STM32F407 步进电机S形曲线加减速

smallerlang

已于 2022-12-01 22:30:42 修改

阅读量1.3k

点赞数 3

分类专栏： STM32 电机文章标签： stm32 单片机 arm

于 2022-08-17 20:52:36 首次发布

本文链接：https://blog.youkuaiyun.com/smallerlang/article/details/126393971

版权

STM32 同时被 2 个专栏收录

149 篇文章

订阅专栏

电机

31 篇文章

订阅专栏

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_delay.h"
#include "bsp_key.h"
#include "bsp_motor.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim8;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM8_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM8_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	
	delay_init(168);
	
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_RESET);		/* 设置方向 */
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);	/* 使能ENABLE */
	
	g_motor_state = MOTOR_STOP;
	
	uint32_t tick_start_run;	/* 开始运行时刻 */
	uint32_t tick;
	uint8_t buffer_usart_send[16];
	uint8_t i;
	uint16_t sum;
	uint32_t speed_step_per_second;
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		if(KEY1_StateRead()==KEY_DOWN)
    {
			motor_s_shape_acceleration_init(300, 100, 10);
			tick_start_run = HAL_GetTick();
    }
		if (KEY2_StateRead() == KEY_DOWN)
		{
			motor_s_shape_acceleration_init(-300, 100, 10);
			tick_start_run = HAL_GetTick();
		}
		
		tick = HAL_GetTick();
		
		if (MOTOR_STOP != g_motor_state)
		{
			speed_step_per_second = TIM_CLK / g_step_timer_pulse_num;
			
			buffer_usart_send[0] = 0x01;	/* 帧头 */
			buffer_usart_send[1] = 0x67;	/* 帧头 */	
			buffer_usart_send[2] = 0x42;	/* 帧头 */
			buffer_usart_send[3] = 0xc0;	/* 帧头 */
			buffer_usart_send[4] = (tick - tick_start_run) >> 8;		/* 时刻 */
			buffer_usart_send[5] = (tick - tick_start_run) & 0xff;	/* 时刻 */
			buffer_usart_send[6] = speed_step_per_second >> 24;		/* 电机运行一步需要定时器的脉冲数 */
			buffer_usart_send[7] = speed_step_per_second >> 16;		/* 电机运行一步需要定时器的脉冲数 */
			buffer_usart_send[8] = speed_step_per_second >> 8;			/* 电机运行一步需要定时器的脉冲数 */
			buffer_usart_send[9] = speed_step_per_second & 0xff;		/* 电机运行一步需要定时器的脉冲数 */
			buffer_usart_send[10] = g_steps_done >> 24;							/* 电机已经运行的步数 */
			buffer_usart_send[11] = g_steps_done >> 16;							/* 电机已经运行的步数 */
			buffer_usart_send[12] = g_steps_done >> 8;							/* 电机已经运行的步数 */
			buffer_usart_send[13] = g_steps_done & 0xff;						/* 电机已经运行的步数 */
			
			sum = 0;
			for (i = 4; i < 14; i++)
			{
				sum += buffer_usart_send[i];
			}
			buffer_usart_send[14] = sum >> 8;
			buffer_usart_send[15] = sum & 0xff;
			
			HAL_UART_Transmit(&huart1, buffer_usart_send, 16, 1000);
			
			//delay_ms(10);
		}
		else 
		{
			tick_start_run = HAL_GetTick();
		}
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief TIM8 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM8_Init(void)
{

  /* USER CODE BEGIN TIM8_Init 0 */

  /* USER CODE END TIM8_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};
  TIM_OC_InitTypeDef sConfigOC = {0};
  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};

  /* USER CODE BEGIN TIM8_Init 1 */

  /* USER CODE END TIM8_Init 1 */
  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 20;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 65535;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_TIM_OnePulse_Init(&htim8, TIM_OPMODE_SINGLE) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 65535;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
  {
    Error_Handler();
  }
  __HAL_TIM_DISABLE_OCxPRELOAD(&htim8, TIM_CHANNEL_1);
  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
  sBreakDeadTimeConfig.DeadTime = 0;
  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM8_Init 2 */
	
