用c++基于stm32设置步进电机转速

下面是一个基于STM32的步进电机转速设置示例：

#include "stm32f4xx.h"

#define STEPPER_PIN1    GPIO_Pin_0
#define STEPPER_PIN2    GPIO_Pin_1
#define STEPPER_PIN3    GPIO_Pin_2
#define STEPPER_PIN4    GPIO_Pin_3

#define STEPPER_PORT    GPIOD

#define STEPS_PER_REV   200     // 步进电机每转的步数
#define TIMER_PRESCALER 84      // 定时器分频系数
#define TIMER_PERIOD    1000    // 定时器周期

// 步进电机转速数组，单位：rpm
uint16_t speed_arr[] = {100, 200, 300, 400, 500};

// 步进电机当前转速
uint16_t current_speed = 0;

// 步进电机当前步数
uint16_t current_step = 0;

// 步进电机旋转方向
uint8_t direction = 1;

// 步进电机旋转状态
uint8_t is_running = 0;

// 步进电机转速设置函数
void set_stepper_speed(uint16_t speed)
{
    uint32_t timer_period = (SystemCoreClock / TIMER_PRESCALER) / speed / STEPS_PER_REV;

    TIM_SetAutoreload(TIM2, timer_period);
}

// 步进电机旋转函数
void stepper_rotate()
{
    if (is_running)
    {
        if (direction)
        {
            current_step++;

            if (current_step >= STEPS_PER_REV)
            {
                current_step = 0;
            }
        }
        else
        {
            if (current_step == 0)
            {
                current_step = STEPS_PER_REV;
            }

            current_step--;
        }

        GPIO_ResetBits(STEPPER_PORT, STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4);

        switch (current_step % 4)
        {
            case 0:
                GPIO_SetBits(STEPPER_PORT, STEPPER_PIN1);
                break;

            case 1:
                GPIO_SetBits(STEPPER_PORT, STEPPER_PIN2);
                break;

            case 2:
                GPIO_SetBits(STEPPER_PORT, STEPPER_PIN3);
                break;

            case 3:
                GPIO_SetBits(STEPPER_PORT, STEPPER_PIN4);
                break;
        }
    }
}

int main(void)
{
    GPIO_InitTypeDef GPIO_InitStruct;
    TIM_TimeBaseInitTypeDef TIM_InitStruct;
    NVIC_InitTypeDef NVIC_InitStruct;

    // 使能时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    // 配置GPIO
    GPIO_InitStruct.GPIO_Pin = STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4;
    GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(STEPPER_PORT, &GPIO_InitStruct);

    // 配置定时器
    TIM_InitStruct.TIM_Prescaler = TIMER_PRESCALER - 1;
    TIM_InitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_InitStruct.TIM_Period = TIMER_PERIOD - 1;
    TIM_InitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInit(TIM2, &TIM_InitStruct);

    // 配置中断
    NVIC_InitStruct.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);

    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM2, ENABLE);

    while (1)
    {
        // 通过按键等方式改变步进电机转速
        if (/*按键被按下*/)
        {
            current_speed++;

            if (current_speed >= sizeof(speed_arr) / sizeof(speed_arr[0]))
            {
                current_speed = 0;
            }

            set_stepper_speed(speed_arr[current_speed]);
        }

        // 通过按键等方式改变步进电机旋转方向
        if (/*按键被按下*/)
        {
            direction = !direction;
        }

        // 通过按键等方式启动/停止步进电机
        if (/*按键被按下*/)
        {
            is_running = !is_running;
        }
    }
}

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

        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    }
}

在这个示例中，我们使用了GPIO控制步进电机的四个引脚，使用TIM2定时器来触发步进电机旋转函数。通过set_stepper_speed函数设置步进电机转速，stepper_rotate函数控制步进电机旋转，TIM2_IRQHandler函数为定时器中断处理函数，用于触发步进电机旋转函数。我们还在main函数中使用按键来改变步进电机转速、旋转方向和启动/停止步进电机。