ( &logger, " Direction: CW\r\n" );
    log_printf ( &logger, " Steps: 16000\r\n" );
    log_printf ( &logger, " Speed: Very fast\r\n" );
    log_printf ( &logger, " Control mode: Step-clock voltage\r\n\n" );
    powerstep2_clear_status ( &powerstep2 );
    powerstep2_set_control_mode ( &powerstep2, POWERSTEP2_CONTROL_MODE_VOLTAGE );
    powerstep2_set_step_mode ( &powerstep2, POWERSTEP2_STEP_MODE_1_OVER_32 );
    powerstep2_step_clock ( &powerstep2, POWERSTEP2_DIR_CW );
    powerstep2_drive_motor ( &powerstep2, 16000, POWERSTEP2_SPEED_VERY_FAST );
    powerstep2_soft_hiz ( &powerstep2 );
    Delay_ms ( 1000 );

    log_printf ( &logger, " Step mode: 1/4\r\n" );
    log_printf ( &logger, " Direction: CCW\r\n" );
    log_printf ( &logger, " Steps: 2000\r\n" );
    log_printf ( &logger, " Speed: Medium\r\n" );
    log_printf ( &logger, " Control mode: Step-clock current\r\n\n" );
    powerstep2_clear_status ( &powerstep2 );
    powerstep2_set_control_mode ( &powerstep2, POWERSTEP2_CONTROL_MODE_CURRENT );
    powerstep2_set_step_mode ( &powerstep2, POWERSTEP2_STEP_MODE_QUARTER_STEP );
    powerstep2_step_clock ( &powerstep2, POWERSTEP2_DIR_CCW );
    powerstep2_drive_motor ( &powerstep2, 2000, POWERSTEP2_SPEED_MEDIUM );
    powerstep2_soft_hiz ( &powerstep2 );
    Delay_ms ( 1000 );
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

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