	__HAL_TIM_ENABLE_IT(&htim8, TIM_IT_UPDATE);

  /* USER CODE END TIM8_Init 2 */
  HAL_TIM_MspPostInit(&htim8);

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOI_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3|GPIO_PIN_7, GPIO_PIN_RESET);

  /*Configure GPIO pins : PE2 PE3 PE4 PE0
                           PE1 */
  GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_0
                          |GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pins : PD3 PD7 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

#ifndef BSP_MOTOR_H
#define BSP_MOTOR_H

#include "main.h"

#ifdef __cplusplus
extern "C" {
#endif

#define MOTOR_LEAD	40									/* 电机模组导程，单位0.1mm */
#define STEP_PER_CIRCLE	200							/* 细分为1时，电机走一圈需要的步数 */
#define MOTOR_DRIVER_SUBDIVISION	32		/*电机驱动器细分*/
#define TIM_CLK	8000000									/* 定时器时钟频率 */
#define TIM_ARR_MAX	65535

#define MOTOR_S_SHAPE_ACCELERATION_STEP_MAX	20480		/* 电机S曲线加速最长的步数 */


#define MOTOR_DIR_FORWARD \
  do { \
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_RESET); \
  } while(0)
	
#define MOTOR_DIR_REVERSE \
  do { \
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, GPIO_PIN_SET); \
  } while(0)
	
#define MOTOR_ENABLE \
  do { \
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET); \
  } while(0)
	
#define MOTOR_DISABLE \
  do { \
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); \
  } while(0)

typedef enum
{
	MOTOR_STOP = 0,
	MOTOR_ACCELERATE,
	MOTOR_UNIFORM,
	MOTOR_DECELERATE
}motor_run_state_typedef;

typedef enum
{
	MOTOR_FORWARD = 0,
	MOTOR_REVERSE
}motor_dir_typedef;

extern motor_run_state_typedef g_motor_state;
extern uint32_t g_steps_done;
extern uint32_t g_steps_total;
extern uint32_t g_step_timer_pulse_num;
extern uint32_t g_step_timer_pulse_num_min;
extern uint16_t motor_s_shape_acceleration_tim_arr[MOTOR_S_SHAPE_ACCELERATION_STEP_MAX];
extern uint32_t g_motor_s_shape_acceleration_step;	

uint8_t motor_s_shape_acceleration_init(int32_t distance, uint32_t speed, uint8_t accel_time);

#ifdef __cplusplus
}
#endif

#endif /* BSP_MOTOR_H */

#include "bsp_motor.h"
#include <math.h>

/**
* 电机运行状态
*	在main函数中会引用到
*	每当电机为运行状态时下位机通过串口将电机状态发送给上位机
*/
motor_run_state_typedef g_motor_state;

motor_dir_typedef motor_dir;	/* 电机运行方向 */

uint32_t g_steps_total;	/* 电机总共需要运行的步数 */
uint32_t g_steps_done;	/* 电机已经运行的步数 */
uint32_t g_step_timer_pulse_num;	/* 电机运行一步需要定时器的脉冲数 */
uint32_t g_step_timer_pulse_num_min;	/* 电机运行一步需要定时器的脉冲数的最小值 */

uint16_t motor_s_shape_acceleration_tim_arr[MOTOR_S_SHAPE_ACCELERATION_STEP_MAX];

