STM32F407简单驱动步进电机（标准库）

配置

单片机型号：STM32F104ZGT6

步进电机：YK28HB40-01A

驱动器：YKD2204M-Plus

接线方式：

pu+：接对应的产生PWM的引脚，这里接PF9，对应TIM14_CH1通道！

pu-：接单片机的GND；

DR+：接单片机的3.3V（电机转动的方向固定）或者单片机的控制引脚这里是PF8

DR-：接单片机的GND；

这里没有使用电机的使能引脚！！！

-V：接24V的负极

+V：接24V的正极

A+：接的步进电机的红线（需要参考对应的原理图，不同的电机接法存在差异）

A-：步进电机的蓝线

B+：步进电机的绿线

B-：步进电机的黑线

采用定时器主从模式，发送固定脉冲，控制步进电机的转动；

比如在驱动器上，将脉冲调到1600挡位，表示当有1600个脉冲到来时，电机转动一周。如果输入800个脉冲，则电机就转动半圈；

主定时器采用TIM14_CH1;

从定时器采用TIM12_ITR3;

 

 表72在407中文手册370页；  表79在464页；  图165在446页；  图166在447页

代码部分

采用标准库进行开发，先创建好工程！

再创建一个pwm.c和pwm.h文件就可以驱动了！

pwm.c

#include "PWM.h"
#include "stm32f4xx.h" /*
*PF9  TIM14_CH1通道
*PF8	方向引脚
*/
void TIM14_PWM_Init(void)	//主定时器	//uint32_t arr,uint32_t psc
{	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);  //使能定时器 14 时钟RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); 	//使能PORTF时钟GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); //GPIOF9 复用为定时器 14GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;           //GPIOF9GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHzGPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉GPIO_Init(GPIOF,&GPIO_InitStructure);              //初始化PF9GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;           //GPIOF8GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;        //功能GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHzGPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //复用推挽输出GPIO_Init(GPIOF,&GPIO_InitStructure);              //初始化PF8//TIM_InternalClockConfig()TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_TimeBaseStructure.TIM_Period =100-1; //arr; //设置自动重装载值  100-1TIM_TimeBaseStructure.TIM_Prescaler =1050-1;//psc; //设置预分频值TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim  0=TIM_CKD_DIV1TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式TIM_TimeBaseInit(TIM14, &TIM_TimeBaseStructure); //根据指定的参数初始化 TIMx 的TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCStructInit(&TIM_OCInitStructure);	//默认的初始化TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择 PWM 模式 1TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_High;//输出极性高 //TIM_OCPolarity_Low; //输出极性低TIM_OCInitStructure.TIM_Pulse=50;//CCRTIM_OC1Init(TIM14, &TIM_OCInitStructure); //初始化 TIM//TIM_SelectMasterSlaveMode();//TIM_SelectOutputTrigger();TIM_OC1PreloadConfig(TIM14,TIM_OCPreload_Enable);	//通道1的CCR可以更改TIM_ARRPreloadConfig(TIM14,ENABLE);	//使能ARR预装载寄存器TIM_Cmd(TIM14, DISABLE); //使能 TIM14}void TIM12_Init(void)//从定时器
{RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE);  //使能定时器 12 时钟TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_TimeBaseStructure.TIM_Period = 65535; //设置自动重装载值  100-1TIM_TimeBaseStructure.TIM_Prescaler =1-1; //设置预分频值TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim  0=TIM_CKD_DIV1TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式TIM_TimeBaseInit(TIM12, &TIM_TimeBaseStructure); //根据指定的参数初始化 TIMx 的//TIM_SelectMasterSlaveMode(TIM12,);TIM_SelectInputTrigger(TIM12,TIM_TS_ITR3);	//TIM14主   TIM12从：ITR3TIM_SelectSlaveMode(TIM12,TIM_SlaveMode_External1);//从模式TIM_ITConfig(TIM12,TIM_IT_Update,DISABLE);TIM_ARRPreloadConfig(TIM12,ENABLE);	//使能ARR预装载寄存器NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);NVIC_InitTypeDef NVIC_InitStructure;NVIC_InitStructure.NVIC_IRQChannel=TIM8_BRK_TIM12_IRQn;NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;NVIC_Init(&NVIC_InitStructure);TIM_Cmd(TIM12, DISABLE); //使能 TIM12
}/**
uint16_t Num    发送的脉冲数（从定时器的ARR值）
uint8_t Dir     步进电机的旋转方向
uint16_t Speed	速度（更改主定时器的ARR值）
*/
void PWM_Output_Speed(uint16_t Num,uint8_t Dir,uint16_t Speed)
{if(Dir==1){GPIO_ResetBits(GPIOF,GPIO_Pin_8);//正转}else{GPIO_SetBits(GPIOF,GPIO_Pin_8);  //反转}TIM_Cmd(TIM12, DISABLE);//关闭TIM12使能TIM_SetAutoreload(TIM12,Num);//从新设置ARR计数值TIM_GenerateEvent(TIM12,TIM_EventSource_Update);//配置由软件生成定时器事件，新修改ARR计数值后，马上软件更改一次事件TIM_Cmd(TIM12, ENABLE); //使能 TIM12TIM_ClearITPendingBit(TIM12,TIM_IT_Update);//清楚中断标志位TIM_ITConfig(TIM12,TIM_IT_Update,ENABLE);//开启定时器12的中断TIM_SetAutoreload(TIM14,Speed);//从新设置ARR计数值TIM_GenerateEvent(TIM14,TIM_EventSource_Update);//配置由软件生成定时器事件，新修改ARR计数值后，马上软件更改一次事件TIM_SetCompare1(TIM14,Speed/2);	//设置CCR的值为ARR的一半，占空比为50%TIM_GenerateEvent(TIM14,TIM_EventSource_CC1);//配置后由软件生成通道一的事件，马上生效TIM_Cmd(TIM14, ENABLE); //使能 TIM14	
}void TIM8_BRK_TIM12_IRQHandler(void)
{if(TIM_GetITStatus(TIM12,TIM_IT_Update) != RESET){TIM_ClearITPendingBit(TIM12,TIM_IT_Update);TIM_Cmd(TIM12, DISABLE);//关闭TIM12使能TIM_Cmd(TIM14, DISABLE);//关闭TIM14使能TIM_ITConfig(TIM12,TIM_IT_Update,DISABLE);//关闭定时器12的中断}
}

