- 项目:stm32 PWM驱动步进电机
- 代码:
- StepperMotor.c
#include "stm32f10x.h" #include "PWM.h" //PA4(AIN1),PA5(AIN2)步进电机GPIO端口初始化 void StepperMotor_Init(void) { //配置PB1为复用推挽输出 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); PWM_Init(); //初始化TIM3_CH4(PB1)输出PWM } //设定步进电机速度函数 void StepperMotor_SetSpeed(int8_t Speed) { if(Speed >= 0) { GPIO_SetBits(GPIOA, GPIO_Pin_4); GPIO_ResetBits(GPIOA, GPIO_Pin_5); PWM_SetCompare4(Speed); //设置CCR值来设置占空比,从而实现调速 } else { GPIO_ResetBits(GPIOA, GPIO_Pin_4); GPIO_SetBits(GPIOA, GPIO_Pin_5); PWM_SetCompare4(-Speed); } }
- StepperMotor.h
#ifndef __StepperMotor_H #define __StepperMotor_H void StepperMotor_Init(void); void StepperMotor_SetSpeed(int8_t Speed); #endif
- main.c
#include "stm32f10x.h" #include "Delay.h" #include "OLED.h" #include "StepperMotor.h" #include "Key.h" uint8_t KeyNum; int8_t Speed; int main(void) { OLED_Init(); StepperMotor_Init(); StepperMotor_SetSpeed(-50); OLED_ShowString(1, 1, "Speed:"); while(1) { KeyNum = Key_GetNum(); if(KeyNum == 1) { Speed += 20; if(Speed> 100) { Speed = -100; } } StepperMotor_SetSpeed(Speed); OLED_ShowSignedNum(1, 7, Speed, 3); } }
- PWM.c
#include "stm32f10x.h" void PWM_Init(void) { //PB1默认TIM3_CH4通道 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //配置PB1为复用推挽输出 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出,中断控制来自片上外设(TIM3_CH3),而非输出数据寄存器 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); //设置TIM3定时器内部时钟源 TIM_InternalClockConfig(TIM3); //频率2kHz,占空比100% TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStructure.TIM_Period = 100 - 1; //ARR TIM_TimeBaseInitStructure.TIM_Prescaler = 36 - 1; //PSC TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure); //清除更新标志位 TIM_ClearFlag(TIM3, TIM_FLAG_Update); TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); //TIM3中断配置使能 TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCStructInit(&TIM_OCInitStructure); //给结构体赋初始值 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //输出比较模式 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //极性选择 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //输出使能 TIM_OCInitStructure.TIM_Pulse = 0; //初始值设CCR为0 TIM_OC4Init(TIM3, &TIM_OCInitStructure); //打开TIM3定时器外设 TIM_Cmd(TIM3, ENABLE); } //PWM占空比的函数 void PWM_SetCompare4(uint16_t Compare4) { TIM_SetCompare4(TIM3, Compare4); //设置CCR值 }
- PWM.h
#ifndef __PWM_H #define __PWM_H void PWM_Init(void); void PWM_SetCompare4(uint16_t Compare4); #endif
- 参考资料