步进电机调试记录(先让我的步进电机转起来)

一、前言

电机的驱动原理这里不赘述，我也只懂了个皮毛，更多的可以去网上补补课。为了电机转起来，我也是好一阵恶补，花了两周时间才转起来，像个婴儿刚开始走路。这里说说我的调试过程，帮助大家理解控制过程并走出第一步。

一、调试环境

两片电机驱动芯片，我们硬件用的SS6952T，每一片可以输出2路电流，一共4路电流。

单片机STM32F103RC

步进电机：两相四线，1.8°步距角

二、驱动芯片功能描述

该驱动芯片通过输入两路信号IN1,IN2，控制H桥输出电流信号OUT1和OUT2。

下面是IN1，IN2信号的真值表：

当IN1=0，IN2=0，H桥不输出电流。

当IN1=0，IN2=1，H桥输出负向电流。

当IN1=1，IN2=0，H桥输出正向电流。

当IN1=1，IN2=1，H桥不输出电流。

这里电流正负方向是我自己定义的，你想反着定义也可以。

该芯片还有一个VREF引脚，通过调节VREF引脚的电压，来动态调节H桥的电流。

三、让步进电机转起来，验证全步/半步

我们的步进电机实际上就是两个线圈，再简单点理解就是2根导线，我们把它叫做A线圈和B线圈。

线圈的两端接OUT1和OUT2。

我们的驱动芯片就是为了给线圈通电来产生磁极。

那么我们先做如下定义

INA1和INA2控制A相电流，INB1和INB2控制B相电流。

当INA1为 0，INA2为 0 时，A相不通电，B同。

当INA1为 1，INA2为 0 时，A相正向通电，B同。

当INB1为 0，INB2为 1 时，A相负向通电，B同。

我们定义如下结构体：

c 复制代码

typedef struct {
    uint8_t ina1;    /* INA1 */
    uint8_t ina2;    /* INA2 */
    uint8_t inb1;    /* INB1 */
    uint8_t inb2;    /* INB2 */
} step_table_t;

定义如下宏，用于控制四个引脚的高低电平。后面写一下具体实现

c 复制代码

#define STEPMOT_INA1_LEV_H()
#define STEPMOT_INA1_LEV_L()

#define STEPMOT_INA2_LEV_H()
#define STEPMOT_INA2_LEV_L()

#define STEPMOT_INB1_LEV_H()
#define STEPMOT_INB1_LEV_L()

#define STEPMOT_INB2_LEV_H()
#define STEPMOT_INB2_LEV_L()

3.1 全步模式

我们定义一个全步的表。

c 复制代码

const step_table_t full_step_table[] = {
        /* 全步 */
      {   1,    0,        0,   0}, // 0    A+ B0 （A相正向通电，B相无电流）
      {   0,    0,        1,   0}, // 1    A0 B+ （A相无电流，B相正向通电）
      {   0,    1,        0,   0}, // 2    A- B0 （A相反向通电，B相无电流）
      {   0,    0,        0,   1}, // 3    A0 B- （A相无电流，B相反向通电）
  };

我们一次走一个表

c 复制代码

  for (int i = 0; i < 4; i++)
  {
      // 输出GPIO
      if (full_step_table[i].ina1) STEPMOT_INA1_LEV_H(); else STEPMOT_INA1_LEV_L();
      if (full_step_table[i].ina2) STEPMOT_INA2_LEV_H(); else STEPMOT_INA2_LEV_L();
      if (full_step_table[i].inb1) STEPMOT_INB1_LEV_H(); else STEPMOT_INB1_LEV_L();
      if (full_step_table[i].inb2) STEPMOT_INB2_LEV_H(); else STEPMOT_INB2_LEV_L();
      delay_ms(100); // 间隔可以很长，哪怕是1s，验证阶段一定不要过短，免得怀疑人生
  }

