stm32步进电机三轴联动控制带插补加减速

基于stm32的步进电机三轴联动控制，带插补和加减速控制。

#include “crc32.h“

#define crc32init 0xFFFFFFFFL	 /* initializer for the 32-bit CRC */
#define initcrc32（） {crc32val=crc32init;}

static CRC32 crc32val;		 /* the current value of the 32-bit CRC */


static CRC32 crc32tab[] = { /* a table of 32-bit CRC feedback terms */
0x00000000L 0x77073096L 0xee0e612cL 0x990951baL
0x076dc419L 0x706af48fL 0xe963a535L 0x9e6495a3L
0x0edb8832L 0x79dcb8a4L 0xe0d5e91eL 0x97d2d988L
0x09b64c2bL 0x7eb17cbdL 0xe7b82d07L 0x90bf1d91L
0x1db71064L 0x6ab020f2L 0xf3b97148L 0x84be41deL
0x1adad47dL 0x6ddde4ebL 0xf4d4b551L 0x83d385c7L
0x136c9856L 0x646ba8c0L 0xfd62f97aL 0x8a65c9ecL
0x14015c4fL 0x63066cd9L 0xfa0f3d63L 0x8d080df5L
0x3b6e20c8L 0x4c69105eL 0xd56041e4L 0xa2677172L
0x3c03e4d1L 0x4b04d447L 0xd20d85fdL 0xa50ab56bL
0x35b5a8faL 0x42b2986cL 0xdbbbc9d6L 0xacbcf940L
0x32d86ce3L 0x45df5c75L 0xdcd60dcfL 0xabd13d59L
0x26d930acL 0x51de003aL 0xc8d75180L 0xbfd06116L
0x21b4f4b5L 0x56b3c423L 0xcfba9599L 0xb8bda50fL
0x2802b89eL 0x5f058808L 0xc60cd9b2L 0xb10be924L
0x2f6f7c87L 0x58684c11L 0xc1611dabL 0xb6662d3dL
0x76dc4190L 0x01db7106L 0x98d220bcL 0xefd5102aL
0x71b18589L 0x06b6b51fL 0x9fbfe4a5L 0xe8b8d433L
0x7807c9a2L 0x0f00f934L 0x9609a88eL 0xe10e9818L
0x7f6a0dbbL 0x086d3d2dL 0x91646c97L 0xe6635c01L
0x6b6b51f4L 0x1c6c6162L 0x856530d8L 0xf262004eL
0x6c0695edL 0x1b01a57bL 0x8208f4c1L 0xf50fc457L
0x65b0d9c6L 0x12b7e950L 0x8bbeb8eaL 0xfcb9887cL
0x62dd1ddfL 0x15da2d49L 0x8cd37cf3L 0xfbd44c65L
0x4db26158L 0x3ab551ceL 0xa3bc0074L 0xd4bb30e2L
0x4adfa541L 0x3dd895d7L 0xa4d1c46dL 0xd3d6f4fbL
0x4369e96aL 0x346ed9fcL 0xad678846L 0xda60b8d0L
0x44042d73L 0x33031de5L 0xaa0a4c5fL 0xdd0d7cc9L
0x5005713cL 0x270241aaL 0xbe0b1010L 0xc90c2086L
0x5768b525L 0x206f85b3L 0xb966d409L 0xce61e49fL
0x5edef90eL 0x29d9c998L 0xb0d09822L 0xc7d7a8b4L
0x59b33d17L 0x2eb40d81L 0xb7bd5c3bL 0xc0ba6cadL
0xedb88320L 0x9abfb3b6L 0x03b6e20cL 0x74b1d29aL
0xead54739L 0x9dd277afL 0x04db2615L 0x73dc1683L
0xe3630b12L 0x94643b84L 0x0d6d6a3eL 0x7a6a5aa8L
0xe40ecf0bL 0x9309ff9dL 0x0a00ae27L 0x7d079eb1L
0xf00f9344L 0x8708a3d2L 0x1e01f268L 0x6906c2feL
0xf762575dL 0x806567cbL 0x196c3671L 0x6e6b06e7L
0xfed41b76L 0x89d32be0L 0x10da7a5aL 0x67dd4accL
0xf9b9df6fL 0x8ebeeff9L 0x17b7be43L 0x60b08ed5L
0xd6d6a3e8L 0xa1d1937eL 0x38d8c2c4L 0x4fdff252L
0xd1bb67f1L 0xa6bc5767L 0x3fb506ddL 0x48b2364bL
0xd80d2bdaL 0xaf0a1b4cL 0x36034af6L 0x41047a60L
0xdf60efc3L 0xa867df55L 0x316e8eefL 0x4669be79L
0xcb61b38cL 0xbc66831aL 0x256fd2a0L 0x5268e236L
0xcc0c7795L 0xbb0b4703L 0x220216b9L 0x5505262fL
0xc5ba3bbeL 0xb2bd0b28L 0x2bb45a92L 0x5cb36a04L
0xc2d7ffa7L 0xb5d0cf31L 0x2cd99e8bL 0x5bdeae1dL
0x9b64c2b0L 0xec63f226L 0x756aa39cL 0x026d930aL
0x9c0906a9L 0xeb0e363fL 0x72076785L 0x05005713L
0x95bf4a82L 0xe2b87a14L 0x7bb12baeL 0x0cb61b38L
0x92d28e9bL 0xe5d5be0dL 0x7cdcefb7L 0x0bdbdf21L
0x86d3d2d4L 0xf1d4e242L

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       2266  2014-03-07 07:22  CNC-STM32-master\.gitignore

     文件        582  2014-03-07 07:22  CNC-STM32-master\build.bat

     文件        929  2014-03-07 07:22  CNC-STM32-master\cnc.sln

    .......     75692  2016-02-22 15:09  CNC-STM32-master\cnc.uvgui.Administrator

    .......     76441  2016-01-02 05:11  CNC-STM32-master\cnc.uvgui_Administrator.bak

    .......     56322  2015-12-25 16:19  CNC-STM32-master\cnc.uvopt

     文件      55003  2015-07-26 12:12  CNC-STM32-master\cnc.uvproj

     文件       8205  2014-03-07 07:22  CNC-STM32-master\cnc.vcxproj

     文件       9049  2014-03-07 07:22  CNC-STM32-master\cnc.vcxproj.filters

     文件     120647  2016-02-22 15:09  CNC-STM32-master\cnc_CNC-STM32F10X.dep

    .......     58530  2015-07-26 12:12  CNC-STM32-master\cnc_uvopt.bak

     文件      53591  2015-01-19 22:08  CNC-STM32-master\cnc_uvproj.bak

     文件       8281  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\ccsbcs.crf

     文件        274  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\ccsbcs.d

     文件      17944  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\ccsbcs.o

     文件     804928  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.axf

     文件        403  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.build_log.htm

     文件     183320  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.hex

     文件     247192  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.htm

     文件       1850  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.lnp

     文件     329406  2016-02-22 15:09  CNC-STM32-master\out\STM32F10X\cnc.map

     文件        479  2014-11-23 19:34  CNC-STM32-master\out\STM32F10X\cnc.sct

     文件       5502  2015-01-21 20:30  CNC-STM32-master\out\STM32F10X\cnc.tra

     文件        454  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\crc32.crf

     文件        100  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\crc32.d

     文件      10504  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\crc32.o

     文件     367477  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\diskio.crf

     文件       2819  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\diskio.d

     文件     401500  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\diskio.o

     文件     364126  2015-12-31 18:50  CNC-STM32-master\out\STM32F10X\encoder.crf

............此处省略481个文件信息