uint32_t g_motor_s_shape_acceleration_step;	/* 电机总共需要运行的步数 */

/**
* @brief 电机s曲线加速运行初始化
* @param	distance：总共运行的距离，单位：0.1mm，有符号数，正表示方向向前，负数表示方向向后
* @param	speed：匀速运行的速度，单位：0.1mm/s
* @param	accel_time：加速时间，单位：0.1s
* @note: 
* @retval 0：执行成功
*/
uint8_t motor_s_shape_acceleration_init(int32_t distance, uint32_t speed, uint8_t accel_time)
{
	#define INCACCEL(Vo,V,T)                      ( ( 2 * ((V) - (Vo)) ) / pow((T),2) )    /* 加加速度:加速度增加量   V - V0 = 1/2 * J * t^2 */
	#define INCACCELSTEP(J,T)                     ( ( (J) * pow( (T) , 3 ) ) / 6 )         /* 加加速段的位移量(步数)  S = 1/6 * J * t^3 */
	
	uint8_t cnt = 0;
	uint32_t speed_step_per_sec;								/* speed对应的速度，单位：1s多少步 */
	double jerk_time; 													/* 加加速时间，单位0.1s */
	uint32_t intermediate_speed_step_per_sec;		/* 中间速度，单位：1s多少步 */
	double jerk = 0;             								/* 加加速度 */
	uint32_t jerk_step;       									/* 加加速所需的步数 */
	uint32_t deceleration_step;       					/* 减加速所需的步数 */
	uint32_t acceleration_step;          				/* 加速段的步数，单位：步 */
	double sum_time = 0;             						/* 时间累加量 */
	double time_interval_cube = 0;           		/* 时间间隔的立方 */
	double time_interval = 0;               		/* 时间间隔 dt */
	double Vi = 0;															/* 时间点t的速度 */
	uint32_t	time_arr;
	uint32_t i = 0;
	
	if (distance > 0)
	{
		motor_dir = MOTOR_FORWARD;
		MOTOR_DIR_FORWARD;
	}
	else if (distance < 0)
	{
		motor_dir = MOTOR_REVERSE;
		MOTOR_DIR_REVERSE;
		distance = 0 - distance;
	}
	else	/* distance == 0,参数有问题 */
	{
		return 1;
	}
	
	if(speed == 0)	/* 不允许速度为0 */
	{
		return 1;
	}
	
	if(accel_time == 0)	/* 不允许加速时间为0 */
	{
		return 1;
	}
	
	g_steps_total = distance * STEP_PER_CIRCLE * MOTOR_DRIVER_SUBDIVISION / MOTOR_LEAD;	/* 将距离转换为步数 */ 
	g_step_timer_pulse_num_min = TIM_CLK * MOTOR_LEAD * 1.0 / speed / STEP_PER_CIRCLE / MOTOR_DRIVER_SUBDIVISION;	/* 将速度转换为定时器的ARR值 */
	
	cnt = 0;
	while(1)
	{
		speed_step_per_sec = speed * 1.0 * STEP_PER_CIRCLE * MOTOR_DRIVER_SUBDIVISION / MOTOR_LEAD;
		jerk_time = accel_time * 1.0 / 10 / 2;																								/* 将时间单位由0.1s转换为1s */
		intermediate_speed_step_per_sec = speed_step_per_sec / 2;
		jerk = fabs(INCACCEL(0, intermediate_speed_step_per_sec, jerk_time));                	/* 根据中点速度计算加加速度 */
		jerk_step = (uint32_t)INCACCELSTEP(jerk, jerk_time);            											/* 加加速需要的步数 */
		deceleration_step = (uint32_t)(speed_step_per_sec * jerk_time - jerk_step);   				/* 减加速需要的步数 */
		acceleration_step = deceleration_step + jerk_step;              											/* 加速需要的步数 */
		if (acceleration_step % 2 != 0)     																									/* 由于浮点型数据转换成整形数据带来了误差,所以这里加1 */
		{
			acceleration_step += 1;
		}
		
		if(acceleration_step * 2 > g_steps_total) 	/* 如果加减速走的步数超过了全程步数，则按比例将速度降下来 */
		{
			speed_step_per_sec = g_steps_total * 1.0 / acceleration_step / 2 * speed_step_per_sec;
			
