STM32調節步進電機源程序

ID:256683 · 發表于 2018-8-17 22:23

基于STM32步進電機調節

單片機源程序如下:

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "master_slave.h"
#include "stm32f10x_tim.h"
//#include "key.h"
//#include "timer.h"
int main(void)
{
delay_init(); //延時函數初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //設置NVIC中斷分組2:2位搶占優先級，2位響應優先級
uart_init(115200); //串口初始化為115200
LED_Init(); //LED端口初始化
LED0=0;
TIM3_CH1_init();
delay_ms(200);
while(1)
{
LED0=1;
TIM2_TIM3_PWM(2000, 12); //每次少10個脈沖
delay_ms(200);
LED0=0;
TIM2_TIM3_PWM(2000, 25); //每次少10個脈沖
delay_ms(250);
LED0=1;
TIM2_TIM3_PWM(2000, 16); //每次少10個脈沖
delay_ms(100);
LED0=0;
TIM2_TIM3_PWM(2000, 35); //每次少10個脈沖
delay_ms(150);
}
}

復制代碼

#include "master_slave.h"
#include "stm32f10x.h"
/**TIM2的通道1 使用單脈沖模式 TIM2_ch1_ETR：A0
**TIM3使用門控模式輸出PWM TIM3_ch1 ：A6
TIM2per、TIM3per: ARR重裝值（無關緊要，后面會在此賦值）
Compare1: 比較捕獲1的預裝載值（固定占空比所以，所以此參數不要了） */
void Motor_Init(u16 TIM2per, u16 TIM3per)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_APB1Periph_TIM3,ENABLE); // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; //TIM2_ch1_ETR：A0 ， TIM3_ch1 ：A6
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_6;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStruct);
/**************TIM2工作在單脈沖模式下********************/
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Prescaler = 7200; //預分配值，每100u計數一次
TIM_TimeBaseInitStruct.TIM_Period = TIM2per; //重載值
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);
TIM_SelectOnePulseMode(TIM2,TIM_OPMode_Single);//設置TIM2在單脈沖模式下，單次觸發
TIM_OC1PreloadConfig(TIM2,TIM_OCPreload_Enable);// 使能TIM2的通道1預裝載寄存器
TIM_SelectOutputTrigger(TIM2,TIM_TRGOSource_OC1Ref); //脈沖輸出通道1
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;//
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStruct.TIM_Pulse = TIM2per/2;//比較捕獲1的預裝載值占空比50%
TIM_OC1Init(TIM2,&TIM_OCInitStruct);
TIM_Cmd(TIM2,DISABLE);//先不使能TIM2
/****************TIM3再從模式的門控模式下的PWM輸出模式**************/
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Prescaler = 720;//預分頻值，10us技術一次
TIM_TimeBaseInitStruct.TIM_Period = TIM3per;//重載值
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct);
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);//TIM3為門控模式
TIM_SelectMasterSlaveMode(TIM3,TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM3,TIM_TS_ITR1);//內部從TIM2觸發
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStruct.TIM_Pulse = TIM3per/2;//比較捕獲1的預裝載值占空比50%
TIM_OC1Init(TIM3,&TIM_OCInitStruct);
TIM_Cmd(TIM3,ENABLE);
}
/*****設置PWM的輸出，精確輸出多少頻率多少個數的脈沖************/
/*****Cycle:周期，單位(us)
******Pulse_Num:脈沖個數(最大3200)
****改變TIM3的（重裝載值）改變脈沖頻率，固定占空比為50%
****改變TIM2的（預分頻器+重裝載值）改變脈沖個數 */
void TIM2_TIM3_PWM(u16 Cycle, u16 Pulse_Num)
{
u16 TIM3per = 0;
u32 Time = 0;
Time = Cycle * Pulse_Num;
Time /= 100; //預分頻為7200,100us 技術一次
TIM3per = Cycle/10; //預分頻為720 ,10us 技術一次
TIM_SetAutoreload(TIM2, Time-1); //設置TIM2的重裝載值
TIM_SetAutoreload(TIM3, TIM3per-1); //設置TIM3的重裝載值
TIM_SetCompare1(TIM3,TIM3per/2); //設置TIM3占空比為50%
TIM_Cmd(TIM2,ENABLE);
}
void TIM3_CH1_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2|RCC_APB1Periph_TIM3,ENABLE); // RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; //TIM2_ch1_ETR：A0 ， TIM3_ch1 ：A6
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_6;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStruct);
/**************TIM2工作在單脈沖模式下********************/
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Prescaler = 7200; //預分配值，每100u計數一次
TIM_TimeBaseInitStruct.TIM_Period = 400; //重載值
TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStruct);
TIM_SelectOnePulseMode(TIM2,TIM_OPMode_Single);//設置TIM2在單脈沖模式下，單次觸發
TIM_OC1PreloadConfig(TIM2,TIM_OCPreload_Enable);// 使能TIM2的通道1預裝載寄存器
TIM_SelectOutputTrigger(TIM2,TIM_TRGOSource_OC1Ref); //脈沖輸出通道1
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;//
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStruct.TIM_Pulse = 200;//比較捕獲1的預裝載值占空比50%
TIM_OC1Init(TIM2,&TIM_OCInitStruct);
TIM_Cmd(TIM2,DISABLE);//先不使能TIM2
/****************TIM3再從模式的門控模式下的PWM輸出模式**************/
TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInitStruct.TIM_Prescaler = 720;//預分頻值，10us技術一次
TIM_TimeBaseInitStruct.TIM_Period = 200;//重載值
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStruct);
TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);//TIM3為門控模式
TIM_SelectMasterSlaveMode(TIM3,TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM3,TIM_TS_ITR1);//內部從TIM2觸發
TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM2;
TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStruct.TIM_Pulse = 100; //比較捕獲1的預裝載值占空比50%
TIM_OC1Init(TIM3,&TIM_OCInitStruct);
TIM_Cmd(TIM3,ENABLE);
}
void Set_F_Pulse_Num(u16 Cycle, u16 Pulse_Num)
{
}

復制代碼

所有資料51hei提供下載:

頻率脈沖可控，驅動步進電機.rar (2.19 KB, 下載次數: 19)

ID:1 · 發表于 2018-8-18 01:20

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STM32調節步進電機源程序