ULN2003驱动28BYJ-48步进电机STM32F103寄存器版 -

#include "bjdj.h"
#include "delay.h"
#define uint unsigned int
//步进电机正反转数组1
uint16_t phasecw[4] ={0x0200,0x0100,0x0080,0x0040};// D-C-B-A
uint16_t phaseccw[4]={0x0040,0x0080,0x0100,0x0200};// A-B-C-D.
//步进电机正反转数组2
uint16_t phasecw1[4] ={0x0800,0x0400,0x0200,0x0100};// D-C-B-A
uint16_t phaseccw1[4]={0x0100,0x0200,0x0400,0x0800};// A-B-C-D.
void Delay_xms(uint x)
{
uint i,j;
for(i=0;i<x;i++)
for(j=0;j<112;j++);
}
void Moto_Init(void)
{
//电机1
// IN4: PC9 d
// IN3: PC8 c
// IN2: PC7 b
// IN1: PC6 a
RCC->APB2ENR|=1<<4; //使能PORTC时钟
GPIOC->CRL&=0X00FFFFFF;
GPIOC->CRL|=0X33000000; //PC6,PC7 推挽输出
GPIOC->ODR=3<<6; //PC6,PC7上拉输出高
GPIOC->CRH&=0XFFFFFF00;
GPIOC->CRH|=0X00000033; //PC8,PC9 推挽输出
GPIOC->ODR=3<<8; ////PC8,PC9上拉输出高
//电机2
// IN4: PD11 d
// IN3: PD10 c
// IN2: PD9 b
// IN1: PD8 a
RCC->APB2ENR|=1<<5; //使能PORTD时钟
GPIOD->CRH&=0XFFFF0000;
GPIOD->CRH|=0X00003333; //PC8,PC9,PC10,PC11 推挽输出
GPIOD->ODR=15<<8; ////PC8,PC9,PC10,PC11上拉输出高
}
void Motorcw(uint speed) //电机1逆时针
{
uint8_t i=0;
for(i=0;i<4;i++)
{
GPIOC->ODR = phasecw[i];
delay_ms(speed);
}
}
void Motorcw1(int speed) //电机2逆时针
{
uint8_t i;
for(i=0;i<4;i++)
{
GPIOD->ODR = phasecw1[i];
delay_ms(speed);
}
}
void Motorccw(int speed) //电机1顺时针
{
uint8_t i;
for(i=0;i<4;i++)
{
GPIOC->ODR = phaseccw[i];
delay_ms(speed);
}
}
void Motorccw1(int speed) //电机2顺时针
{
uint8_t i;
for(i=0;i<4;i++)
{
GPIOD->ODR = phaseccw1[i];
delay_ms(speed);
}
}
void MotorStop(void)
{
GPIOC->ODR = 0x0000;
}
void MotorStop1(void)
{
GPIOD->ODR = 0x0000;
}
//由于 *一个脉冲* *输出轴* 转0.08789度（电机实转0.08789*64=5.625度），即步进角为5.625度。
//则转完A-B-C-D为 *8个脉冲* ，即0.08789*8=0.70312度。若称A-B-C-D为一个周期，则j为需要的转完angle角度所需的周期数。
void Motorcw_angle(int angle,int speed) //电机1逆时针
{
int i,j;
j=(int)(angle/0.70312);
for(i=0;i<j;i++)
{
Motorcw(speed);
}
}
void Motorcw_angle1(int angle,int speed) //电机2逆时针
{
int i,j;
j=(int)(angle/0.70312);
for(i=0;i<j;i++)
{
Motorcw1(speed);
}
}
void Motorccw_angle(int angle,int speed) //电机1顺时针
{
int i,j;
j=(int)(angle/0.70312);
for(i=0;i<j;i++)
{
Motorccw(speed);
}
}
void Motorccw_angle1(int angle,int speed) //电机2顺时针
{
int i,j;
j=(int)(angle/0.70312);
for(i=0;i<j;i++)
{
Motorccw1(speed);
}
}

复制代码