STM32F1单片机驱动42步进电机

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已于 2025-02-28 15:52:20 修改

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分类专栏： STM32学习文章标签：单片机 stm32 嵌入式硬件

于 2025-02-28 15:36:51 首次发布

本文链接：https://blog.youkuaiyun.com/weixin_64192009/article/details/145930210

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我们使用的单片机是STM32F103ZET6，电机是42步进电机（额定电流是1A）、驱动是TMC2209；但是暂时使用2160这个外接驱动（注意：2160为大电流电机驱动不能长时间带动这个42电机，否则会发烫烧电机）。

开启一个定时器2外设中断：为电机提供步进脉冲；
开启三个GPIO口：作为EN、STEP、DIR控制；
42步进电机：步距角1.8°、16细分、3200步每圈。

一、代码：

tim.c:

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    tim.c
  * @brief   This file provides code for the configuration
  *          of the TIM instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "tim.h"

/* USER CODE BEGIN 0 */
// 在全局变量区添加
uint8_t StepperState;
volatile uint32_t step_counter;
volatile bool rotation_enable;

/* USER CODE END 0 */

TIM_HandleTypeDef htim2;

/* TIM2 init function */
void MX_TIM2_Init(void)
{

  /* USER CODE BEGIN TIM2_Init 0 */

  /* USER CODE END TIM2_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM2_Init 1 */

  /* USER CODE END TIM2_Init 1 */
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 36 - 1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 100 - 1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM2_Init 2 */
  HAL_TIM_Base_Start_IT(&htim2);
  /* USER CODE END TIM2_Init 2 */

}

void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspInit 0 */

  /* USER CODE END TIM2_MspInit 0 */
    /* TIM2 clock enable */
    __HAL_RCC_TIM2_CLK_ENABLE();

    /* TIM2 interrupt Init */
    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspInit 1 */

  /* USER CODE END TIM2_MspInit 1 */
  }
}

void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{

  if(tim_baseHandle->Instance==TIM2)
  {
  /* USER CODE BEGIN TIM2_MspDeInit 0 */

  /* USER CODE END TIM2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_TIM2_CLK_DISABLE();

    /* TIM2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(TIM2_IRQn);
  /* USER CODE BEGIN TIM2_MspDeInit 1 */

  /* USER CODE END TIM2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */


/* 电机调速函数（TIM2重新配置频率函数） */
void Stepper_SetSpeed(uint32_t new_period, uint16_t new_prescaler)
{
  HAL_TIM_Base_Stop_IT(&htim2);
  
  htim2.Init.Prescaler = new_prescaler;
  htim2.Init.Period = new_period;
  
  if (HAL_TIM_Base_Init(&htim2) == HAL_OK) {
    HAL_TIM_Base_Start_IT(&htim2);
  }
}


/*
 * @brief: 步进电机控制函数
 * @param: step_mode: 步进模式，1为正常运动，2为正反转
 * @return: 无
 * @note: 步进电机控制函数，根据步进模式控制步进电机的运动

*/
void Stepper_Isr(uint8_t step_mode)
{
  static uint8_t dir_switch = 0;

  if(rotation_enable) {
    // 生成步进脉冲（电平翻转）
    if (StepperState == 0)
    {
      MOTOR_STEP_H;
      StepperState = 1;
    }
    else
    {
      MOTOR_STEP_L;
      StepperState = 0;
      step_counter++;
    }
    
    if(step_counter >= (MOTOR_ONE_CIRCLE_STEP * MOTOR_NUM) && step_mode == 1) { 
      step_counter = 0;
      static uint8_t motor_speed = 0;
      switch (motor_speed)
      {
        case 0:
          Stepper_SetSpeed(800 - 1, 36 - 1);
          break;
        
        case 1:
          Stepper_SetSpeed(600 - 1, 36 - 1);
          break;

        case 2:
          Stepper_SetSpeed(400 - 1, 36 - 1);
          break;

        case 3:
          Stepper_SetSpeed(200 - 1, 36 - 1);
          break;

        case 4:
          Stepper_SetSpeed(100 - 1, 36 - 1);
          break;
      
        default:
          break;
      }      
      motor_speed++;
      if(motor_speed >= 5) {
        motor_speed = 0;
      }
    }

