STM32驱动步进电机（最全的版本寄存器+HAL库实现）

矫情吗；* 2023-03-02 13:17 14阅读 0赞

### 步进电机 ###

*  1 简介
 *   *  1.1 什么是步进电机
     *  1.2 步进电机和直流电机区别
     *  1.3 器材与配置
     *   *  1.3.1 步进电机
         *  1.3.2 驱动器
         *  1.3.3 引脚
 *  2 定时器的
 *  3 驱动代码
 *   *  3.1 初始化
     *  3.2 控制
 *  4. HAL库版本
 *   *  4.1 源码
 *  工程源码

# 1 简介 #

## 1.1 什么是步进电机 ##

步进电机是一种将电脉冲信号转换成相应角位移或线位移的电动机。每输入一个脉冲信号，转子就转动一个角度或前进一步，其输出的角位移或线位移与输入的脉冲数成正比，转速与脉冲频率成正比。因此，步进电动机又称脉冲电动机  
详见百度百科：[点击][Link 1]

## 1.2 步进电机和直流电机区别 ##

<table> 
 <thead> 
  <tr> 
   <th>种类</th> 
   <th>直流电机</th> 
   <th>步进电机</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td>性质</td> 
   <td>将直流电能转换为机械能的电动机</td> 
   <td>将电脉冲信号转变为角位移或线位移的开环控制电机</td> 
  </tr> 
  <tr> 
   <td>原理</td> 
   <td>当直流电源通过电刷向电枢绕组供电时，电枢表面的N极下导体可以流过相同方向的电流，根据左手定则导体将受到逆时针方向的力矩作用；电枢表面S极下部分导体也流过相同方向的电流，同样根据左手定则导体也将受到逆时针方向的力矩作用</td> 
   <td>通常电机的转子为永磁体，当电流流过定子绕组时，定子绕组产生一矢量磁场。该磁场会带动转子旋转一角度，使得转子的一对磁场方向与定子的磁场方向一致。当定子的矢量磁场旋转一个角度。转子也随着该磁场转一个角度</td> 
  </tr> 
  <tr> 
   <td>主要不同</td> 
   <td>直流电机内部有随电机转动而自动换向的绕组转换zhi机构</td> 
   <td>步进电机的内部是没有绕组换向机构的</td> 
  </tr> 
 </tbody> 
</table>

## 1.3 器材与配置 ##

### 1.3.1 步进电机 ###

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NmOTA5MA_size_16_color_FFFFFF_t_70]

### 1.3.2 驱动器 ###

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### 1.3.3 引脚 ###

# 2 定时器的 #

# 3 驱动代码 #

本设计是采用TIM3->CH2通道 PB5 ，通过改变PB5的频率 从而达到变速设置。两个按键一个是加速、一个是减速。  
**注！！！！**：  
1.步进电机通电后不会转  
2.步进电机驱动器有一个保护就是速度过大会自动停止电机  
3.如果发出怪声音是频率问题  
4.步进电机是改变频率不是改变占空比调速  
所以调速就改变计时器的输出频率就ok了  
5.此版本是测试版本，只是简单实现了加速和减速功能，后续会优化加速减速功能，比如缓冲停车，加速分档等等

## 3.1 初始化 ##

下面展示一些 `寄存器初始化`。

void TIM3_Configuration( void)
    {
        
    	
    	RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
    	RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
    	AFIO->MAPR = AFIO_MAPR_TIM3_REMAP_1; //部分映像
    	GPIOB->CRL = (GPIOB->CRL & 0XFF0FFFF0) | 0XB00003;
    	TIM3->ARR = 9;
    	TIM3->PSC =71;
    	TIM3->RCR = 1;
    	TIM3->CR1 = TIM_CR1_CKD& 0X0000;
    	TIM3->CR1 &=~TIM_CR1_DIR;
    	TIM3->CCMR1 |= TIM_CCMR1_OC2M |( TIM_CCMR1_CC2S&0x0000)| TIM_CCMR1_OC2PE;
    	TIM3->CR1 |= TIM_CR1_ARPE;
    	TIM3->CCR2 = 9/2;
    	TIM3->CCER |= TIM_CCER_CC2P | TIM_CCER_CC2E;
    	TIM3->EGR |= TIM_EGR_UG;
    	TIM3->CR1 |= TIM_CR1_CEN;
    	TIM3->BDTR |= TIM_BDTR_MOE;
    	//电机
    	GPIOB->CRH = (GPIOB->CRH & 0X0FFFFFFF) | 0X30000000;
    	
    }

## 3.2 控制 ##

下面展示一些 `内联代码片`。

// An highlighted block
    int main()
    
