stm32步进电机驱动代码

以下是一个简单的STM32步进电机驱动代码，使用了标准库函数和TIM定时器来实现：

#include "stm32f10x.h"

#define PULSES_PER_STEP 200     //每个步骤的脉冲数
#define STEPS_PER_REV 2048      //每个旋转的步数
#define ACCEL_STEPS 512         //加速步数
#define ACCEL_INCREMENT 5       //加速增量

//步进电机引脚定义
#define DIR_GPIO GPIOB
#define DIR_PIN GPIO_Pin_0
#define STEP_GPIO GPIOB
#define STEP_PIN GPIO_Pin_1
#define ENABLE_GPIO GPIOB
#define ENABLE_PIN GPIO_Pin_2

static uint16_t step_count = 0;
static uint16_t accel_count = 0;
static uint16_t accel_increment = ACCEL_INCREMENT;
static int16_t direction = 1;

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);

        //输出步进脉冲
        GPIO_SetBits(STEP_GPIO, STEP_PIN);
        GPIO_ResetBits(STEP_GPIO, STEP_PIN);

        //计算加速度
        if (step_count < ACCEL_STEPS)
        {
            if (accel_count == accel_increment)
            {
                accel_count = 0;
                accel_increment--;
            }
            accel_count++;
        }

        //计算步数
        step_count++;

        //判断是否完成一个步骤
        if (step_count >= STEPS_PER_REV)
        {
            step_count = 0;
        }

        //判断方向并输出DIR信号
        if (direction > 0)
        {
            GPIO_SetBits(DIR_GPIO, DIR_PIN);
        }
        else
        {
            GPIO_ResetBits(DIR_GPIO, DIR_PIN);
        }
    }
}

void Stepper_Init(void)
{
    //使能GPIO时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    //设置步进脉冲输出
    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = STEP_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(STEP_GPIO, &GPIO_InitStructure);

    //设置方向输出
    GPIO_InitStructure.GPIO_Pin = DIR_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(DIR_GPIO, &GPIO_InitStructure);

    //设置使能输出
    GPIO_InitStructure.GPIO_Pin = ENABLE_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(ENABLE_GPIO, &GPIO_InitStructure);

    //使能TIM2时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    //设置TIM2参数
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_TimeBaseStructure.TIM_Period = 8399; //10ms
    TIM_TimeBaseStructure.TIM_Prescaler = 71; //1us
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    //使能TIM2更新中断
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);

    //启动TIM2
    TIM_Cmd(TIM2, ENABLE);
}

void Stepper_Move(int16_t steps)
{
    //设置方向
    if (steps > 0)
    {
        direction = 1;
    }
    else
    {
        direction = -1;
        steps = -steps;
    }

    //重置步数和加速计数
    step_count = 0;
    accel_count = 0;
    accel_increment = ACCEL_INCREMENT;

    //计算总步数
    uint16_t total_steps = steps + ACCEL_STEPS;

    //循环等待完成
    while (step_count < total_steps)
    {
        //启用驱动器
        GPIO_ResetBits(ENABLE_GPIO, ENABLE_PIN);

        //延时1ms
        for (uint32_t i = 0; i < 1000; i++);

        //停用驱动器
        GPIO_SetBits(ENABLE_GPIO, ENABLE_PIN);
    }
}

int main(void)
{
    Stepper_Init();

    while (1)
    {
        //旋转一圈
        Stepper_Move(STEPS_PER_REV);
    }
}

这个代码使用TIM2定时器来定时输出步进脉冲，同时计算加速度和步数，以便实现平滑的运动。在Stepper_Move函数中，设置方向并循环等待完成，以便实现指定步数的运动。注意，在使用步进电机时需要适当控制驱动器的使能信号，否则电机可能会失步或者过热。