    // 仅在上升沿计数
    if(step_counter >= 3200 && step_mode == 2) { 
        step_counter = 0;
        // 切换方向
      if (dir_switch == 0)
      {
        MOTOR_DIR_REVER;
        dir_switch = 1;
      }
      else
      {
        MOTOR_DIR_CW;
        dir_switch = 0;
      }
    }
  }
}


void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if (htim == (&htim2))
  {
    Stepper_Isr(0);
  }
}


/* USER CODE END 1 */

tim.h

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    tim.h
  * @brief   This file contains all the function prototypes for
  *          the tim.c file
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TIM_H__
#define __TIM_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

extern TIM_HandleTypeDef htim2;

/* USER CODE BEGIN Private defines */
#define MOTOR_ONE_CIRCLE_STEP     3200       // 电机每圈的步数
#define MOTOR_NUM                 1          // 电机跑的圈数

/* USER CODE END Private defines */

void MX_TIM2_Init(void);

/* USER CODE BEGIN Prototypes */
void Stepper_Isr(uint8_t step_mode);

/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif

#endif /* __TIM_H__ */

stm32f1xx_it.c:

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */

  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

main.c

/* Private defines -----------------------------------------------------------*/
#define MOTOR_EN_Pin GPIO_PIN_0
#define MOTOR_EN_GPIO_Port GPIOF
#define MOTOR_DIR_Pin GPIO_PIN_1
#define MOTOR_DIR_GPIO_Port GPIOF
#define MOTOR_STEP_Pin GPIO_PIN_2
#define MOTOR_STEP_GPIO_Port GPIOF

/* USER CODE BEGIN Private defines */
#define MOTOR_EN_ON     HAL_GPIO_WritePin(MOTOR_EN_GPIO_Port, MOTOR_EN_Pin, GPIO_PIN_RESET)
#define MOTOR_EN_OFF    HAL_GPIO_WritePin(MOTOR_EN_GPIO_Port, MOTOR_EN_Pin, GPIO_PIN_SET)
#define MOTOR_DIR_CW    HAL_GPIO_WritePin(MOTOR_DIR_GPIO_Port, MOTOR_DIR_Pin, GPIO_PIN_SET)
#define MOTOR_DIR_REVER HAL_GPIO_WritePin(MOTOR_DIR_GPIO_Port, MOTOR_DIR_Pin, GPIO_PIN_RESET)
#define MOTOR_STEP_H    HAL_GPIO_WritePin(MOTOR_STEP_GPIO_Port, MOTOR_STEP_Pin, GPIO_PIN_SET)
#define MOTOR_STEP_L    HAL_GPIO_WritePin(MOTOR_STEP_GPIO_Port, MOTOR_STEP_Pin, GPIO_PIN_RESET)


void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOF_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOF, MOTOR_EN_Pin|MOTOR_DIR_Pin|MOTOR_STEP_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : PFPin PFPin PFPin */
  GPIO_InitStruct.Pin = MOTOR_EN_Pin|MOTOR_DIR_Pin|MOTOR_STEP_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
}


/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
  MOTOR_EN_ON;
  MOTOR_DIR_CW;
  rotation_enable = true;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
    HAL_Delay(1000);
  }
  /* USER CODE END 3 */
}

二、调速：

步进电机的速度通常是通过改变脉冲的频率来调节的，也就是调整定时器的中断频率。因此，调速的关键在于修改定时器的预分频器（Prescaler）或自动重装载值（Period）。

1、调速原理：

定时器频率计算公式：Freq = CPU_Freq / (Prescaler + 1) / (Period + 1)
假设CPU时钟72MHz，默认参数(36-1,1000-1)产生2kHz中断
周期值越小/预分频值越小 → 中断频率越高 → 电机转速越快

注意：实际使用时要确保新参数在定时器的有效范围内（0x0000-0xFFFF）

// 示例：提高速度（减小周期值）
Stepper_SetSpeed(500 - 1, 36 - 1);  // 2倍速

// 示例：降低速度（增大周期值）
Stepper_SetSpeed(2000 - 1, 36 - 1); // 半速