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/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx.h"
#include "./usart/bsp_debug_usart.h"
#include "./stepper/bsp_stepper_S_speed.h"
#include "./stepper/bsp_stepper_init.h"
#include "./led/bsp_led.h"
#include "./key/bsp_key.h"
/**
* @brief 主函數(shù)
* @param 無
* @retval 無
*/
int main(void)
{
HAL_Init();
HAL_InitTick(0);
/* 初始化系統(tǒng)時鐘為168MHz */
SystemClock_Config();
/* 按鍵初始化 */
Key_GPIO_Config();
/*初始化USART 配置模式為 115200 8-N-1，中斷接收*/
DEBUG_USART_Config();
printf("歡迎使用野火電機開發(fā)板步進電機S形加減速定長移動——單軸例程\r\n");
printf("按下按鍵1 按鍵2 可開始加減速演示\r\n");
/*步進電機初始化*/
stepper_Init();
while (1)
{
if(Key_Scan(KEY1_GPIO_PORT, KEY1_PIN) == KEY_ON)
{
for(uint8_t i = 0; i < 6; i++)
{
Stepper_Move_S(60, 1784, 0.1f, 5 * SPR);
while(Stepper.status != STOP);
HAL_Delay(10);
Stepper_Move_S(60, 1784, 0.1f, -5 * SPR);
while(Stepper.status != STOP);
HAL_Delay(10);
}
}
if(Key_Scan(KEY2_GPIO_PORT, KEY2_PIN) == KEY_ON)
{
Stepper_Move_S(60, 1500, 0.28f, 30 * SPR);
}
}
}
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 168000000
* HCLK(Hz) = 168000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = 8000000
* PLL_M = 25
* PLL_N = 336
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__HAL_RCC_PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/* Enable HSE Oscillator and activate PLL with HSE as source */
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 = 25;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
while(1) {};
}
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | 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)
{
while(1) {};
}
/* STM32F405x/407x/415x/417x Revision Z devices: prefetch is supported */
if (HAL_GetREVID() == 0x1001)
{
/* Enable the Flash prefetch */
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
}
}

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