步进电机S型曲线加减速算法-状态机控制：

主从定时器参考我之前这篇文章：传送门
加减速控制

void SpeedAdjust(uint16_t count)
{
	
	TIM_SetAutoreload(TIM1,CurveS_Para[count]);//设定自动重装值	
	TIM_SetCompare2(TIM1,CurveS_Para[count]>>1); //匹配值2等于重装值一半，是以占空比为50%	
	TIM_CtrlPWMOutputs(TIM1,ENABLE);	//MOE 主输出使能		
	
	if(Motor.Status == SPEED_INCREASE)            //加速
	{
		Motor.CountTemp++;
	}
	else if(Motor.Status == SPEED_DECREASE)       //减速
	{
		Motor.CountTemp--;	
	}
	//Motor.Count = Motor.CountTemp*(50/Motor.CountPropor);    //加速次数
	Motor.Count = Motor.CountTemp; 
}

状态机放在TIM4中断中

void SpeedAdjustMachine(void)
{
	switch(Motor.Status)
	{
		/*加速*/						
		case SPEED_INCREASE:
			if(Motor.Count >= Motor.COUNT_MAX)
			{
				Motor.Status = SPEED_STABLE;
			}
			else
			{
				SpeedAdjust(Motor.Count); 
				
			}
			break;

		/*匀速*/	
		case SPEED_STABLE:
			if(Motor.PWMcount >= (Motor.PWMneed-Motor.SpeedDecPWM))
			{		
				Motor.Status = SPEED_DECREASE;	
			}
			break;
				
		/*减速*/	
		case SPEED_DECREASE:
			if(Motor.Count >=1)
			{
				SpeedAdjust(Motor.Count); 
			}
			if(Motor.PWMcount==Motor.PWMneed )
			{
				Motor.Status = Stop;	
			}
			break;
		/*停止*/
		case Stop:	
			TIM_CtrlPWMOutputs(TIM1,DISABLE);
			TIM_Cmd(TIM1,DISABLE);
			TIM_Cmd(TIM4,DISABLE);	
			Motor.CountTemp = 0;
			Motor.PWMcount  = 0;
			TIM_ITConfig( TIM4, TIM_IT_Update, DISABLE);
			break;
		/*无加减速*/
		case UNIFM:
			if(Motor.PWMcount==Motor.PWMneed )
			{
				Motor.Status = Stop;	
			}
			break;
		default :
			break;
	}
}