    {
        
    	RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPCEN;
    	GPIOA->CRL |= (GPIOA->CRL & 0XFFFFFFF0) | 0X4;
    	GPIOC->CRH |= (GPIOC->CRH & 0XFF0FFFFF) | 0X400000;
    	TIM3_Configuration();
    	int i = 1;
    	GPIOB->ODR |= GPIO_ODR_ODR0;
    	while(1)
    	{
        
    		
    		int i; 
    		for(i = 0; i < 60; i++)
    		{
        
    			delay_ms(10);
    			TIM2->CCR3 = i*5;
    		}
    		for(i = 60; i> 0; i--)
    		{
        
    			delay_ms(10);
    			TIM2->CCR3 = i*5;
    		}
    		//减速
    		if(GPIOA->IDR & GPIO_IDR_IDR0)
    		{
        
    			delay_ms(1000);
    			GPIOB->ODR &=~GPIO_ODR_ODR0;
    	
    			if(GPIOA->IDR & GPIO_IDR_IDR0)
    			{
        
    				delay_ms(1000);
    				i++;
    				TIM3->ARR = i*50;
    	
    			}
    		}
    		//加速
    		if(GPIOC->IDR & GPIO_IDR_IDR13)
    		{
        
    			delay_ms(1000);
    			GPIOB->ODR |= GPIO_ODR_ODR0;
    			if(GPIOA->IDR & GPIO_IDR_IDR13)
    			{
        
    				delay_ms(1000);
    				i--;
    				TIM3->ARR = i*5;
    			}
    		}
    		if(i > 10 || i <= 1)
    			i = 1;
    	}
    
    }

# 4. HAL库版本 #

## 4.1 源码 ##

HAL库的初始化笔者直接在STM32Cube.mx中生成的，这里给出生成的代码，和控制代码

`main.c`

// An highlighted block
    #include <stm32f1xx.h>
    #include <stdio.h>
    UART_HandleTypeDef huart1;
    TIM_HandleTypeDef timhandle;
    TIM_OC_InitTypeDef timoc;
    void Error_Handler(void);
    int i = 79;
    void led_init()
    {
        
    	GPIO_InitTypeDef gpio = {
        0};
    	gpio.Mode = GPIO_MODE_OUTPUT_PP;
    	gpio.Pin = GPIO_PIN_1 |GPIO_PIN_0;
    	gpio.Pull = GPIO_NOPULL;
    	gpio.Speed = GPIO_SPEED_FREQ_HIGH;
    	HAL_GPIO_Init(GPIOB, &gpio);
    	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1| GPIO_PIN_0 ,GPIO_PIN_RESET);
    	
    }
    void pwm_init()
    {
        
    	/*PB5*/
    	GPIO_InitTypeDef gpio = {
        0};
    	gpio.Mode = GPIO_MODE_AF_PP;
    	gpio.Pin = GPIO_PIN_5;
    	gpio.Speed = GPIO_SPEED_FREQ_HIGH;
    	HAL_GPIO_Init(GPIOB, &gpio);
    	
    	/*TIM3 CH2*/
    	__HAL_RCC_TIM3_CLK_ENABLE();
    	__HAL_RCC_AFIO_CLK_ENABLE();
    	__HAL_AFIO_REMAP_TIM3_PARTIAL();
    
    	timhandle.Init.Period = i;
    	timhandle.Init.Prescaler = 25;
    	timhandle.Init.CounterMode = TIM_COUNTERMODE_UP;
    	timhandle.Instance=TIM3;
    	HAL_TIM_PWM_Init(&timhandle);
    
    	timoc.Pulse = 4;
    	timoc.OCMode = TIM_OCMODE_PWM2;
    	HAL_TIM_PWM_ConfigChannel(&timhandle,&timoc,TIM_CHANNEL_2);//配置TIM3通道2    
    	HAL_TIM_PWM_Start(&timhandle,TIM_CHANNEL_2);//开启PWM通道2
    
    
    }
    /**
    * @brief UART MSP Initialization
    * This function configures the hardware resources used in this example
    * @param huart: UART handle pointer
    * @retval None
    */
    void HAL_UART_MspInit(UART_HandleTypeDef* huart)
    {
        
      GPIO_InitTypeDef GPIO_InitStruct = {
        0};
      if(huart->Instance==USART1)
      {
        
      /* USER CODE BEGIN USART1_MspInit 0 */
    
      /* USER CODE END USART1_MspInit 0 */
        /* Peripheral clock enable */
        __HAL_RCC_USART1_CLK_ENABLE();
      
        __HAL_RCC_GPIOA_CLK_ENABLE();
        /**USART1 GPIO Configuration    
        PA9     ------> USART1_TX
        PA10     ------> USART1_RX 
        */
        GPIO_InitStruct.Pin = GPIO_PIN_9;
        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
        GPIO_InitStruct.Pin = GPIO_PIN_10;
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
    
      /* USER CODE BEGIN USART1_MspInit 1 */
    
      /* USER CODE END USART1_MspInit 1 */
      }
    
    }
    /**
    * @brief UART MSP De-Initialization
    * This function freeze the hardware resources used in this example
    * @param huart: UART handle pointer
    * @retval None
    */
    void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
    {
        
      if(huart->Instance==USART1)
      {
        
      /* USER CODE BEGIN USART1_MspDeInit 0 */
    
      /* USER CODE END USART1_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_USART1_CLK_DISABLE();
      
