STM32F103RCT6 步进电机 PWM 控制 C 代码

#ifndef __MOTOR_H
#define __MOTOR_H

#include "stm32f10x.h"

#define MOTOR_STEP_PIN      GPIO_Pin_0
#define MOTOR_DIR_PIN       GPIO_Pin_1
#define MOTOR_PORT          GPIOA

void Motor_Init(void);
void Motor_SetDirection(uint8_t dir);
void Motor_Step(void);

#endif

#include "motor.h"

void Motor_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = MOTOR_STEP_PIN | MOTOR_DIR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(MOTOR_PORT, &GPIO_InitStructure);
}

void Motor_SetDirection(uint8_t dir)
{
    if (dir == 0)
    {
        GPIO_ResetBits(MOTOR_PORT, MOTOR_DIR_PIN);
    }
    else
    {
        GPIO_SetBits(MOTOR_PORT, MOTOR_DIR_PIN);
    }
}

void Motor_Step(void)
{
    GPIO_SetBits(MOTOR_PORT, MOTOR_STEP_PIN);
    GPIO_ResetBits(MOTOR_PORT, MOTOR_STEP_PIN);
}

#ifndef __PWM_H
#define __PWM_H

#include "stm32f10x.h"

#define PWM_TIM             TIM3
#define PWM_TIM_CLK         RCC_APB1Periph_TIM3
#define PWM_TIM_IRQn        TIM3_IRQn
#define PWM_TIM_IRQHandler  TIM3_IRQHandler
#define PWM_GPIO_PORT       GPIOA
#define PWM_GPIO_PIN        GPIO_Pin_6
#define PWM_GPIO_CLK        RCC_APB2Periph_GPIOA

void PWM_Init(uint16_t period, uint16_t duty_cycle);
void PWM_SetDutyCycle(uint16_t duty_cycle);

#endif

#include "pwm.h"

void PWM_Init(uint16_t period, uint16_t duty_cycle)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB1PeriphClockCmd(PWM_TIM_CLK, ENABLE);
    RCC_APB2PeriphClockCmd(PWM_GPIO_CLK, ENABLE);

    GPIO_InitStructure.GPIO_Pin = PWM_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(PWM_GPIO_PORT, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = period - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(PWM_TIM, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = duty_cycle - 1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(PWM_TIM, &TIM_OCInitStructure);

    TIM_Cmd(PWM_TIM, ENABLE);
}

void PWM_SetDutyCycle(uint16_t duty_cycle)
{
    TIM_SetCompare1(PWM_TIM, duty_cycle - 1);
}

#include "stm32f10x.h"
#include "motor.h"
#include "pwm.h"

int main(void)
{
    Motor_Init();
    PWM_Init(1000, 500);

    while (1)
    {
        Motor_SetDirection(0);
        for (int i = 0; i < 200; i++)
        {
            Motor_Step();
            PWM_SetDutyCycle(i);
            for (int j = 0; j < 10000; j++);
        }

        Motor_SetDirection(1);
        for (int i = 199; i >= 0; i--)
        {
            Motor_Step();
            PWM_SetDutyCycle(i);
            for (int j = 0; j < 10000; j++);
        }
    }
}