一个成员走1.8°，循环一个表走1.8*4=7.2°，50个循环走一圈。

3.2 半步模式

同全步，我们定义一个半步的表。

c 复制代码

const step_table_t half_step_table[] = {
        /* 半步 */
      {   1,    0,        0,   0}, // 0   A+ B0   （A相正向通电，B相无电流）
      {   1,    0,        1,   0}, // 1   A+ B+   （A相正向，B相正向，两相通电）
      
      {   0,    0,        1,   0}, // 2   A0 B+   （A相无电流，B相正向通电）
      {   0,    1,        1,   0}, // 3   A- B+   （A相反向，B相正向，两相通电）
      
      {   0,    1,        0,   0}, // 4   A- B0   （A相反向通电，B相无电流）
      {   0,    1,        0,   1}, // 5   A- B-   （A相反向，B相反向，两相通电）
      
      {   0,    0,        0,   1}, // 6   A0 B-   （A相无电流，B相反向通电）
      {   1,    0,        0,   1}, // 7   A+ B-   （A相正向，B相反向，两相通电）

  };

把for循环次数换成8次即可。一个成员走0.9°，循环一个表走0.9*8=7.2°，50个循环走一圈。

这里你会发现0，2，4，6和全步是一样的。所以如果想走全步，跳着用就可以。

从不通电到转动，直接走0可能有点跳跃，可以把7放到0的上面。

3.3 控制小结

调试过程中电机可能转动不起来，我们可以排查下面两点。

1.看一下H桥的电流设置的是否足够。

2.控制的间隔时间是否足够，长一点没太大影响，步履蹒跚而已。

四、微步方式

这里是基于我自己的理解去操作了电机的微步方式，跑起来可能没那么完善，要自行斟酌。

从全步的电流方向我们可以得到如下图的趋势，实线表示一个周期。

我们可以看到电流是一个近似于正弦的趋势。当我们按照如下周期逐步变化电流大小时，就有了微步的控制方式。

4.1 控制原理

根据sin表计算得到方向和目标电流大小。

4.2 建立一张sin表

一共4096个成员。这里0可能需要微调，我认为不应该有这么多的0

第一象限:0~1023

第二象限:1023~0

第三象限:0~-1023

第四象限:-1023~0

c 复制代码

// 4096点正弦表，范围[-1024, 1024]，用于步进电机微步控制
const int16_t sin_table[4096] = {
    // 第1象限 (0~1023)
      0,   1,   2,   3,   4,   5,   6,   7,   8,   9,  10,  11,  12,  13,  14,  15,  16,  17,  18,  19,  20,  21,  22,  23,  24,  25,  26,  27,  28,  29,  30,  31,  
     32,  33,  34,  35,  36,  37,  38,  39,  40,  41,  42,  43,  44,  45,  46,  47,  48,  49,  50,  51,  52,  53,  54,  55,  56,  57,  58,  59,  60,  61,  62,  63, 
     64,  65,  66,  67,  68,  69,  70,  71,  72,  73,  74,  75,  76,  77,  78,  79,  80,  81,  82,  83,  84,  85,  86,  87,  88,  89,  90,  91,  92,  93,  94,  95, 
     96,  97,  98,  99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127,
    128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159,
    160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191,
    192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223,
    224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255,
    256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287,
    288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319,
    320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351,
    352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383,
    384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415,
    416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447,
    448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479,
    480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511,
    512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543,
    544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 575,
    576, 577, 578, 579, 580, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607,
    608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639,
    640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671,
    672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703,
    704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735,
