{"id":84272,"date":"2026-07-26T10:41:13","date_gmt":"2026-07-26T02:41:13","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/84272.html"},"modified":"2026-07-26T10:41:13","modified_gmt":"2026-07-26T02:41:13","slug":"%e7%94%b5%e8%b5%9b%e5%a4%87%e8%b5%9b%e5%bc%80%e6%ba%90%ef%bc%9astm32-%e5%8f%8c%e6%ad%a5%e8%bf%9b%e8%a7%86%e8%a7%89%e4%ba%91%e5%8f%b0-%e6%97%a0%e5%88%b7%e7%94%b5%e6%9c%ba%e4%b8%b2%e5%8f%a3%e9%a9%b1","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/84272.html","title":{"rendered":"# \u7535\u8d5b\u5907\u8d5b\u5f00\u6e90\uff1aSTM32 \u53cc\u6b65\u8fdb\u89c6\u89c9\u4e91\u53f0 + \u65e0\u5237\u7535\u673a\u4e32\u53e3\u9a71\u52a8\uff08\u9644 GitHub\uff09"},"content":{"rendered":"<h2>\u7535\u8d5b\u5907\u8d5b\u5f00\u6e90&#xff1a;STM32 \u53cc\u6b65\u8fdb\u89c6\u89c9\u4e91\u53f0 &#043; \u65e0\u5237\u7535\u673a\u4e32\u53e3\u9a71\u52a8&#xff08;\u9644 GitHub&#xff09;<\/h2>\n<p>\u672c\u6587\u5bf9\u5e94\u4e24\u4e2a\u5df2\u5f00\u6e90\u5de5\u7a0b&#xff0c;\u9002\u5408 \u5168\u56fd\u5927\u5b66\u751f\u7535\u5b50\u8bbe\u8ba1\u7ade\u8d5b\u5907\u8d5b \/ STM32 \u7535\u673a\u63a7\u5236 \/ \u89c6\u89c9\u4e91\u53f0 \u5b66\u4e60\u4e0e\u4e8c\u6b21\u5f00\u53d1\u3002 \u6587\u672b\u9644\u4ed3\u5e93\u5730\u5740&#xff0c;\u4ee3\u7801\u53ef\u76f4\u63a5\u514b\u9686\u3002<\/p>\n<hr \/>\n<h3>\u5199\u5728\u524d\u9762<\/h3>\n<p>\u5907\u8d5b\u7535\u8d5b\u65f6&#xff0c;\u7535\u673a\u63a7\u5236\u4e0e\u89c6\u89c9\u95ed\u73af\u662f\u9ad8\u9891\u8003\u70b9\u3002\u5f88\u591a\u540c\u5b66\u5361\u5728&#xff1a;<\/p>\n<ul>\n<li>\u6b65\u8fdb\u7535\u673a\u9ad8\u901f\u5c31\u6296\u3001\u5931\u6b65&#xff0c;\u4e0d\u4f1a\u505a\u68af\u5f62\u52a0\u51cf\u901f<\/li>\n<li>\u89c6\u89c9\u5750\u6807\u6765\u4e86&#xff0c;\u7535\u673a\u5374\u300c\u8ddf\u4e0d\u4f4f\u300d\u6216\u300c\u6765\u56de\u6296\u300d<\/li>\n<li>\u4e70\u4e86\u4e32\u53e3\u534f\u8bae\u578b\u65e0\u5237\u6a21\u7ec4&#xff0c;\u534f\u8bae\u7ec4\u5e27\u3001\u53cd\u9988\u89e3\u6790\u4e0d\u4f1a\u5199<\/li>\n<\/ul>\n<p>\u6700\u8fd1\u628a\u4e24\u5957\u5907\u8d5b\u5de5\u7a0b\u6574\u7406\u540e\u5f00\u6e90\u5230 GitHub&#xff0c;\u672c\u6587\u505a \u6574\u4f53\u4ecb\u7ecd &#043; \u5173\u952e\u8bbe\u8ba1\u70b9&#xff0c;\u65b9\u4fbf\u5bf9\u7167\u4ed3\u5e93\u9605\u8bfb\u3002<\/p>\n<table>\n<tr>\u5de5\u7a0b\u5b9a\u4f4dGitHub<\/tr>\n<tbody>\n<tr>\n<td>\u53cc\u6b65\u8fdb\u89c6\u89c9\u4e91\u53f0<\/td>\n<td>2023 \u7535\u8d5b E \u9898\u300a\u8fd0\u52a8\u76ee\u6807\u63a7\u5236\u7cfb\u7edf\u300b\u6b65\u8fdb\u65b9\u6848<\/td>\n<td>dual-stepper-trapezoid<\/td>\n<\/tr>\n<tr>\n<td>\u65e0\u5237\u7535\u673a\u4e32\u53e3\u9a71\u52a8<\/td>\n<td>\u53cc\u673a T \u578b\u8f68\u8ff9\u5e73\u6ed1\u5f80\u8fd4 &#043; DMA \u53cd\u9988<\/td>\n<td>brushless-motor<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5e73\u53f0\u5747\u4e3a STM32F103C8 &#043; \u6807\u51c6\u5916\u8bbe\u5e93&#xff08;SPL&#xff09;&#xff0c;Keil \/ EIDE \u53ef\u76f4\u63a5\u6253\u5f00\u3002<\/p>\n<hr \/>\n<h2>\u4e00\u30012023 \u7535\u8d5b E \u9898&#xff1a;\u53cc\u6b65\u8fdb\u89c6\u89c9\u4e91\u53f0<\/h2>\n<h3>1.1 \u9898\u76ee\u5728\u8003\u4ec0\u4e48<\/h3>\n<p>2023 \u5e74\u5168\u56fd\u5927\u5b66\u751f\u7535\u5b50\u8bbe\u8ba1\u7ade\u8d5b E \u9898\u300a\u8fd0\u52a8\u76ee\u6807\u63a7\u5236\u7cfb\u7edf\u300b&#xff0c;\u6838\u5fc3\u53ef\u4ee5\u6982\u62ec\u6210\u4e00\u53e5\u8bdd&#xff1a;<\/p>\n<p>\u770b\u89c1\u76ee\u6807 \u2192 \u63a7\u5236\u4e8c\u7ef4\u4e91\u53f0 \u2192 \u8ba9\u6fc0\u5149\/\u6307\u793a\u70b9\u8ddf\u4e0a\u8fd0\u52a8\u76ee\u6807<\/p>\n<p>\u80fd\u529b\u62c6\u89e3\u5927\u81f4\u662f&#xff1a;<\/p>\n<table>\n<tr>\u7ef4\u5ea6\u9898\u76ee\u4fa7\u5173\u6ce8\u672c\u65b9\u6848\u5b9e\u73b0<\/tr>\n<tbody>\n<tr>\n<td>\u76ee\u6807\u611f\u77e5<\/td>\n<td>\u6444\u50cf\u5934\u8bc6\u522b\u8272\u5757\/\u6fc0\u5149\/\u8def\u5f84\u70b9<\/td>\n<td>K230 \u89c6\u89c9 &#043; UART \u5b9a\u957f\u5e27<\/td>\n<\/tr>\n<tr>\n<td>\u4e8c\u7ef4\u63a7\u5236<\/td>\n<td>\u6c34\u5e73 &#043; \u4fef\u4ef0<\/td>\n<td>\u53cc\u8def\u6b65\u8fdb\u7535\u673a<\/td>\n<\/tr>\n<tr>\n<td>\u52a8\u6001\u8ddf\u968f<\/td>\n<td>\u8bef\u5dee\u6536\u655b\u3001\u5c11\u6296\u3001\u5c11\u4e22\u6b65<\/td>\n<td>\u50cf\u7d20 PID \u2192 \u6b65\/\u5e27 \u2192 \u53ef\u6253\u65ad\u52a0\u51cf\u901f<\/td>\n<\/tr>\n<tr>\n<td>\u7a33\u6001<\/td>\n<td>\u5bf9\u51c6\u540e\u5fae\u6296\u5c0f<\/td>\n<td>\u50cf\u7d20\u6b7b\u533a &#043; \u8f93\u51fa\u9650\u5e45 &#043; \u5e73\u6ed1\u505c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u9898\u76ee\u4e0d\u5f3a\u5236\u8235\u673a\u6216\u6b65\u8fdb\u3002\u8235\u673a\u4e0a\u624b\u5feb&#xff1b;\u6b65\u8fdb\u7cbe\u5ea6\u9ad8\u3001\u53ef\u5f00\u73af\u7d2f\u8ba1\u4f4d\u7f6e\u3001\u4fbf\u4e8e\u505a\u663e\u5f0f\u52a0\u51cf\u901f\u3002\u672c\u4ed3\u5e93\u662f \u6b65\u8fdb\u7248\u95ed\u73af\u4e91\u53f0\u3002<\/p>\n<h3>1.2 \u7cfb\u7edf\u6570\u636e\u6d41&#xff08;\u4e3b\u7ebf&#xff09;<\/h3>\n<p>K230 \u89c6\u89c9  &#8211;UART 115200&#8211;&gt;  \u5e27\u72b6\u6001\u673a  &#8211;&gt;  actual \/ target \u50cf\u7d20<br \/>\n                                              |<br \/>\n                                    err &#061; target &#8211; actual<br \/>\n                                              |<br \/>\n                                   PID&#xff08;\u8f93\u51fa&#xff1a;\u6b65\/\u5e27&#xff09;<br \/>\n                                              |<br \/>\n                          Motor_Move \/ Motor_Stop&#xff08;\u53ef\u6253\u65ad&#xff09;<br \/>\n                            MOTOR1&#061;\u6c34\u5e73  MOTOR2&#061;\u4fef\u4ef0<br \/>\n                                              |<br \/>\n                                           OLED \u8c03\u8bd5<\/p>\n<p>\u534f\u8bae\u8bed\u4e49&#xff08;\u4e0e\u5e38\u89c1 2023 \u89c6\u89c9\u811a\u672c\u4e00\u81f4&#xff09;&#xff1a;<\/p>\n<ul>\n<li>(x1,y1) &#061; Actual \u5b9e\u9645\u70b9<\/li>\n<li>(x2,y2) &#061; Target \u76ee\u6807\u70b9<\/li>\n<li>\u95ed\u73af\u76ee\u6807&#xff1a;err \u2192 0<\/li>\n<\/ul>\n<p>\u5e27\u683c\u5f0f&#xff08;12 \u5b57\u8282&#xff09;&#xff1a;<\/p>\n<p>0xAA | x1 | y1 | x2 | y2 | z | 0x55<\/p>\n<p>\u591a\u5b57\u8282\u4e3a\u5927\u7aef\u6709\u7b26\u53f7 int16\u3002\u89e3\u6790\u7528\u72b6\u6001\u673a\u5728\u4e32\u53e3\u4e2d\u65ad\u91cc\u9010\u5b57\u8282\u5582\u5165&#xff0c;\u6297\u5e72\u6270\u3001\u65e0\u52a8\u6001\u5185\u5b58\u3002<\/p>\n<h3>1.3 \u786c\u4ef6\u63a5\u7ebf\u6458\u8981<\/h3>\n<table>\n<tr>\u529f\u80fd\u5f15\u811a\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>\u6c34\u5e73 STEP\/DIR<\/td>\n<td>PA0 \/ PA3<\/td>\n<td>TIM2_CH1 PWM<\/td>\n<\/tr>\n<tr>\n<td>\u4fef\u4ef0 STEP\/DIR<\/td>\n<td>PA6 \/ PA7<\/td>\n<td>TIM3_CH1 PWM<\/td>\n<\/tr>\n<tr>\n<td>K230 TX<\/td>\n<td>\u2192 PA10<\/td>\n<td>USART1_RX&#xff0c;115200<\/td>\n<\/tr>\n<tr>\n<td>OLED<\/td>\n<td>PB8 \/ PB9<\/td>\n<td>\u8f6f\u4ef6 I2C<\/td>\n<\/tr>\n<tr>\n<td>\u9a71\u52a8\u677f<\/td>\n<td>A4988 \/ DRV8825 \/ TMC \u7b49<\/td>\n<td>STEP\/DIR&#xff0c;VMOT \u5e38\u89c1 12V&#xff0c;\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u7ec6\u5206\u62e8\u7801\u5fc5\u987b\u4e0e\u8f6f\u4ef6\u4e00\u81f4&#xff08;\u4f8b\u5982 32 \u7ec6\u5206 \u2192 6400 \u6b65\/\u5708&#xff09;&#xff0c;\u5426\u5219 PID \u7b49\u6548\u589e\u76ca\u5168\u9519\u3002<\/p>\n<h3>1.4 \u4e94\u4e2a\u503c\u5f97\u8bb2\u7684\u6280\u672f\u70b9&#xff08;S \u7ea7&#xff09;<\/h3>\n<h4>&#xff08;1&#xff09;PWM \u786c\u4ef6\u53d1\u8109\u51b2&#xff0c;\u4e2d\u65ad\u53ea\u6570\u6b65\u8c03\u901f<\/h4>\n<p>\u4e0d\u8981\u4e3b\u5faa\u73af bit-bang \u6b65\u8fdb\u8109\u51b2\u3002\u7528\u5b9a\u65f6\u5668 