			if(0 == speed_step_per_sec)
			{
				return 1;
			}
			else
			{
				intermediate_speed_step_per_sec = speed_step_per_sec / 2;                			/* 计算中点速度 */
				jerk = fabs(INCACCEL(0, intermediate_speed_step_per_sec, jerk_time));         /* 根据中点速度计算加加速度 */
				jerk_step = (uint32_t)INCACCELSTEP(jerk, jerk_time);            							/* 加加速需要的步数 */
				deceleration_step = (uint32_t)(speed_step_per_sec * jerk_time - jerk_step);   /* 减加速需要的步数 */

				acceleration_step = deceleration_step + jerk_step;              							/* 加速需要的步数 */
				if (acceleration_step % 2 != 0)     	/* 由于浮点型数据转换成整形数据带来了误差,所以这里加1 */
				{
					acceleration_step += 1;
				}
			}
		}
		
		if(++cnt >= 2)
		{
			return 1; 
		}
		else 
		{
			if(acceleration_step > MOTOR_S_SHAPE_ACCELERATION_STEP_MAX)	/* 如果加速曲线的步数超过缓存的最大值，则将速度按比例降下来 */
			{
				speed = MOTOR_S_SHAPE_ACCELERATION_STEP_MAX * 1.0 / acceleration_step * speed;
			}
			else
			{
				break;
			}
		}
	}
	
	sum_time = 0;
	time_interval_cube = 6.0f * 1.0f / jerk;                 	/* 根据位移和时间的公式S = 1/6 * J * Ti^3 第1步的时间:Ti^3 = 6 * 1 / Jerk ; */
	time_interval = pow(time_interval_cube, (1 / 3.0f));
	sum_time += time_interval;
	Vi = 0.5f * jerk * pow(sum_time, 2);											/* 第一步的速度 */
	time_arr = TIM_CLK * 1.0 / Vi;
	if(time_arr > TIM_ARR_MAX) time_arr = TIM_ARR_MAX;
	else if(time_arr < 10) time_arr = 10;											/* 防止速度太快，stm32反应不过来 */

	motor_s_shape_acceleration_tim_arr[0] = time_arr;
		
	for (i = 1; i < acceleration_step; i++)
	{
		/* 步进电机的速度就是定时器脉冲输出频率,可以计算出每一步的时间 */
		/* 得到第i-1步的时间 */
		time_interval = 1.0f / Vi;             						/* 电机每走一步的时间 Ti = 1 / Vn-1 */
		/* 加加速段速度计算 */
		if (i < jerk_step)
		{
			sum_time += time_interval;											/* 从0开始到i的时间累积 */
			Vi = 0.5f * jerk * pow(sum_time, 2);            /* 速度的变化量: dV = 1/2 * Jerk * Ti^2; */
			time_arr = TIM_CLK * 1.0 / Vi;      						/* 得到加加速段每一步对应的速度 */
			if(time_arr > TIM_ARR_MAX) time_arr = TIM_ARR_MAX;
			else if(time_arr < 10) time_arr = 10;
			motor_s_shape_acceleration_tim_arr[i] = time_arr;
			
			/* 当最后一步的时候,时间并不严格等于Time,所以这里要稍作处理,作为减加速段的时间 */
			if (i == jerk_step - 1)
				sum_time = fabs(sum_time - accel_time * 1.0 / 10);
		}
		/* 减加速段速度计算 */
		else
		{
			sum_time += time_interval;                                /* 时间累计 */
			Vi = 0.5f * jerk * pow(fabs(accel_time * 1.0 / 10 - sum_time), 2);  	/* dV = 1/2 * Jerk *(T-t)^2; */
			Vi = speed_step_per_sec - Vi;
			time_arr = TIM_CLK * 1.0 / Vi;      											/* 得到加加速段每一步对应的速度 */
			if(time_arr > TIM_ARR_MAX) time_arr = TIM_ARR_MAX;
			else if(time_arr < 10) time_arr = 10;
			motor_s_shape_acceleration_tim_arr[i] = time_arr;
		}
	}
	
