增加读取寄存器状态和控制步进电机功能
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yankun
136
Core/Inc/machine.h
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136
Core/Inc/machine.h
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : machine.h
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* @brief : LK540 Machine Stepper Motor Control Header
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* 步进电机控制模块头文件
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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#ifndef __MACHINE_H
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#define __MACHINE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief 步进电机方向枚举
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*/
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typedef enum
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{
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MOTOR_DIR_CWW = 0, /* 向左移动 (Counter Clockwise) */
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MOTOR_DIR_CW = 1 /* 向右移动 (Clockwise) */
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} Motor_DirectionTypeDef;
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/* Exported constants --------------------------------------------------------*/
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/* 电机参数定义 */
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#define MOTOR_PULSE_PER_MM 5.33f /* 每毫米脉冲数 */
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#define MOTOR_ORIGIN_DISTANCE 215.0f /* 原点距离 (mm) */
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#define MOTOR_MATERIAL1_DISTANCE 192.4f /* 1#料距离 (mm) */
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#define MOTOR_MATERIAL2_DISTANCE 65.4f /* 2#料距离 (mm) */
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#define MOTOR_MATERIAL3_DISTANCE 61.6f /* 3#料距离 (mm) */
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#define MOTOR_MATERIAL4_DISTANCE 188.6f /* 4#料距离 (mm) */
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/* GPIO引脚定义 */
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#define MOTOR_ORIGIN_PIN_PORT GPIOB
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#define MOTOR_ORIGIN_PIN GPIO_PIN_3
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#define MOTOR_LIMIT_PIN_PORT GPIOG
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#define MOTOR_LIMIT_PIN GPIO_PIN_15
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#define MOTOR_DIR_PIN_PORT GPIOD
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#define MOTOR_DIR_PIN GPIO_PIN_7
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#define MOTOR_STEP_PIN_PORT GPIOG
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#define MOTOR_STEP_PIN GPIO_PIN_9
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions prototypes ---------------------------------------------*/
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/**
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* @brief 检测步进电机是否在原点
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* @retval 1: 在原点, 0: 不在原点
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*/
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uint8_t Machine_IsAtOrigin(void);
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/**
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* @brief 检测步进电机是否在临界点（限位传感器）
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* @retval 1: 在临界点, 0: 不在临界点
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*/
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uint8_t Machine_IsAtLimit(void);
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/**
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* @brief 设置步进电机方向
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* @param dir: 方向 (MOTOR_DIR_CWW: 向左, MOTOR_DIR_CW: 向右)
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* @retval None
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*/
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void Machine_SetDirection(Motor_DirectionTypeDef dir);
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/**
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* @brief 步进电机移动一步
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* @note 产生一个脉冲信号，电机移动一步（1/5.33 mm）
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* @retval None
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*/
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void Machine_Step(void);
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/**
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* @brief 步进电机移动到原点
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* @note 一直向左移动直到检测到原点传感器（PB3为0）
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* 如果检测到限位传感器（PG15为0），则停止并返回错误
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* @retval 0: 成功到达原点, 1: 到达限位点（错误）
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*/
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uint8_t Machine_MoveToOrigin(void);
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/**
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* @brief 步进电机从原点移动到中心点
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* @note 中心点就是原点位置（215.0mm处）
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* 如果已经在原点，则不需要移动
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* @retval 0: 成功, 1: 失败
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*/
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uint8_t Machine_MoveToCenter(void);
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/**
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* @brief 步进电机从中心点移动到1#料位置
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* @note 从原点（215.0mm）向左移动22.6mm到达1#料（192.4mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial1(void);
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/**
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* @brief 步进电机从中心点移动到2#料位置
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* @note 从原点（215.0mm）向左移动149.6mm到达2#料（65.4mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial2(void);
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/**
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* @brief 步进电机从中心点移动到3#料位置
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* @note 从原点（215.0mm）向右移动153.4mm到达3#料（61.6mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial3(void);
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/**
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* @brief 步进电机从中心点移动到4#料位置
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* @note 从原点（215.0mm）向右移动26.4mm到达4#料（188.6mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial4(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MACHINE_H */
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138
Core/Inc/main.h
138
Core/Inc/main.h
@@ -1,69 +1,69 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.h
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* @brief : Header for main.c file.
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* This file contains the common defines of the application.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __MAIN_H
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#define __MAIN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Exported types ------------------------------------------------------------*/
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/* USER CODE BEGIN ET */
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/* USER CODE END ET */
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/* Exported constants --------------------------------------------------------*/
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/* USER CODE BEGIN EC */
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/* USER CODE END EC */
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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void Error_Handler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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/* Private defines -----------------------------------------------------------*/
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MAIN_H */
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.h
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* @brief : Header for main.c file.
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* This file contains the common defines of the application.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __MAIN_H
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#define __MAIN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "machine.h"
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/* USER CODE END Includes */
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/* Exported types ------------------------------------------------------------*/
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/* USER CODE BEGIN ET */
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/* USER CODE END ET */
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/* Exported constants --------------------------------------------------------*/
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/* USER CODE BEGIN EC */
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/* USER CODE END EC */
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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void Error_Handler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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/* Private defines -----------------------------------------------------------*/
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MAIN_H */
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