STM32简单的步进电机动作程序

ID:595839 · 发表于 2019-11-2 12:34

#include "motor.h"
#include "delay.h"
int motor_speed;
int motor_route;
int motor_time;
void motor_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC , ENABLE); //使能GPIO外设时钟使能
//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
//PWM输出初始化
//arr：自动重装值
//psc：时钟预分频数
void motor_pwm(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);//
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能
//设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8; //TIM_CH1
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 80K
TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值不分频
TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1
; //选择定时器模式:TIM脉冲宽度调制模式2
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
TIM_Cmd(TIM1, ENABLE); //使能TIM1
}
int motor_spe(void)
{
int i;
int n;
n=motor_speed*3/57.6; //电机转轮是皮带轮的三分之一，所以*3
i=72000000/(3200*n);
return i;
}
void motor_set(int sp,int re)
{
motor_speed=sp;
motor_route=re;
motor_time=re*1000/sp;
delay_ms(10);
}
void motor_run()
{
int i;
int n;
n=motor_spe();
motor_EN=1;
for(i=19999;i>n;i=i-100)//
{
TIM1->ARR=i;
delay_us(500);
TIM_SetCompare1(TIM1,i/2);
}
}
void motor_stop()
{
int i;
int n;
n=motor_spe();
for(i=n;i<19999;i=i+100)
{
TIM1->ARR=i;
delay_us(100);
TIM_SetCompare1(TIM1,i/2);
}
for(i=n;i<15999;i=i+100)
{
TIM1->ARR=i;
delay_us(100);
TIM_SetCompare1(TIM1,i/2);
}
motor_EN=0;
}
void motor_fwd(void)
{
motor_EN=0;
delay_us(100);
motor_DIR=1;
delay_us(100);
}
void motor_rev(void)
{
motor_EN=0;
delay_us(100);
motor_DIR=0;
delay_us(100);
}

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STM32简单的步进电机动作程序

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