基于stm32f103rct6的步进电机驱动_keil uvision5 stm32f103rct6单片机控制测速电机

基于stm32f103rct6的步进电机驱动

硬件部分

芯片：stm32f103rct6
需要输出的信号有16个： 
	X(A~E)：PB15,PC6,PA11,PB4,PD2 
	Y(A~E)：PA12,PA15,PC10,PB9,PB7
	U(A~C)：PC11,PC12,PB3
	V(A~C)：PB5,PB6,PB8
需要注意PB3,PB4默认为非普通IO口，需要进行引脚重定义
需要一秒输出3000次信号，在配置定时器代码时需要设置ARR=100,PRC=240，见“Timer.c"
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PB3、PB4，还有PA13-15这五个引脚不是普通的IO口，这些引脚只有重定义功能后才能作为普通的IO口使用，所以我们需要对这些引脚进行配置的时候开启AFIO复用时钟。下面以PA15为例：

//开时钟
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); 
//选择以下三种的一个进行引脚重映射
	//只用PB4做普通IO口
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
	
	//PB3，PB4，PA15做普通IO，PA13&14用于SWD调试
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); 

	//五个引脚当做普通IO口
//！！！注意使用后就无法再用stlink进行调试，重启也无效，需要进入bootloard才能恢复，此处不做说明！！！
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
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代码部分

“IO_test.h”

#ifndef __IOTEST_H
#define __IOTEST_H

/*
DB25
	PA 11 12 15  
	PB 3 4 5 6 7 8 9 15
	PC 6 10 11 12
	PD 2

*/

#define DB25_XA(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_15,BitVal)
#define DB25_XB(BitVal) GPIO_WriteBit(GPIOC,GPIO_Pin_6,BitVal)		//TIM3_CH1
#define DB25_XC(BitVal) GPIO_WriteBit(GPIOA,GPIO_Pin_11,BitVal)
#define DB25_XD(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_4,BitVal)
#define DB25_XE(BitVal) GPIO_WriteBit(GPIOD,GPIO_Pin_2,BitVal)

#define DB25_YA(BitVal) GPIO_WriteBit(GPIOA,GPIO_Pin_12,BitVal)
#define DB25_YB(BitVal) GPIO_WriteBit(GPIOA,GPIO_Pin_15,BitVal)
#define DB25_YC(BitVal) GPIO_WriteBit(GPIOC,GPIO_Pin_10,BitVal)
#define DB25_YD(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_9,BitVal)
#define DB25_YE(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_7,BitVal)

#define DB25_UA(BitVal) GPIO_WriteBit(GPIOC,GPIO_Pin_11,BitVal)
#define DB25_UB(BitVal) GPIO_WriteBit(GPIOC,GPIO_Pin_12,BitVal)
#define DB25_UC(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_3,BitVal)

#define DB25_VA(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_5,BitVal)
#define DB25_VB(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_6,BitVal)
#define DB25_VC(BitVal) GPIO_WriteBit(GPIOB,GPIO_Pin_8,BitVal)

void IOtest_DB25init(void);
void X_set(u8 val);
void Y_set(u8 val);
void U_set(u8 val);
void V_set(u8 val);


#endif

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“IO_test.c”

#include "stm32f10x.h"  // Device header
#include "IOtest.h"

void IOtest_DB25init(void)
{	
/*
DB25
	PA 11 12 15  
	PB 3 4 5 6 7 8 9 15
	PC 6 10 11 12
	PD 2

*/
	GPIO_InitTypeDef	GPIO_InitStructure;
	//开时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
    //引脚重映射
    //PB3，PB4，PA15做普通IO，PA13&14用于SWD调试
	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
	