        /**USART1 GPIO Configuration    
        PA9     ------> USART1_TX
        PA10     ------> USART1_RX 
        */
        HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
    
      /* USER CODE BEGIN USART1_MspDeInit 1 */
    
      /* USER CODE END USART1_MspDeInit 1 */
      }
    
    }
    /**
      * @brief USART1 Initialization Function
      * @param None
      * @retval None
      */
    static void MX_USART1_UART_Init(void)
    {
        
    
      /* USER CODE BEGIN USART1_Init 0 */
    
      /* USER CODE END USART1_Init 0 */
    
      /* USER CODE BEGIN USART1_Init 1 */
    
      /* USER CODE END USART1_Init 1 */
      huart1.Instance = USART1;
      huart1.Init.BaudRate = 115200;
      huart1.Init.WordLength = UART_WORDLENGTH_8B;
      huart1.Init.StopBits = UART_STOPBITS_1;
      huart1.Init.Parity = UART_PARITY_NONE;
      huart1.Init.Mode = UART_MODE_TX_RX;
      huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
      huart1.Init.OverSampling = UART_OVERSAMPLING_16;
      if (HAL_MultiProcessor_Init(&huart1, 0, UART_WAKEUPMETHOD_IDLELINE) != HAL_OK)
      {
        
        Error_Handler();
      }
      /* USER CODE BEGIN USART1_Init 2 */
    
      /* USER CODE END USART1_Init 2 */
    
    }
    
    /**
      * @brief GPIO Initialization Function
      * @param None
      * @retval None
      */
    static void MX_GPIO_Init(void)
    {
        
      GPIO_InitTypeDef GPIO_InitStruct = {
        0};
    
      /* GPIO Ports Clock Enable */
      __HAL_RCC_GPIOC_CLK_ENABLE();
      __HAL_RCC_GPIOA_CLK_ENABLE();
    
    
      /*Configure GPIO pin : PC13 */
      GPIO_InitStruct.Pin = GPIO_PIN_13;
      GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
    
      /*Configure GPIO pin : PA0 */
      GPIO_InitStruct.Pin = GPIO_PIN_0;
      GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
      GPIO_InitStruct.Pull = GPIO_NOPULL;
      HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
      /* EXTI interrupt init*/
      HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 1);
      HAL_NVIC_EnableIRQ(EXTI0_IRQn);
    
      HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 1);
      HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
    
    }
    
    
    /* USER CODE BEGIN 4 */
    
    /* USER CODE END 4 */
    
    /**
      * @brief  This function is executed in case of error occurrence.
      * @retval None
      */
    void Error_Handler(void)
    {
        
      /* USER CODE BEGIN Error_Handler_Debug */
      /* User can add his own implementation to report the HAL error return state */
    
      /* USER CODE END Error_Handler_Debug */
    }
    int main(void)
    {
        
    
    	HAL_Init();
    	HAL_UART_MspDeInit(&huart1);
    	MX_USART1_UART_Init();
    	MX_GPIO_Init();
    	__HAL_RCC_GPIOB_CLK_ENABLE();
    	__HAL_RCC_USART1_CLK_ENABLE();
    	led_init();
    	pwm_init();
    	
    	while(1){
        
    	if(i <20  && i > 7199)
    		i = 500;
    	
    	}
    }
    
    
    void EXTI0_IRQHandler(void)
    {
        
    	i -= 20;
    //	timhandle.Init.Period = i*10;
    	TIM3->ARR = 500;
      /* USER CODE BEGIN EXTI0_IRQn 0 */
    	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_SET);
      /* USER CODE END EXTI0_IRQn 0 */
      HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
      /* USER CODE BEGIN EXTI0_IRQn 1 */
    
      /* USER CODE END EXTI0_IRQn 1 */
    }
    
    void EXTI15_10_IRQHandler(void)
    {
        
    	i += 100;
    //	timhandle.Init.Period = i*10;
      /* USER CODE BEGIN EXTI15_10_IRQn 0 */
    	TIM3->ARR = 10;
      /* USER CODE END EXTI15_10_IRQn 0 */
    		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
      HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
      /* USER CODE BEGIN EXTI15_10_IRQn 1 */
    
      /* USER CODE END EXTI15_10_IRQn 1 */
    }

# 工程源码 #

1.csdn：[点击][Link 2]  
2.在微信搜索：`MeiXiangDao2020` 关注公众号：媒想到叭。 然后回复： 步进电机

[Link 1]: https://baike.baidu.com/item/%E6%AD%A5%E8%BF%9B%E7%94%B5%E6%9C%BA/276803
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NmOTA5MA_size_16_color_FFFFFF_t_70]: /images/20230208/642fa4d7d7ce478581d34600c1b5413f.png
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[Link 2]: https://download.csdn.net/download/sf9090/12670993