pwm.h

#ifndef __PWM_H__
#define __PWM_H__#include "stm32f4xx.h" void TIM14_PWM_Init(void);	//uint32_t arr,uint32_t psc
void TIM12_Init(void);
void PWM_Output_Speed(uint16_t Num,uint8_t Dir,uint16_t Speed);#endif

main函数部分

#include "stm32f4xx.h"                  // Device header
#include "pwm.h"int main()
{TIM14_PWM_Init();	//168M/168=1Mhz的计数频率,重装载值100，所以PWM频率为 1M/100=1Khz.TIM12_Init();PWM_Output_Speed(3200,0,40);//发送的脉冲数	步进电机的旋转方向	速度（更改主定时器的ARR值）while(1){}}

通过PWM_Output_Speed(3200,0,40);输入 3200个脉冲，电机逆时针转2圈。最后一位参数为速度；

PWM_Output_Speed(1600,1,40);就是沿顺时针方向旋转一周；

通过修改PWM_Output_Speed();可以实现电机的角度、方向、速度控制。

其他方式的pwm简单驱动

采用定时器的翻转模式，驱动电机的转动：

#include "PWM.h"
#include "stm32f4xx.h" /*
*PF9  TIM14_CH1通道
*PF8 为方向引脚
*/uint16_t CCR1=1000;void TIM14_PWM_Init(uint32_t arr,uint32_t psc)
{RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);  //使能定时器 14 时钟RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); 	//使能PORTF时钟GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); //GPIOF9 复用为定时器 14GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;           //GPIOF9GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHzGPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉GPIO_Init(GPIOF,&GPIO_InitStructure);              //初始化PF9GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;           //GPIOF8GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;        //功能GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHzGPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //复用推挽输出GPIO_Init(GPIOF,&GPIO_InitStructure);              //初始化PF8TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_TimeBaseStructure.TIM_Period = arr-1; //设置自动重装载值  输出频率TIM_TimeBaseStructure.TIM_Prescaler =psc-1; //设置预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim  0=TIM_CKD_DIV1TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式TIM_TimeBaseInit(TIM14, &TIM_TimeBaseStructure); //根据指定的参数初始化 TIMx 的TIM_OCInitTypeDef TIM_OCInitStructure;TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Toggle; //翻转模式 //TIM_OCMode_PWM1; //选择 PWM 模式 1TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_High;//输出极性高 //TIM_OCPolarity_Low; //输出极性低TIM_OCInitStructure.TIM_Pulse=CCR1; //CCRTIM_OC1Init(TIM14, &TIM_OCInitStructure); //初始化 TIMTIM_OC1PreloadConfig(TIM14, TIM_OCPreload_Disable);//失能  //使能TIM14在CCR1上的预装载寄存器  TIM_OCPreload_Enable
//	TIM_ARRPreloadConfig(TIM14,ENABLE);//ARPE使能 TIM_ClearFlag(TIM14,TIM_FLAG_CC1);	//清除定时器中断标志位TIM_ITConfig(TIM14,TIM_FLAG_CC1,ENABLE);    //开启定时器比较中断NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);NVIC_InitTypeDef NVIC_InitStructure;NVIC_InitStructure.NVIC_IRQChannel=TIM8_TRG_COM_TIM14_IRQn;NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;NVIC_Init(&NVIC_InitStructure);TIM_Cmd(TIM14, ENABLE); //使能 TIM14
}void TIM8_TRG_COM_TIM14_IRQHandler(void)
{uint16_t num = 0;if(TIM_GetITStatus(TIM14,TIM_FLAG_CC1)==SET){TIM_ClearITPendingBit(TIM14,TIM_FLAG_CC1);num=TIM_GetCapture1(TIM14);TIM_SetCompare1(TIM14,num+CCR1);}
}

 在main函数中调用TIM14_PWM_Init(65536,1);

运行结果就是使电机沿单一方向转动，通过修改ARR值可以调速；

通过在main函数调用下面函数，可控制电机的旋转方向；（引脚接线注意接对）

GPIO_SetBits(GPIOF,GPIO_Pin_8);  //反转
GPIO_ResetBits(GPIOF,GPIO_Pin_8); //正转

直接输出pwm波形的驱动

pwm.c

#include "PWM.h"
#include "stm32f4xx.h" 
//#include "uart.h"/*
*PF9  TIM14_CH1通道
*
*/
void TIM14_PWM_Init(uint32_t arr,uint32_t psc)
{GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;TIM_OCInitTypeDef TIM_OCInitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14,ENABLE);  //使能定时器 14 时钟RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE); 	//使能PORTF时钟GPIO_PinAFConfig(GPIOF,GPIO_PinSource9,GPIO_AF_TIM14); //GPIOF9 复用为定时器 14GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;           //GPIOF9GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        //复用功能GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHzGPIO_InitStructure.GPIO_OType = GPIO_OType_PP;      //推挽复用输出GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;        //上拉GPIO_Init(GPIOF,&GPIO_InitStructure);              //初始化PF9TIM_TimeBaseStructure.TIM_Period = arr; //设置自动重装载值  100-1TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置预分频值TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim  0=TIM_CKD_DIV1TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数模式TIM_TimeBaseInit(TIM14, &TIM_TimeBaseStructure); //根据指定的参数初始化 TIMx 的TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择 PWM 模式 1TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能TIM_OCInitStructure.TIM_OCPolarity =TIM_OCPolarity_High; //TIM_OCPolarity_Low; //输出极性低TIM_OCInitStructure.TIM_Pulse=50;//CCRTIM_OC1Init(TIM14, &TIM_OCInitStructure); //初始化 TIMTIM_Cmd(TIM14, ENABLE); //使能 TIM14}

在main函数中调用TIM14_PWM_Init(100-1,1680-1);

运行结果就是使电机沿单一方向转动，通过修改ARR值可以调速；