stm32 PWM驱动步进电机

• 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
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