	if (acceleration_step * 2 > g_steps_total)	/* 如果加减速的步数超过全程步数，则报错 */
	{
		return 1;
	}
	
	g_motor_s_shape_acceleration_step = acceleration_step;
	g_step_timer_pulse_num = motor_s_shape_acceleration_tim_arr[0];
	
	g_motor_state = MOTOR_ACCELERATE;
	g_steps_done = 0;
	__HAL_TIM_CLEAR_IT(&htim8, TIM_IT_UPDATE); 
	TIM8->CCR1 = g_step_timer_pulse_num >> 1;
	TIM8->ARR = g_step_timer_pulse_num;
	HAL_TIM_PWM_Start_IT(&htim8, TIM_CHANNEL_1);
	
	return 0;
}

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_motor.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim8;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */

/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M4 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */

  /* USER CODE END NonMaskableInt_IRQn 0 */
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
  while (1)
  {
  }
  /* USER CODE END NonMaskableInt_IRQn 1 */
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */

  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */

  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

/**
  * @brief This function handles Pre-fetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* USER CODE BEGIN BusFault_IRQn 0 */

  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* USER CODE BEGIN UsageFault_IRQn 0 */

  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

/**
  * @brief This function handles System service call via SWI instruction.
  */
void SVC_Handler(void)
{
  /* USER CODE BEGIN SVCall_IRQn 0 */

  /* USER CODE END SVCall_IRQn 0 */
  /* USER CODE BEGIN SVCall_IRQn 1 */

  /* USER CODE END SVCall_IRQn 1 */
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/**
  * @brief This function handles Pendable request for system service.
  */
void PendSV_Handler(void)
{
  /* USER CODE BEGIN PendSV_IRQn 0 */

  /* USER CODE END PendSV_IRQn 0 */
  /* USER CODE BEGIN PendSV_IRQn 1 */

  /* USER CODE END PendSV_IRQn 1 */
}

/**
  * @brief This function handles System tick timer.
  */
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  /* USER CODE BEGIN SysTick_IRQn 1 */

  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */

  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles TIM8 update interrupt and TIM13 global interrupt.
  */
void TIM8_UP_TIM13_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 0 */

  /* USER CODE END TIM8_UP_TIM13_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 1 */

  /* USER CODE END TIM8_UP_TIM13_IRQn 1 */
}

/* USER CODE BEGIN 1 */

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	HAL_TIM_PWM_Stop_IT(&htim8, TIM_CHANNEL_1);
	
	g_steps_done++;
	
	if (g_steps_done >= g_steps_total)	/* 运行完成 */
	{
		g_motor_state = MOTOR_STOP;
		return;
	}
	
	if (g_steps_done < g_motor_s_shape_acceleration_step)	/* 加速阶段 */
	{
		g_step_timer_pulse_num = motor_s_shape_acceleration_tim_arr[g_steps_done];
	}
	else if (g_steps_total - g_steps_done <= g_motor_s_shape_acceleration_step)	/* 减速阶段 */
	{
		g_step_timer_pulse_num = motor_s_shape_acceleration_tim_arr[g_steps_total - g_steps_done - 1];
	}
	else	/* 匀速阶段 */
	{
		g_step_timer_pulse_num = g_step_timer_pulse_num_min;
	}
	
	TIM8->CCR1 = g_step_timer_pulse_num >> 1;
	TIM8->ARR = g_step_timer_pulse_num;
	HAL_TIM_PWM_Start_IT(&htim8, TIM_CHANNEL_1);
}

/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

总结：
1、
在这里插入图片描述
2、修改为motor_s_shape_acceleration_init(30, 100, 10);