    736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767,
    768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799,
    800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831,
    832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863,
    864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895,
    896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927,
    928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959,
    960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991,
    992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023,
    // 第2象限 (1023~0)
    1023, 1022, 1021, 1020, 1019, 1018, 1017, 1016, 1015, 1014, 1013, 1012, 1011, 1010, 1009, 1008, 1007, 1006, 1005, 1004, 1003, 1002, 1001, 1000, 999, 998, 997, 996, 995, 994, 993,
    992, 991, 990, 989, 988, 987, 986, 985, 984, 983, 982, 981, 980, 979, 978, 977, 976, 975, 974, 973, 972, 971, 970, 969, 968, 967, 966, 965, 964, 963, 962, 961,
    960, 959, 958, 957, 956, 955, 954, 953, 952, 951, 950, 949, 948, 947, 946, 945, 944, 943, 942, 941, 940, 939, 938, 937, 936, 935, 934, 933, 932, 931, 930, 929,
    928, 927, 926, 925, 924, 923, 922, 921, 920, 919, 918, 917, 916, 915, 914, 913, 912, 911, 910, 909, 908, 907, 906, 905, 904, 903, 902, 901, 900, 899, 898, 897,
    896, 895, 894, 893, 892, 891, 890, 889, 888, 887, 886, 885, 884, 883, 882, 881, 880, 879, 878, 877, 876, 875, 874, 873, 872, 871, 870, 869, 868, 867, 866, 865,
    864, 863, 862, 861, 860, 859, 858, 857, 856, 855, 854, 853, 852, 851, 850, 849, 848, 847, 846, 845, 844, 843, 842, 841, 840, 839, 838, 837, 836, 835, 834, 833,
    832, 831, 830, 829, 828, 827, 826, 825, 824, 823, 822, 821, 820, 819, 818, 817, 816, 815, 814, 813, 812, 811, 810, 809, 808, 807, 806, 805, 804, 803, 802, 801,
    800, 799, 798, 797, 796, 795, 794, 793, 792, 791, 790, 789, 788, 787, 786, 785, 784, 783, 782, 781, 780, 779, 778, 777, 776, 775, 774, 773, 772, 771, 770, 769,
    768, 767, 766, 765, 764, 763, 762, 761, 760, 759, 758, 757, 756, 755, 754, 753, 752, 751, 750, 749, 748, 747, 746, 745, 744, 743, 742, 741, 740, 739, 738, 737,
    736, 735, 734, 733, 732, 731, 730, 729, 728, 727, 726, 725, 724, 723, 722, 721, 720, 719, 718, 717, 716, 715, 714, 713, 712, 711, 710, 709, 708, 707, 706, 705,
    704, 703, 702, 701, 700, 699, 698, 697, 696, 695, 694, 693, 692, 691, 690, 689, 688, 687, 686, 685, 684, 683, 682, 681, 680, 679, 678, 677, 676, 675, 674, 673,
    672, 671, 670, 669, 668, 667, 666, 665, 664, 663, 662, 661, 660, 659, 658, 657, 656, 655, 654, 653, 652, 651, 650, 649, 648, 647, 646, 645, 644, 643, 642, 641,
    640, 639, 638, 637, 636, 635, 634, 633, 632, 631, 630, 629, 628, 627, 626, 625, 624, 623, 622, 621, 620, 619, 618, 617, 616, 615, 614, 613, 612, 611, 610, 609,
    608, 607, 606, 605, 604, 603, 602, 601, 600, 599, 598, 597, 596, 595, 594, 593, 592, 591, 590, 589, 588, 587, 586, 585, 584, 583, 582, 581, 580, 579, 578, 577,
    576, 575, 574, 573, 572, 571, 570, 569, 568, 567, 566, 565, 564, 563, 562, 561, 560, 559, 558, 557, 556, 555, 554, 553, 552, 551, 550, 549, 548, 547, 546, 545,
