#include
#include
#include

#include
#include
int key[3][2] = { {KEY_FRONT, KEY_BEHIND},{KEY_RIGHT, KEY_LEFT}, {KEY_UP, KEY_DOWN}};

int rem[3] = {0,0,0};
int p_bit[3][3] = {{Y_STEP,Y_DIR ,Y_LIM},
{X_STEP,X_DIR ,X_LIM},
{Z_STEP,Z_DIR ,Z_LIM}};
int step_rem[3] = {0,0,0};
GPIO_TypeDef* pt[3] = {GPIOC, GPIOC, GPIOA};
int pass[3];
int step_round[3][4] = {{0, STEP_A2, STEP_A2|STEP_A1, STEP_A1},
{0, STEP_C2, STEP_C1|STEP_C2, STEP_C1},
{0, STEP_B1,STEP_B1|STEP_B2 , STEP_B2}};

void P_CON(int q)
{
if (GPIO_ReadInputDataBit(Parallel,p_bit[q][0]) == 1)
{
if (pass[q] == 0)
{
if (GPIO_ReadInputDataBit(Parallel, p_bit[q][1]) == 1)
{
pass[q] = 1;
STEP_UP(q);
}
else
{
pass[q] = 1;
STEP_DOWN(q);
}
}
else
{
pass[q] = 0;
}
}
}

void CONTROL(int w)
{

if (GPIO_ReadInputDataBit(LIM_PORT, p_bit[w][2]) == 0)
{
if (GPIO_ReadInputDataBit(pt[w], key[w][0]) == 0)
{
if (rem[w] == left)
{
STEP_UP(w);
}
}
else if (GPIO_ReadInputDataBit(pt[w], key[w][1]) == 0)
{
if (rem[w] == right)
{
STEP_DOWN(w);
}
}
}
else{
if (GPIO_ReadInputDataBit(pt[w], key[w][0]) == 0)
{
// UART1_putString(“STEP_UP\r\n”);
STEP_UP(w);

rem[w] = right;

}
else if (GPIO_ReadInputDataBit(pt[w], key[w][1]) == 0)
{
// UART1_putString(“STEP_DOWN\r\n”);
STEP_DOWN(w);
rem[w] = left;
}
}

}

void STEP_UP(int a)
{
if (step_rem[a] == 5)
{
step_rem[a] = 0;
}

switch(++(step_rem[a]))
{
case 1:
GPIO_STEP->BRR |= step_round[a][2];
GPIO_STEP->BSRR |= step_round[a][0];

break;
case 2:
GPIO_STEP->BRR |= step_round[a][3];
GPIO_STEP->BSRR |= step_round[a][1];

break;
case 3:
GPIO_STEP->BRR |= step_round[a][0];
GPIO_STEP->BSRR |= step_round[a][2];

break;
case 4:
GPIO_STEP->BRR |= step_round[a][1];
GPIO_STEP->BSRR |= step_round[a][3];
step_rem[a] = 0 ;
break;
}

}

void STEP_DOWN(int a)
{
if(step_rem[a] == 0)
{
step_rem[a] = 5;
}
switch(–(step_rem[a]))
{

case 1:
GPIO_STEP->BRR |= step_round[a][2];
GPIO_STEP->BSRR |= step_round[a][0];
step_rem[a] = 5;
break;

case 2:
GPIO_STEP->BRR |= step_round[a][3];
GPIO_STEP->BSRR |= step_round[a][1];
break;

case 3:
GPIO_STEP->BRR |= step_round[a][0];
GPIO_STEP->BSRR |= step_round[a][2];
break;

case 4:
GPIO_STEP->BRR |= step_round[a][1];
GPIO_STEP->BSRR |= step_round[a][3];
break;

}
}

void GPIO_INIT_FUNCTION(void)
{

RCC->APB2ENR |= RCC_APB2Periph_GPIOC;
RCC->APB2ENR |= RCC_APB2Periph_GPIOB;
RCC->APB2ENR |= RCC_APB2Periph_GPIOA;

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = X_STEP|X_DIR|Y_STEP|Y_DIR|Z_STEP|Z_DIR;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(Parallel, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = KEY_UP|KEY_DOWN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = KEY_RIGHT|KEY_LEFT|KEY_FRONT|KEY_BEHIND|X_LIM|Y_LIM|Z_LIM;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOC, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = STEP_A2|STEP_A1|STEP_B2|STEP_B1|STEP_C2|STEP_C1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);

}

====================STEP.h=====================

#define KEY_PORT1 GPIOC
#define KEY_PORT2 GPIOA
#define KEY_RIGHT GPIO_Pin_8
#define KEY_LEFT GPIO_Pin_7
#define KEY_FRONT GPIO_Pin_6
#define KEY_BEHIND GPIO_Pin_5
#define KEY_UP GPIO_Pin_3
#define KEY_DOWN GPIO_Pin_1

#define Parallel GPIOB
#define X_STEP GPIO_Pin_9
#define Z_STEP GPIO_Pin_5
#define Y_STEP GPIO_Pin_8

