/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN 0 */
#define DIR_PIN GPIO_PIN_1
#define DIR_PORT GPIOA
#define STEP_PIN GPIO_PIN_2
#define STEP_PORT GPIOA
int stepDelay = 1000; // 1000us more delay means less speed
void microDelay (uint16_t delay)
{
__HAL_TIM_SET_COUNTER(&htim1, 0);
while (__HAL_TIM_GET_COUNTER(&htim1) < delay);
}
void motorMoveTo(double distance, int direction, int SMAX);
/* USER CODE END 0 */
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_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
motorMoveTo(50.50,1,3400);
HAL_Delay(1000);
motorMoveTo(50.50,0,3400);
HAL_Delay(1000);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/* USER CODE BEGIN 4 */
void motorMoveTo(double distance, int direction, int SMAX) //(distância, direção,
tempo da largura do pulso em microssegundos (metade do tempo em nível alto, metade
em nível baixo))
{
int ACC = 15;
long SMIN = 20000;
int SPM = 800;
// digitalWrite(DIR, direction);
if (direction == 0)
{
HAL_GPIO_WritePin(DIR_PORT, DIR_PIN, GPIO_PIN_SET);
}
else
{
HAL_GPIO_WritePin(DIR_PORT, DIR_PIN, GPIO_PIN_RESET);
}
long accSpeed = SMIN;
long steps = distance*SPM;
long stepsToStop;
int flag = 1;
for(long i = 0; i < steps; i++){
if(i < (steps)/2){
if(accSpeed>SMAX){
if(direction == 0 || direction == 1){
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(accSpeed/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(accSpeed/2);
}
else{
microDelay(accSpeed);
}
accSpeed = accSpeed - ACC;
}
else
{
if(flag==1){
stepsToStop = i;
flag = 0;
}
if(direction == 0 || direction == 1){
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(SMAX/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(SMAX/2);
}
else{
microDelay(SMAX);
}
}
}
else
{
if(i < steps-stepsToStop){
if(direction == 0 || direction == 1){
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(SMAX/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(SMAX/2);
}
else{
microDelay(SMAX);
}
}
else
{
if(direction == 0 || direction == 1){
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_SET);
microDelay(accSpeed/2);
HAL_GPIO_WritePin(STEP_PORT, STEP_PIN, GPIO_PIN_RESET);
microDelay(accSpeed/2);
}
else{
microDelay(accSpeed);
}
accSpeed = accSpeed + ACC;
}
}
}
}
/* USER CODE END 4 */