    544, 543, 542, 541, 540, 539, 538, 537, 536, 535, 534, 533, 532, 531, 530, 529, 528, 527, 526, 525, 524, 523, 522, 521, 520, 519, 518, 517, 516, 515, 514, 513,
    512, 511, 510, 509, 508, 507, 506, 505, 504, 503, 502, 501, 500, 499, 498, 497, 496, 495, 494, 493, 492, 491, 490, 489, 488, 487, 486, 485, 484, 483, 482, 481,
    480, 479, 478, 477, 476, 475, 474, 473, 472, 471, 470, 469, 468, 467, 466, 465, 464, 463, 462, 461, 460, 459, 458, 457, 456, 455, 454, 453, 452, 451, 450, 449,
    448, 447, 446, 445, 444, 443, 442, 441, 440, 439, 438, 437, 436, 435, 434, 433, 432, 431, 430, 429, 428, 427, 426, 425, 424, 423, 422, 421, 420, 419, 418, 417,
    416, 415, 414, 413, 412, 411, 410, 409, 408, 407, 406, 405, 404, 403, 402, 401, 400, 399, 398, 397, 396, 395, 394, 393, 392, 391, 390, 389, 388, 387, 386, 385,
    384, 383, 382, 381, 380, 379, 378, 377, 376, 375, 374, 373, 372, 371, 370, 369, 368, 367, 366, 365, 364, 363, 362, 361, 360, 359, 358, 357, 356, 355, 354, 353,
    352, 351, 350, 349, 348, 347, 346, 345, 344, 343, 342, 341, 340, 339, 338, 337, 336, 335, 334, 333, 332, 331, 330, 329, 328, 327, 326, 325, 324, 323, 322, 321,
    320, 319, 318, 317, 316, 315, 314, 313, 312, 311, 310, 309, 308, 307, 306, 305, 304, 303, 302, 301, 300, 299, 298, 297, 296, 295, 294, 293, 292, 291, 290, 289,
    288, 287, 286, 285, 284, 283, 282, 281, 280, 279, 278, 277, 276, 275, 274, 273, 272, 271, 270, 269, 268, 267, 266, 265, 264, 263, 262, 261, 260, 259, 258, 257,
    256, 255, 254, 253, 252, 251, 250, 249, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232, 231, 230, 229, 228, 227, 226, 225,
    224, 223, 222, 221, 220, 219, 218, 217, 216, 215, 214, 213, 212, 211, 210, 209, 208, 207, 206, 205, 204, 203, 202, 201, 200, 199, 198, 197, 196, 195, 194, 193,
    192, 191, 190, 189, 188, 187, 186, 185, 184, 183, 182, 181, 180, 179, 178, 177, 176, 175, 174, 173, 172, 171, 170, 169, 168, 167, 166, 165, 164, 163, 162, 161,
    160, 159, 158, 157, 156, 155, 154, 153, 152, 151, 150, 149, 148, 147, 146, 145, 144, 143, 142, 141, 140, 139, 138, 137, 136, 135, 134, 133, 132, 131, 130, 129,
    128, 127, 126, 125, 124, 123, 122, 121, 120, 119, 118, 117, 116, 115, 114, 113, 112, 111, 110, 109, 108, 107, 106, 105, 104, 103, 102, 101, 100,  99,  98,  97,
    96, 95, 94, 93, 92, 91, 90, 89, 88, 87, 86, 85, 84, 83, 82, 81, 80, 79, 78, 77, 76, 75, 74, 73, 72, 71, 70, 69, 68, 67, 66, 65, 64, 63, 62, 61, 60, 59, 58, 57, 
    56, 55, 54, 53, 52, 51, 50, 49, 48, 47, 46, 45, 44, 43, 42, 41, 40, 39, 38, 37, 36, 35, 34, 33, 32, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17, 
    16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0,
    // 第3象限 (0~-1023)
    0, -1, -2, -3, -4, -5, -6, -7, -8, -9, -10, -11, -12, -13, -14, -15, -16, -17, -18, -19, -20, -21, -22, -23, -24, -25, -26, -27, -28, -29, -30, -31, -32,
    -33, -34, -35, -36, -37, -38, -39, -40, -41, -42, -43, -44, -45, -46, -47, -48, -49, -50, -51, -52, -53, -54, -55, -56, -57, -58, -59, -60, -61, -62, -63, -64,