PWM \u51fa STEP&#xff0c;\u66f4\u65b0\u4e2d\u65ad\u91cc&#xff1a;<\/p>\n<ul>\n<li>\u6b65\u6570 &#043;1<\/li>\n<li>\u6309\u76f8\u4f4d\u6539\u901f\u5ea6<\/li>\n<li>\u5199 ARR<\/li>\n<\/ul>\n<p>CPU \u624d\u80fd\u817e\u51fa\u6765\u8dd1\u89c6\u89c9 PID\u3002<\/p>\n<h4>&#xff08;2&#xff09;1 MHz \u65f6\u57fa&#xff0c;ARR \u2248 \u6bcf\u6b65\u5fae\u79d2\u6570<\/h4>\n<p>72 MHz \u4e0b PSC&#061;71 \u2192 1 MHz&#xff0c;\u901f\u5ea6\u4e0e\u5468\u671f\u6362\u7b97\u76f4\u89c2&#xff1a;<\/p>\n<p>ARR \u2248 1_000_000 \/ v   &#xff08;v \u5355\u4f4d&#xff1a;\u6b65\/\u79d2&#xff09;<\/p>\n<h4>&#xff08;3&#xff09;\u7075\u9b42\u516c\u5f0f&#xff1a;\u9010\u6b65\u66f4\u65b0\u901f\u5ea6<\/h4>\n<p>\u52a0\u901f\/\u51cf\u901f\u6bb5\u6bcf\u6b65&#xff1a;<\/p>\n<p>v &#061; \u221a(v\u00b2 \u00b1 2a)<\/p>\n<p>\u518d\u9650\u5e45\u5230 v0&#xff5e;vMax\u3002\u77ed\u8ddd\u79bb\u81ea\u52a8\u9000\u5316\u4e3a \u4e09\u89d2\u66f2\u7ebf&#xff08;\u65e0\u5300\u901f\u6bb5&#xff09;&#xff0c;\u957f\u8ddd\u79bb\u4e3a \u68af\u5f62\u3002<\/p>\n<h4>&#xff08;4&#xff09;\u8fd0\u52a8\u53ef\u6253\u65ad&#xff08;\u89c6\u89c9\u95ed\u73af\u521a\u9700&#xff09;<\/h4>\n<p>Motor_Move \u5728\u7535\u673a\u8fd8\u5728\u8dd1\u65f6\u518d\u6b21\u8c03\u7528&#xff0c;\u4f1a \u505c\u5f53\u524d\u89c4\u5212\u5e76\u6309\u65b0\u6b65\u6570\u91cd\u89c4\u5212&#xff0c;\u7edd\u5bf9\u4f4d\u7f6e\u4fdd\u7559\u3002<\/p>\n<ul>\n<li>Demo \u5f80\u8fd4&#xff1a;\u300c\u5fd9\u5219\u4e22\u6307\u4ee4\u300d\u8fd8\u80fd\u51d1\u5408<\/li>\n<li>E \u9898\u8ddf\u8e2a&#xff1a;\u300c\u6bcf\u5e27\u65b0\u8bef\u5dee\u5fc5\u987b\u80fd\u751f\u6548\u300d\u2192 \u5fc5\u987b\u53ef\u6253\u65ad<\/li>\n<\/ul>\n<h4>&#xff08;5&#xff09;PID \u5355\u4f4d\u662f\u300c\u6b65\/\u5e27\u300d&#xff0c;\u4e0d\u662f\u300c\u5ea6\u300d<\/h4>\n<p><span class=\"token comment\">\/\/ \u8f93\u5165&#xff1a;\u50cf\u7d20\u8bef\u5dee&#xff1b;\u8f93\u51fa&#xff1a;\u672c\u5e27\u5e0c\u671b\u518d\u8d70\u7684\u76f8\u5bf9\u6b65\u6570<\/span><br \/>\nsteps <span class=\"token operator\">&#061;<\/span> DIR <span class=\"token operator\">*<\/span> <span class=\"token function\">PID_Calc<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>pid<span class=\"token punctuation\">,<\/span> target_px<span class=\"token punctuation\">,<\/span> actual_px<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<ul>\n<li>max_output \u9650\u5236\u5355\u5e27\u6700\u5927\u6b65\u6570&#xff0c;\u9632\u731b\u7529\u4e22\u6b65<\/li>\n<li>\u50cf\u7d20\u6b7b\u533a&#xff08;\u5982 3&#xff09;\u5185\u5f3a\u5236 