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实验内容：上电后，按下启动按键，步进电机开始运转
实验目的：掌握简单的步进电机的控制，熟悉其工作原理
不足之处：电机步进无法调速
下一步优化：使用PWM对电机进行控制
#include "Type.h"
#include "inc\hw_ints.h"
#include "inc\hw_memmap.h"
#include "inc\hw_types.h"
#include "driverlib\sysctl.h"
#include "driverlib\gpio.h"

#define  KEY               GPIO_PIN_4                                  
#define  PHRA1             GPIO_PIN_0                                 
#define  PHRA2             GPIO_PIN_1                                 
#define  PHRB1             GPIO_PIN_2                                 
#define  PHRB2             GPIO_PIN_3                                 
#define  PHLA1             GPIO_PIN_4                               
#define  PHLA2             GPIO_PIN_5                               
#define  PHLB1             GPIO_PIN_6                                 
#define  PHLB2             GPIO_PIN_7                              

/* jtag protect key */
#define PROTECT_KEY_PERIPH SYSCTL_PERIPH_GPIOC
#define PROTECT_KEY_PORT   GPIO_PORTC_BASE
#define PROTECT_KEY_PIN    GPIO_PIN_4

struct motor  //电机的状态和方向
{
    int8    cState;                                                     
    int8    cDir;                                                     
typedef struct motor MOTOR;

static int8 cStep=0;                   

void delay (uint32  uiD) //延时函数
{
    for (; uiD; uiD--);
}

void rightMotor(void)  //右电机时序
{   
    switch (cStep) {

    case 0:                                                             /*  A2B2                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2);
        break;

    case 1:                                                             /*  A2                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA1 | PHRA2);
        break;

    case 2:                                                             /*  A2B1                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA1 | PHRA2 | PHRB2);
        break;

    case 3:                                                             /*  B1                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRB2);
        break;

    case 4:                                                             /*  A1B1                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA2 | PHRB2);
        break;

    case 5:                                                             /*  A1                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA2);
        break;

    case 6:                                                             /*  A1B2                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRA2 | PHRB1 | PHRB2);
        break;

    case 7:                                                             /*  B2                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHRA1 | PHRA2 | PHRB1 | PHRB2,
                     PHRB1 | PHRB2);
        break;

    default:
        break;
    }
}

void leftMotor(void) //左电机时序
{
    switch (cStep) {

    case 0:                                                             /*  A2B2                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2);
        break;

    case 1:                                                             /*  B2                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLB1 | PHLB2);
        break;

    case 2:                                                             /*  A1B2                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA2 | PHLB1 | PHLB2);
        break;

    case 3:                                                             /*  A1                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA2);
        break;

    case 4:                                                             /*  A1B1                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA2 | PHLB2);
        break;

    case 5:                                                             /*  B1                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLB2);
        break;

    case 6:                                                             /*  A2B1                        */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA1 | PHLA2 | PHLB2);
        break;

    case 7:                                                             /*  A2                          */
        GPIOPinWrite(GPIO_PORTD_BASE,
                     PHLA1 | PHLA2 | PHLB1 | PHLB2,
                     PHLA1 | PHLA2);
        break;

    default:
        break;
    }
}

uint8 keyCheck (void) //检测按键
{
    if (GPIOPinRead(GPIO_PORTC_BASE, KEY) == 0) {
        delay(50);
        while(GPIOPinRead(GPIO_PORTC_BASE, KEY) == 0);
        return(true);
    }else {
        return(false);
    }
}

void StepMotor_Iint (void) //步进电机初始化
{
    GPIODirModeSet(GPIO_PORTD_BASE,
                   PHRA1 |
                   PHRA2 |
                   PHRB1 |
                   PHRB2 |
                   PHLA1 |
                   PHLA2 |
                   PHLB1 |
                   PHLB2,
                   GPIO_DIR_MODE_OUT);
}

void keyInit (void)  //按键初始化
{
    GPIODirModeSet(GPIO_PORTC_BASE, KEY, GPIO_DIR_MODE_IN);           
}

void ProtectJtag(void)  //JTAG保护函数
{
  SysCtlPeripheralEnable(PROTECT_KEY_PERIPH);
  GPIOPadConfigSet(PROTECT_KEY_PORT, PROTECT_KEY_PIN, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
  GPIODirModeSet(PROTECT_KEY_PORT, PROTECT_KEY_PIN, GPIO_DIR_MODE_IN);
 
  while(GPIOPinRead(PROTECT_KEY_PORT, PROTECT_KEY_PIN) == 1)
  {
    ;
  }
}

//主函数 循环调用电机的驱动时序，使电机连续步进
main (void)
{
    ProtectJtag();
    SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN |
                    SYSCTL_XTAL_6MHZ );                                

    SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOC );                     
    SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOD );                     

    keyInit();                                                                                                           
    StepMotor_Iint();
   
    while(!keyCheck ())
    {
      delay(5000);
    }
    cStep=0;
    while(1)   
    {       
      rightMotor();
      leftMotor();
    //  delay(1250000);  //0.025s 50Hz
      delay(1250000*1/32);  //781.25us
      cStep = (cStep + 1) % 8;
    }
}

/*关于延时时间的计算经历了无数的试验，起初未加延时函数，
发现电机能够进行单步调试,
一旦连续运行则电机无反应，且迅速升温，
此时期驱动芯片温度亦立即飙升，
试想可能是其驱动时序变换太快，后随加上一秒钟的延时函数，
发现此时能正常运作，只是动作过于缓慢，
接下来就是调试延时函数的问题了，
几经试验终于找到满意的延时值*/