步进电机的简单使用
做毕业设计要用到57步进电机，所以花了两天时间做了一下电机函数
从淘宝查的资料：
接线如图：
接线：
DIR- && PUL- 接 单片机GND
DIR+ 接 PA1
PUL+ 接 PA0
驱动盒TB6600 VCC 24V
驱动盒TB6600 GND 24V的GND
我测出来的 A组（绿+蓝- ） B组（黄+红-）
如何确定AB两组看这个：
关于42步进电机驱动——基于STM32 HAL库实现
TB6600驱动盒的详细说明：
先冲英说明：
Microstep Driver 微步驱动程序
Microstep 微步
Pulse 脉冲
我开关SW设置成这个样：
1 off
2 off
3 on
4 on
5 on
6 off
对应下图：
程序设计：
代码我参考我之前用arduino写的驱动程序
hal库设置：
main.c:
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "my_lib.h"
int QuanShu;
int ITjishu;
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int fputc(int ch, FILE *f){
HAL_UART_Transmit (&huart1,(uint8_t *)&ch,1,0xffff);
return ch;
}
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @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();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);//启动定时器中断
HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);//启动定时器中断
/* USER CODE END 2 */
__HAL_TIM_SetAutoreload(&htim2,500); //设置速度快慢
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 250);//设置脉冲 用不到
dianji_kongzhi(up,90,800);
HAL_Delay(5000);
// dianji_kongzhi(down,90,800);
// HAL_Delay(5000);
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// dianji_kongzhi(up,200,800);
// HAL_Delay(5000);
// dianji_kongzhi(down,200,800);
// HAL_Delay(5000);
// dianji_kongzhi(up,100,800);
// HAL_Delay(5000);
// dianji_kongzhi(down,100,800);
// HAL_Delay(5000);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
HAL_Delay(500);
HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_SET);
HAL_Delay(500);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) //中断溢出服务函数，每一个周期进入一次中断
{
if (htim == (&htim2))
{
ITjishu++;
if(ITjishu>=3200) //3200个脉冲=1圈
{
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 0);//设置脉冲为0，转完一圈就停
ITjishu=0;
}
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
my_lib.h:
#ifndef __MY_LIB_H__
#define __MY_LIB_H__
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "dian_ji.h"
#include "stdio.h"
extern int ITjishu; //中断计数
#endif
dian_ji.c:
#include "dian_ji.h"
#include "tim.h"
void dianji_init(void)
{
}
void dianji_kongzhi(int fangxiang,int sudu,int zhuoqi)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, fangxiang);
__HAL_TIM_SetAutoreload(&htim2,sudu); //设置速度快慢
__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, (sudu/2));//设置脉冲 用不到
QuanShu=zhuoqi;
}
dian_ji.h
#ifndef __DIAN_JI_H__
#define __DIAN_JI_H__
#include "main.h"
#include "gpio.h"
#include "my_lib.h"
#define up 1
#define down 0
extern int AutoReload_data; //自动重装载值
extern int MaiChong; //脉冲
extern int QuanShu; //圈数
void dianji_init(void);
void dianji_set(void);
void dianji_kongzhi(int fangxiang,int sudu,int zhuoqi); //方向，速度
#endif
tim.c(没改，给自己留着做参考):
/**
******************************************************************************
* @file tim.c
* @brief This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
/* USER CODE BEGIN 0 */
/* 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_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 72-1;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 800-1;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 400;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->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_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspPostInit 1 */
/* USER CODE END TIM2_MspPostInit 1 */
}
}
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->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 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
理论上角度是可控的了，
3200个脉冲为一个周期，映射成360度
1600个脉冲，为180度
800个脉冲，为90度
400个脉冲，为45度
45°x=400
x约等于9（8.888888888888889）
得出角度系数约等于9
945=405
9*8.888888888889=400.000000000005
（小偏差，我能接受，但是做项目不行，你们有更好的算角度的，可以留言说一下）