    -65, -66, -67, -68, -69, -70, -71, -72, -73, -74, -75, -76, -77, -78, -79, -80, -81, -82, -83, -84, -85, -86, -87, -88, -89, -90, -91, -92, -93, -94, -95, -96,
    -97, -98, -99, -100, -101, -102, -103, -104, -105, -106, -107, -108, -109, -110, -111, -112, -113, -114, -115, -116, -117, -118, -119, -120, -121, -122, -123, -124, -125, -126, -127, -128,
    -129, -130, -131, -132, -133, -134, -135, -136, -137, -138, -139, -140, -141, -142, -143, -144, -145, -146, -147, -148, -149, -150, -151, -152, -153, -154, -155, -156, -157, -158, -159, -160,
    -161, -162, -163, -164, -165, -166, -167, -168, -169, -170, -171, -172, -173, -174, -175, -176, -177, -178, -179, -180, -181, -182, -183, -184, -185, -186, -187, -188, -189, -190, -191, -192,
    -193, -194, -195, -196, -197, -198, -199, -200, -201, -202, -203, -204, -205, -206, -207, -208, -209, -210, -211, -212, -213, -214, -215, -216, -217, -218, -219, -220, -221, -222, -223, -224,
    -225, -226, -227, -228, -229, -230, -231, -232, -233, -234, -235, -236, -237, -238, -239, -240, -241, -242, -243, -244, -245, -246, -247, -248, -249, -250, -251, -252, -253, -254, -255, -256,
    -257, -258, -259, -260, -261, -262, -263, -264, -265, -266, -267, -268, -269, -270, -271, -272, -273, -274, -275, -276, -277, -278, -279, -280, -281, -282, -283, -284, -285, -286, -287, -288,
    -289, -290, -291, -292, -293, -294, -295, -296, -297, -298, -299, -300, -301, -302, -303, -304, -305, -306, -307, -308, -309, -310, -311, -312, -313, -314, -315, -316, -317, -318, -319, -320,
    -321, -322, -323, -324, -325, -326, -327, -328, -329, -330, -331, -332, -333, -334, -335, -336, -337, -338, -339, -340, -341, -342, -343, -344, -345, -346, -347, -348, -349, -350, -351, -352,
    -353, -354, -355, -356, -357, -358, -359, -360, -361, -362, -363, -364, -365, -366, -367, -368, -369, -370, -371, -372, -373, -374, -375, -376, -377, -378, -379, -380, -381, -382, -383, -384,
    -385, -386, -387, -388, -389, -390, -391, -392, -393, -394, -395, -396, -397, -398, -399, -400, -401, -402, -403, -404, -405, -406, -407, -408, -409, -410, -411, -412, -413, -414, -415, -416,
    -417, -418, -419, -420, -421, -422, -423, -424, -425, -426, -427, -428, -429, -430, -431, -432, -433, -434, -435, -436, -437, -438, -439, -440, -441, -442, -443, -444, -445, -446, -447, -448,
    -449, -450, -451, -452, -453, -454, -455, -456, -457, -458, -459, -460, -461, -462, -463, -464, -465, -466, -467, -468, -469, -470, -471, -472, -473, -474, -475, -476, -477, -478, -479, -480,
    -481, -482, -483, -484, -485, -486, -487, -488, -489, -490, -491, -492, -493, -494, -495, -496, -497, -498, -499, -500, -501, -502, -503, -504, -505, -506, -507, -508, -509, -510, -511, -512,
    -513, -514, -515, -516, -517, -518, -519, -520, -521, -522, -523, -524, -525, -526, -527, -528, -529, -530, -531, -532, -533, -534, -535, -536, -537, -538, -539, -540, -541, -542, -543, -544,
    -545, -546, -547, -548, -549, -550, -551, -552, -553, -554, -555, -556, -557, -558, -559, -560, -561, -562, -563, -564, -565, -566, -567, -568, -569, -570, -571, -572, -573, -574, -575, -576,