0 \u6b65\u5e76 Motor_Stop&#xff0c;\u6291\u6296<\/li>\n<li>\u65b9\u5411\u53cd\u4e86\u6539 PAN_DIR \/ TILT_DIR&#xff0c;\u4e0d\u5fc5\u5148\u6539\u63a5\u7ebf<\/li>\n<\/ul>\n<h3>1.5 \u8054\u8c03\u5efa\u8bae<\/h3>\n<li>USE_FAKE_VISION &#061; 1&#xff1a;\u56fa\u5b9a\u8bef\u5dee\u5927\u6b65\u8d70&#xff0c;\u5148\u6821\u8f74\u65b9\u5411<\/li>\n<li>\u518d\u63a5 K230 \u771f\u95ed\u73af&#xff0c;\u770b OLED \u7684 T\/A\/E\/S<\/li>\n<li>\u8ddf\u624b\u6162&#xff1a;\u7565\u589e Kp \u6216 max_output&#xff1b;\u6296&#xff1a;\u51cf Kp\u3001\u52a0\u6b7b\u533a\u3001\u964d vMax\/accel<\/li>\n<p>\u4ed3\u5e93\u5185\u8fd8\u6709 \u8fde\u7ebf\u8bf4\u660e\u4e66.md&#xff0c;\u4e0a\u7535\u987a\u5e8f\u3001EN\u3001\u5171\u5730\u90fd\u5199\u4e86\u3002<\/p>\n<p>\u4ed3\u5e93\u5730\u5740&#xff1a; https:\/\/github.com\/kaka12331\/dual-stepper-trapezoid<\/p>\n<p>&#xff08;\u540c\u8d26\u53f7\u8fd8\u6709\u8235\u673a\u7248\u4e91\u53f0&#xff1a;2023-dian-sai-visual-gimbal&#xff0c;\u53ef\u5bf9\u6bd4\u300c\u5ea6\/\u5e27\u300d\u4e0e\u300c\u6b65\/\u5e27\u300d\u3002&#xff09;<\/p>\n<hr \/>\n<h2>\u4e8c\u3001\u65e0\u5237\u7535\u673a&#xff1a;\u4e32\u53e3\u534f\u8bae &#043; \u53cc\u673a T \u578b\u8f68\u8ff9\u5f80\u8fd4<\/h2>\n<h3>2.1 \u5de5\u7a0b\u5b9a\u4f4d<\/h3>\n<p>\u5f88\u591a\u5e02\u552e\u300c\u4e00\u4f53\u5f0f\u65e0\u5237\u8235\u673a\/\u6a21\u7ec4\u300d\u4e0d\u9700\u8981\u4f60\u5728 STM32 \u91cc\u505a\u516d\u6b65\u6362\u76f8&#xff0c;\u800c\u662f&#xff1a;<\/p>\n<p>MCU \u6309\u56fa\u5b9a\u5e27\u683c\u5f0f\u53d1\u4e32\u53e3\u6307\u4ee4 \u2192 \u9a71\u52a8\u5668\u5185\u90e8\u5b8c\u6210\u6362\u76f8\u3001\u7535\u6d41\u73af\u3001\u8f68\u8ff9\u89c4\u5212<\/p>\n<p>\u672c\u5de5\u7a0b\u6f14\u793a&#xff1a;<\/p>\n<li>USART2 &#064; 115200 \u7ec4\u5e27\u63a7\u5236 \u4e24\u53f0 \u7535\u673a<\/li>\n<li>DMA &#043; \u7a7a\u95f2\u4e2d\u65ad\u6536\u4f4d\u7f6e\u53cd\u9988<\/li>\n<li>\u591a\u5708\u4f4d\u7f6e &#043; T \u578b\u8f68\u8ff9&#xff0c;\u5728 0 \u4e0e 18000 \u4e4b\u95f4\u5e73\u6ed1\u5f80\u8fd4<\/li>\n<li>OLED \u663e\u793a M1\/M2 \u5b9e\u65f6\u4f4d\u7f6e<\/li>\n<h3>2.2 \u5e27\u683c\u5f0f<\/h3>\n<p>\u5e27\u5934 0x7A | ID 1B | CMD 1B | \u6570\u636e N \u5b57\u8282 | BCC(XOR) | \u5e27\u5c3e 0x7B<\/p>\n<p>BCC &#061; \u4ece\u5e27\u5934\u5230\u6570\u636e\u672b\u5b57\u8282\u7684\u9010\u5b57\u8282\u5f02\u6216\u3002<\/p>\n<p>\u5e38\u7528\u6307\u4ee4&#xff08;\u4ee5\u672c\u4ed3\u5e93\u4ee3\u7801\u4e3a\u51c6&#xff0c;\u6700\u7ec8\u4ee5\u624b\u518c\u4e3a\u51c6&#xff09;&#xff1a;<\/p>\n<table>\n<tr>CMD\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>0x00<\/td>\n<td>\u8bbe\u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td>0x01<\/td>\n<td>\u8bbe\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>0x02<\/td>\n<td>\u8bbe\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>0x06<\/td>\n<td>\u4f7f\u80fd<\/td>\n<\/tr>\n<tr>\n<td>0x07<\/td>\n<td>\u8bbe\u52a0\u901f\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>0x0E<\/td>\n<td>\u8bf7\u6c42\u53cd\u9988<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6a21\u5f0f\u4e0a\u63a8\u8350\u6f14\u793a\u7528&#xff1a;<\/p>\n<ul>\n<li>MOTOR_MODE_POS_MULTI_T&#xff1a;\u591a\u5708\u4f4d\u7f6e &#043; T \u578b\u8f68\u8ff9&#xff08;\u542f\u505c\u66f4\u67d4&#xff09;<\/li>\n<\/ul>\n<h3>2.3 \u63a5\u7ebf<\/h3>\n<table>\n<tr>STM32\u7535\u673a\u4fa7<\/tr>\n<tbody>\n<tr>\n<td>PA2 USART2_TX<\/td>\n<td>RX<\/td>\n<\/tr>\n<tr>\n<td>PA3 USART2_RX<\/td>\n<td>TX<\/td>\n<\/tr>\n<tr>\n<td>GND<\/td>\n<td>\u5fc5\u987b\u5171\u5730<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u9ed8\u8ba4 Motor1.ID&#061;1&#xff0c;Motor2.ID&#061;2&#xff0c;\u987b\u4e0e\u9a71\u52a8\u5668\u5730\u5740\u4e00\u81f4\u3002<\/p>\n<h3>2.4 API \u4e00\u89c8<\/h3>\n<p><span class=\"token function\">BLDC_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">115200<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Enable<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Set_Mode<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">,<\/span> mode<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Set_Acceleration<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">,<\/span> acc<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Set_Speed<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">,<\/span> speed<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Set_Position<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">,<\/span> position<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">BLDC_Req_Feedback<\/span><span class=\"token punctuation\">(<\/span>id<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u89e3\u6790\u540e\u5199\u5165 Motorx.Current_Position<\/span><\/p>\n<h3>2.5 \u6807\u5b9a\u63d0\u9192&#xff08;\u5f88\u91cd\u8981&#xff09;<\/h3>\n<p>18000 \u662f \u9a71\u52a8\u5668\u5185\u90e8\u4f4d\u7f6e\u5355\u4f4d&#xff0c;\u4e0d\u662f\u89d2\u5ea6\u3002\u6362\u7535\u673a\/\u51cf\u901f\u6bd4\u540e\u52a1\u5fc5\u91cd\u6807\u5b9a\u4e24\u7aef\u70b9&#xff0c;\u5426\u5219\u300c\u8f6c\u592a\u5c11\/\u8f6c\u98de\u4e86\u300d\u90fd\u6b63\u5e38\u3002<\/p>\n<p>\u6362\u5411\u5468\u671f\u3001\u52a0\u901f\u5ea6\u3001\u89c4\u5212\u901f\u5ea6\u8981\u5339\u914d&#xff1a;\u52a0\u901f\u8bbe\u5f97\u5f88\u8f6f\u65f6&#xff0c;\u5468\u671f\u592a\u77ed\u4f1a\u300c\u8fd8\u6ca1\u5230\u4f4d\u53c8\u6539\u76ee\u6807\u300d\u3002<\/p>\n<p>\u4ed3\u5e93\u5730\u5740&#xff1a; https:\/\/github.com\/kaka12331\/brushless-motor<\/p>\n<hr \/>\n<h2>\u4e09\u3001\u4e24\u5957\u5de5\u7a0b\u600e\u4e48\u9009\u578b<\/h2>\n<table>\n<tr>\u573a\u666f\u66f4\u5408\u9002\u7684\u65b9\u6848<\/tr>\n<tbody>\n<tr>\n<td>2023 E \u9898\u89c6\u89c9\u8ddf\u8e2a\u3001\u5f00\u73af\u6b65\u8fdb\u4e91\u53f0<\/td>\n<td>dual-stepper-trapezoid<\/td>\n<\/tr>\n<tr>\n<td>\u5df2\u6709\u4e32\u53e3\u65e0\u5237\u6a21\u7ec4&#xff0c;\u8981\u5e73\u6ed1\u5b9a\u4f4d\/\u53cc\u673a\u540c\u6b65<\/td>\n<td>brushless-motor<\/td>\n<\/tr>\n<tr>\n<td>\u60f3\u5bf9\u6bd4\u8235\u673a vs \u6b65\u8fdb\u4e91\u53f0<\/td>\n<td>\u6b65\u8fdb\u4ed3 &#043; \u8235\u673a\u4ed3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5171\u540c\u70b9&#xff1a;<\/p>\n<ul>\n<li>STM32F103 &#043; \u6807\u51c6\u5e93&#xff0c;\u6ce8\u91ca\u6309\u300c\u8bb2\u89e3\/\u7b54\u8fa9\u300d\u5199\u5f97\u6bd4\u8f83\u7ec6<\/li>\n<li>\u91cd\u89c6 \u901a\u4fe1\u534f\u8bae\u3001\u5355\u4f4d&#xff08;\u6b65\/\u5e27 vs \u5ea6\/\u5e27 vs \u9a71\u52a8\u5668\u5185\u90e8\u4f4d\u7f6e&#xff09; \u548c \u8054\u8c03\u987a\u5e8f<\/li>\n<\/ul>\n<hr \/>\n<h2>\u56db\u3001\u514b\u9686\u4e0e\u7f16\u8bd1<\/h2>\n<p><span class=\"token function\">git<\/span> clone https:\/\/github.com\/kaka12331\/dual-stepper-trapezoid.git<br \/>\n<span class=\"token function\">git<\/span> clone https:\/\/github.com\/kaka12331\/brushless-motor.git<\/p>\n<ul>\n<li>Keil&#xff1a;\u6253\u5f00\u5404\u81ea Project.uvprojx<\/li>\n<li>\u6216 EIDE \/ VS Code&#xff1a;\u6253\u5f00 Project.code-workspace<\/li>\n<\/ul>\n<p>\u5efa\u8bae\u5148\u901a\u7535\u770b Demo&#xff0c;\u518d\u6539 PID \/ \u7aef\u70b9\u4f4d\u7f6e \/ \u89c6\u89c9\u5b8f\u3002<\/p>\n<hr \/>\n<h2>\u4e94\u3001\u5c0f\u7ed3<\/h2>\n<li>E \u9898\u6b65\u8fdb\u4e91\u53f0&#xff1a;K230 \u50cf\u7d20\u8bef\u5dee \u2192 PID&#xff08;\u6b65\/\u5e27&#xff09;\u2192 \u68af\u5f62\/\u4e09\u89d2\u52a0\u51cf\u901f\u6b65\u8fdb&#xff0c;\u8fd0\u52a8\u53ef\u6253\u65ad&#xff0c;\u624d\u8ddf\u5f97\u4e0a\u52a8\u6001\u76ee\u6807\u3002<\/li>\n<li>\u65e0\u5237\u4e32\u53e3\u9a71\u52a8&#xff1a;\u7ec4\u5e27 &#043; 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