    
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;	
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_15;
	GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_10|GPIO_Pin_11|GPIO_Pin_12;
	GPIO_Init(GPIOC, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_Init(GPIOD, &GPIO_InitStructure);
}

void X_set(u8 val)
{
	DB25_XA((BitAction)(val%2));
	val/=2;
	DB25_XB((BitAction)(val%2));
	val/=2;
	DB25_XC((BitAction)(val%2));
	val/=2;
	DB25_XD((BitAction)(val%2));
	val/=2;
	DB25_XE((BitAction)(val%2));
}
void Y_set(u8 val)
{
	DB25_YA((BitAction)(val%2));
	val/=2;
	DB25_YB((BitAction)(val%2));
	val/=2;
	DB25_YC((BitAction)(val%2));
	val/=2;
	DB25_YD((BitAction)(val%2));
	val/=2;
	DB25_YE((BitAction)(val%2));
}
void U_set(u8 val)
{
	DB25_UA((BitAction)(val%2));
	val/=2;
	DB25_UB((BitAction)(val%2));
	val/=2;
	DB25_UC((BitAction)(val%2));
}
void V_set(u8 val)
{
	DB25_VA((BitAction)(val%2));
	val/=2;
	DB25_VB((BitAction)(val%2));
	val/=2;
	DB25_VC((BitAction)(val%2));
}

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“Timer.h”

/* Timer.h */
#ifndef __TIMER_H
#define __TIMER_H	  

void Timer_Init(void);
u8 Timer_getnum(void);

#endif

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“Timer.c”

#include "stm32f10x.h"                  // Device header

u8 num=0;
extern u8 Motor_signalnum;

u8 Timer_getnum(void)
{
	return num;
}

void Timer_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);
	
	TIM_InternalClockConfig(TIM2);
	
	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
	TIM_TimeBaseInitStruct.TIM_ClockDivision=TIM_CKD_DIV1;
	TIM_TimeBaseInitStruct.TIM_CounterMode=TIM_CounterMode_Up;
	TIM_TimeBaseInitStruct.TIM_Period=100-1;			//10000-1
	TIM_TimeBaseInitStruct.TIM_Prescaler=240-1;		//7200-1
	TIM_TimeBaseInitStruct.TIM_RepetitionCounter=0;
	TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStruct);
	
	TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	
	NVIC_InitTypeDef NVIC_InitStruct;
	NVIC_InitStruct.NVIC_IRQChannel=TIM2_IRQn;
	NVIC_InitStruct.NVIC_IRQChannelCmd=ENABLE;
	NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority=1;
	NVIC_InitStruct.NVIC_IRQChannelSubPriority=1;
	NVIC_Init(&NVIC_InitStruct);
	
	TIM_Cmd(TIM2, ENABLE);
}

/*
void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2, TIM_IT_Update)==SET){
		
		num++;
		if(num>70)num=0;
		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
	}
}
*/

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“Motor.h”

#ifndef __MOTOR_H
#define __MOTOR_H

void Five_phase_init(u8 motor_status);
void Five_phase_move();

#endif

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“Motor.c”

#include "stm32f10x.h"// Device header
#include "Motor.h"
#include "Timer.h"
#include "IOtest.h"

static u8 Motor_signalnum=0;
static u8 Motor_Fivephase_signals[]={0x10,0x18,0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x11};
static u8 Motor_Threephase_signals[]={4,6,2,3,1,5};
static u8 Motor_status=0;


void Five_phase_init(u8 motor_status)
{
	IOtest_DB25init();
	Timer_Init();
	Motor_signalnum=0;
	Motor_status=motor_status;
}
void Five_phase_move()
{	
	switch(Motor_status){
		case 0:
			X_set(Motor_Fivephase_signals[Motor_signalnum]);
			break;
		case 1:
			Y_set(Motor_Fivephase_signals[Motor_signalnum]);
			break;
		case 2:
			U_set(Motor_Threephase_signals[Motor_signalnum]);
			break;
		case 3:
			V_set(Motor_Threephase_signals[Motor_signalnum]);
			break;
		default:
			break;
	}
	Motor_signalnum=(Motor_signalnum+1)%10;
}


void TIM2_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM2, TIM_IT_Update)==SET){
		Five_phase_move();
		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
	}
}

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“main.c”

#include "stm32f10x.h"                  // Device header
#include "IOtest.h"
#include "Motor.h"
#include "Timer.h"

static u8 main_flag=1;

int main(void)
{	
	Five_phase_init(0);
	while(1){
		
	}
}

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