    -577, -578, -579, -580, -581, -582, -583, -584, -585, -586, -587, -588, -589, -590, -591, -592, -593, -594, -595, -596, -597, -598, -599, -600, -601, -602, -603, -604, -605, -606, -607, -608,
    -609, -610, -611, -612, -613, -614, -615, -616, -617, -618, -619, -620, -621, -622, -623, -624, -625, -626, -627, -628, -629, -630, -631, -632, -633, -634, -635, -636, -637, -638, -639, -640,
    -641, -642, -643, -644, -645, -646, -647, -648, -649, -650, -651, -652, -653, -654, -655, -656, -657, -658, -659, -660, -661, -662, -663, -664, -665, -666, -667, -668, -669, -670, -671, -672,
    -673, -674, -675, -676, -677, -678, -679, -680, -681, -682, -683, -684, -685, -686, -687, -688, -689, -690, -691, -692, -693, -694, -695, -696, -697, -698, -699, -700, -701, -702, -703, -704,
    -705, -706, -707, -708, -709, -710, -711, -712, -713, -714, -715, -716, -717, -718, -719, -720, -721, -722, -723, -724, -725, -726, -727, -728, -729, -730, -731, -732, -733, -734, -735, -736,
    -737, -738, -739, -740, -741, -742, -743, -744, -745, -746, -747, -748, -749, -750, -751, -752, -753, -754, -755, -756, -757, -758, -759, -760, -761, -762, -763, -764, -765, -766, -767, -768,
    -769, -770, -771, -772, -773, -774, -775, -776, -777, -778, -779, -780, -781, -782, -783, -784, -785, -786, -787, -788, -789, -790, -791, -792, -793, -794, -795, -796, -797, -798, -799, -800,
    -801, -802, -803, -804, -805, -806, -807, -808, -809, -810, -811, -812, -813, -814, -815, -816, -817, -818, -819, -820, -821, -822, -823, -824, -825, -826, -827, -828, -829, -830, -831, -832,
    -833, -834, -835, -836, -837, -838, -839, -840, -841, -842, -843, -844, -845, -846, -847, -848, -849, -850, -851, -852, -853, -854, -855, -856, -857, -858, -859, -860, -861, -862, -863, -864,
    -865, -866, -867, -868, -869, -870, -871, -872, -873, -874, -875, -876, -877, -878, -879, -880, -881, -882, -883, -884, -885, -886, -887, -888, -889, -890, -891, -892, -893, -894, -895, -896,
    -897, -898, -899, -900, -901, -902, -903, -904, -905, -906, -907, -908, -909, -910, -911, -912, -913, -914, -915, -916, -917, -918, -919, -920, -921, -922, -923, -924, -925, -926, -927, -928,
    -929, -930, -931, -932, -933, -934, -935, -936, -937, -938, -939, -940, -941, -942, -943, -944, -945, -946, -947, -948, -949, -950, -951, -952, -953, -954, -955, -956, -957, -958, -959, -960,
    -961, -962, -963, -964, -965, -966, -967, -968, -969, -970, -971, -972, -973, -974, -975, -976, -977, -978, -979, -980, -981, -982, -983, -984, -985, -986, -987, -988, -989, -990, -991, -992,
    -993, -994, -995, -996, -997, -998, -999, -1000, -1001, -1002, -1003, -1004, -1005, -1006, -1007, -1008, -1009, -1010, -1011, -1012, -1013, -1014, -1015, -1016, -1017, -1018, -1019, -1020, -1021, -1022, -1023,
    // 第4象限 (-1023~0)
    -1023, -1022, -1021, -1020, -1019, -1018, -1017, -1016, -1015, -1014, -1013, -1012, -1011, -1010, -1009, -1008, -1007, -1006, -1005, -1004, -1003, -1002, -1001, -1000, -999, -998, -997, -996, -995, -994, -993,
    -992, -991, -990, -989, -988, -987, -986, -985, -984, -983, -982, -981, -980, -979, -978, -977, -976, -975, -974, -973, -972, -971, -970, -969, -968, -967, -966, -965, -964, -963, -962, -961,