#define X_DIR GPIO_Pin_7
#define Y_DIR GPIO_Pin_6
#define Z_DIR GPIO_Pin_2

#define LIM_PORT GPIOC
#define Y_LIM GPIO_Pin_11
#define Z_LIM GPIO_Pin_13
#define X_LIM GPIO_Pin_9

#define GPIO_STEP GPIOB
#define STEP_A1 GPIO_Pin_14
#define STEP_A2 GPIO_Pin_15
#define STEP_B1 GPIO_Pin_12
#define STEP_B2 GPIO_Pin_13
#define STEP_C1 GPIO_Pin_10
#define STEP_C2 GPIO_Pin_11
//위 6개가 오피엠프를 거쳐서 fet로 증폭되어 모터에 들어가는 부분입니다.
//각 모터당 A, B, C 로 나누어 놯습니다.
#define right 1
#define left 2

void GPIO_INIT_FUNCTION(void);
void CONTROL(int);
void P_CON(int);
void STEP_UP(int);
void STEP_DOWN(int);

====================main.c=====================
/****************************************************************
*
* Used with ICCARM and AARM.
*
* (c) Copyright IAR Systems 2007
*
* File name : main.c
* Description : Define main module
*
* History :
* 1. Date : 19, July 2006
* Author : Stanimir Bonev
* Description : Create
*
* This example project shows how to use the IAR Embedded Workbench
* for ARM to develop code for the IAR STM32-SK board.
* It implements USB CDC (Communication Device Class) device and install
* it like a Virtual COM port. UART3 is used for physical implementation
* of the RS232 port.
*
* Jumpers:
* PWR_SEL – depending of power source
*
* $Revision: 1.1.2.1 $
* www.elogics.co.kr
*****************************************************************/
#include “includes.h”
#define DATA_LOGGING
#include “step.h”
#include
#include

Int32U CriticalSecCntr;

void Clk_Init (void)
{
// 1. Clocking the controller from internal HSI RC (8 MHz)
RCC_HSICmd(ENABLE);
// wait until the HSI is ready
while(RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET);
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSI);
// 2. Enable ext. high frequency OSC
RCC_HSEConfig(RCC_HSE_ON);
// wait until the HSE is ready
while(RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
// 3. Init PLL
RCC_PLLConfig(RCC_PLLSource_HSE_Div1,RCC_PLLMul_9); // 8Mhz x 9 = 72MHz
RCC_PLLCmd(ENABLE);
// wait until the PLL is ready
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
// 4. Set system clock dividers
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
RCC_ADCCLKConfig(RCC_PCLK2_Div6);
RCC_PCLK2Config(RCC_HCLK_Div1);
RCC_PCLK1Config(RCC_HCLK_Div2);
RCC_HCLKConfig(RCC_SYSCLK_Div1);

#ifdef EMB_FLASH
// 5. Init Embedded Flash
// Zero wait state, if 0 < HCLK 24 MHz
// One wait state, if 24 MHz < HCLK 56 MHz
// Two wait states, if 56 MHz APB2ENR |= RCC_APB2Periph_USART1;

UART_Initialize(UART1,115200) ;

EXT_CRT_SECTION(); // Main IRQ Enable

UART1_putString(“complete setting..\r\n”);
uint32_t timeval = 10;
char cha[4];
char *str=cha;
GPIO_SetBits(GPIOB, GPIO_Pin_3);
GPIO_SetBits(GPIOB, GPIO_Pin_4);
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_13)==0)
{

GPIO_ResetBits(GPIOB, GPIO_Pin_4);
UART1_putString(“Select sw1, KEY Control..\r\n”);
for (int a =0;a<10000000;a++){}
while(1)
{
if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_13)==0)
{
timeval += 1;
for (int a =0;a1)
{ timeval -= 1;}
for (int a =0;a<500000;a++){}

cha[0] = timeval/100+0×30;
cha[1] = (timeval%100)/10+0×30;
cha[2] = (timeval%10)+0×30;
cha[3] = ”;
UART1_putString(str);
UART1_putString(“000\r\n”);
}
else
{
CONTROL(0);
CONTROL(1);
CONTROL(2);
for(int hhh=0; hhh<timeval*1000;hhh++)
{}
}

}
}
else if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_15)==0)
{
GPIO_ResetBits(GPIOB, GPIO_Pin_3);
UART1_putString(“Select sw2, Parallel Control…\r\n”);
while(1)
{
P_CON(0);
P_CON(1);
P_CON(2);
}
}

else
{
UART1_putString(“sw1 : KEY control , sw2 : parallel port con….\r\n”);
while(1)
{
led_blink();

}
}

}

#ifdef DEBUG
/*******************************************************************************
* Function Name : assert_failed
* Description : Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* Input : – file: pointer to the source file name
* – line: assert_param error line source number
* Output : None
* Return : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
/* 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) */

/* Infinite loop */
while (1)
{
}
}
#endif