STM32F103RCT6驱动A3982步进电机PWM控制速度C/H文件

#ifndef MOTOR_H #define MOTOR_H

#include "stm32f10x.h"

#define MOTOR_STEP_PORT GPIOA #define MOTOR_STEP_PIN GPIO_Pin_4

#define MOTOR_DIR_PORT GPIOA #define MOTOR_DIR_PIN GPIO_Pin_5

#define MOTOR_ENABLE_PORT GPIOA #define MOTOR_ENABLE_PIN GPIO_Pin_6

void Motor_Init(void); void Motor_SetDir(uint8_t dir); void Motor_Enable(void); void Motor_Disable(void); void Motor_Step(uint16_t step);

#endif

#include "motor.h"

void Motor_Init(void) { GPIO_InitTypeDef GPIO_InitStructure;

//使能时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

//设置引脚模式
GPIO_InitStructure.GPIO_Pin = MOTOR_STEP_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(MOTOR_STEP_PORT, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_PIN;
GPIO_Init(MOTOR_DIR_PORT, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = MOTOR_ENABLE_PIN;
GPIO_Init(MOTOR_ENABLE_PORT, &GPIO_InitStructure);

//默认禁止电机
Motor_Disable();

}

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

void Motor_Enable(void) { GPIO_ResetBits(MOTOR_ENABLE_PORT, MOTOR_ENABLE_PIN); }

void Motor_Disable(void) { GPIO_SetBits(MOTOR_ENABLE_PORT, MOTOR_ENABLE_PIN); }

void Motor_Step(uint16_t step) { uint16_t i;

for (i = 0; i < step; i++)
{
    GPIO_SetBits(MOTOR_STEP_PORT, MOTOR_STEP_PIN);
    GPIO_ResetBits(MOTOR_STEP_PORT, MOTOR_STEP_PIN);
}

}

#ifndef PWM_H #define PWM_H

#include "stm32f10x.h"

void PWM_Init(void); void PWM_SetDutyCycle(uint16_t dutyCycle);

#endif

#include "pwm.h"

void PWM_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure;

//使能时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

//设置引脚模式
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

//设置定时器
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

//设置PWM输出
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);

//启动定时器
TIM_Cmd(TIM3, ENABLE);

}

void PWM_SetDutyCycle(uint16_t dutyCycle) { TIM_SetCompare1(TIM3, dutyCycle); }

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

int main(void) { uint16_t dutyCycle = 500; uint8_t dir = 0;

Motor_Init();
PWM_Init();

while (1)
{
    //设置电机方向
    Motor_SetDir(dir);

    //启动电机
    Motor_Enable();

    //设置PWM占空比
    PWM_SetDutyCycle(dutyCycle);

    //等待一段时间
    for (int i = 0; i < 1000000; i++);

    //停止电机
    Motor_Disable();

    //反转电机方向
    dir = !dir;

    //调整PWM占空比
    if (dir == 0)
    {
        dutyCycle += 100;
        if (dutyCycle > 900) dutyCycle = 900;
    }
    else
    {
        dutyCycle -= 100;
        if (dutyCycle < 100) dutyCycle = 100;
    }
}

}