STM32 PWM实现步进电机梯形加减速代码

STM32的PWM用于步进电机控制通常涉及到脉冲宽度调制(PWM)信号来控制电机的相位和速度。这里是一个简单的示例，展示如何通过STM32F103的 TIM (定时器) 模块实现步进电机的梯形加减速控制：

#include "stm32f1xx_hal.h"

// 定义PWM参数
#define PWM_Frequency 5000 // PWM频率
#define PWM_PulseOn 1500 // 正向脉冲长度
#define PWM_PulseOff 1500 // 反向脉冲长度
#define DECELERATION_TIME 100 // 加速或减速时间

TIM_HandleTypeDef timHandle;

void TIM_Configuration(void) {
    // 初始化TIMx
    timHandle.Instance = TIM3;
    timHandle.Init.Prescaler = HAL_RCC_GetPCLK1Freq() / PWM_Frequency - 1; // 计算预分频值
    timHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
    timHandle.Init.Period = PWM_PulseOn + PWM_PulseOff;
    timHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    HAL_TIM_PWM_Init(&timHandle);

    // 开启更新事件
    HAL_TIM_PWM_Start_IT(&timHandle);
}

void StepMotorTrapezoidal(int direction, int steps) {
    uint16_t dutyCycle = PWM_PulseOff;

    for (int i = 0; i < steps; ++i) {
        if (direction == 1) { // 正向
            dutyCycle = PWM_PulseOn;
        } else { // 反向
            dutyCycle = PWM_PulseOff;
        }

        // 梯形加减速
        if (i <= DECELERATION_TIME) {
            dutyCycle += ((steps - i) * PWM_PulseOn) / DECELERATION_TIME;
        } else if (i >= steps - DECELERATION_TIME) {
            dutyCycle -= ((i - steps + DECELERATION_TIME) * PWM_PulseOff) / DECELERATION_TIME;
        }

        // 更新PWM周期
        HAL_TIM_PWM_SetDutyCycle(&timHandle, dutyCycle);
        HAL_Delay(1); // 留出足够的时间进行计算和发送
    }
}