步进电机梯形加减速实现

步进电机梯形加减速实现，有效的控制步进电机的加速与减速，能够达到平稳过度到设定速度，并保证不失步不过冲

/**
  ******************************************************************************
  * @file    system_stm32f4xx.c
  * @author  MCD Application Team
  * @version V2.6.1
  * @date    14-February-2017
  * @brief   CMSIS Cortex-M4 Device Peripheral Access layer System Source File.
  *
  *   This file provides two functions and one global variable to be called from 
  *   user application:
  *      - SystemInit（）: This function is called at startup just after reset and 
  *                      before branch to main program. This call is made inside
  *                      the “startup_stm32f4xx.s“ file.
  *
  *      - SystemCoreClock variable: Contains the core clock （HCLK） it can be used
  *                                  by the user application to setup the SysTick 
  *                                  timer or configure other parameters.
  *                                     
  *      - SystemCoreClockUpdate（）: Updates the variable SystemCoreClock and must
  *                                 be called whenever the core clock is changed
  *                                 during program execution.
  *
  *
  ******************************************************************************
  * @attention
  *
  * 
© COPYRIGHT 2017 STMicroelectronics

  *
  * Redistribution and use in source and binary forms with or without modification
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS“
  * AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL
  * DAMAGES （INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE DATA OR PROFITS; OR BUSINESS INTERRUPTION） HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY
  * OR TORT （INCLUDING NEGLIGENCE OR OTHERWISE） ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/** @addtogrou

 属性            大小     日期    时间   名称
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     文件       5339  2017-06-02 09:46  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\.mxproject

     文件     238945  2017-06-09 10:44  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\CubeMX1.png

     文件     229511  2017-05-27 11:48  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\CubeMX2.jpg

     文件      24509  2017-06-09 10:43  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\CubeMX3.png

     文件      37722  2017-06-02 09:12  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\CubeMX4.png

     文件      19519  2017-06-02 09:12  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\CubeMX5.png

     文件     723643  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xc.h

     文件     723643  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xe.h

     文件    1232312  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f405xx.h

     文件    1348059  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h

     文件     605580  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410cx.h

     文件     605889  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410rx.h

     文件     600827  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410tx.h

     文件     727138  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f411xe.h

     文件    1168587  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412cx.h

     文件    1256407  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412rx.h

     文件    1256407  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412vx.h

     文件    1256479  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412zx.h

     文件    1310887  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f413xx.h

     文件    1255857  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f415xx.h

     文件    1371204  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f417xx.h

     文件    1322050  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f423xx.h

     文件    1450333  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f427xx.h

     文件    1478761  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f429xx.h

     文件    1474393  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f437xx.h

     文件    1502045  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f439xx.h

     文件    1379421  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f446xx.h

     文件    1752088  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f469xx.h

     文件    1775633  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f479xx.h

     文件      10796  2017-05-27 11:05  YSF4_HAL_MOTOR-106.57&42步进电机梯形加减速实现\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h

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