    -960, -959, -958, -957, -956, -955, -954, -953, -952, -951, -950, -949, -948, -947, -946, -945, -944, -943, -942, -941, -940, -939, -938, -937, -936, -935, -934, -933, -932, -931, -930, -929,
    -928, -927, -926, -925, -924, -923, -922, -921, -920, -919, -918, -917, -916, -915, -914, -913, -912, -911, -910, -909, -908, -907, -906, -905, -904, -903, -902, -901, -900, -899, -898, -897,
    -896, -895, -894, -893, -892, -891, -890, -889, -888, -887, -886, -885, -884, -883, -882, -881, -880, -879, -878, -877, -876, -875, -874, -873, -872, -871, -870, -869, -868, -867, -866, -865,
    -864, -863, -862, -861, -860, -859, -858, -857, -856, -855, -854, -853, -852, -851, -850, -849, -848, -847, -846, -845, -844, -843, -842, -841, -840, -839, -838, -837, -836, -835, -834, -833,
    -832, -831, -830, -829, -828, -827, -826, -825, -824, -823, -822, -821, -820, -819, -818, -817, -816, -815, -814, -813, -812, -811, -810, -809, -808, -807, -806, -805, -804, -803, -802, -801,
    -800, -799, -798, -797, -796, -795, -794, -793, -792, -791, -790, -789, -788, -787, -786, -785, -784, -783, -782, -781, -780, -779, -778, -777, -776, -775, -774, -773, -772, -771, -770, -769,
    -768, -767, -766, -765, -764, -763, -762, -761, -760, -759, -758, -757, -756, -755, -754, -753, -752, -751, -750, -749, -748, -747, -746, -745, -744, -743, -742, -741, -740, -739, -738, -737,
    -736, -735, -734, -733, -732, -731, -730, -729, -728, -727, -726, -725, -724, -723, -722, -721, -720, -719, -718, -717, -716, -715, -714, -713, -712, -711, -710, -709, -708, -707, -706, -705,
    -704, -703, -702, -701, -700, -699, -698, -697, -696, -695, -694, -693, -692, -691, -690, -689, -688, -687, -686, -685, -684, -683, -682, -681, -680, -679, -678, -677, -676, -675, -674, -673,
    -672, -671, -670, -669, -668, -667, -666, -665, -664, -663, -662, -661, -660, -659, -658, -657, -656, -655, -654, -653, -652, -651, -650, -649, -648, -647, -646, -645, -644, -643, -642, -641,
    -640, -639, -638, -637, -636, -635, -634, -633, -632, -631, -630, -629, -628, -627, -626, -625, -624, -623, -622, -621, -620, -619, -618, -617, -616, -615, -614, -613, -612, -611, -610, -609,
    -608, -607, -606, -605, -604, -603, -602, -601, -600, -599, -598, -597, -596, -595, -594, -593, -592, -591, -590, -589, -588, -587, -586, -585, -584, -583, -582, -581, -580, -579, -578, -577,
    -576, -575, -574, -573, -572, -571, -570, -569, -568, -567, -566, -565, -564, -563, -562, -561, -560, -559, -558, -557, -556, -555, -554, -553, -552, -551, -550, -549, -548, -547, -546, -545,
    -544, -543, -542, -541, -540, -539, -538, -537, -536, -535, -534, -533, -532, -531, -530, -529, -528, -527, -526, -525, -524, -523, -522, -521, -520, -519, -518, -517, -516, -515, -514, -513,
    -512, -511, -510, -509, -508, -507, -506, -505, -504, -503, -502, -501, -500, -499, -498, -497, -496, -495, -494, -493, -492, -491, -490, -489, -488, -487, -486, -485, -484, -483, -482, -481,
    -480, -479, -478, -477, -476, -475, -474, -473, -472, -471, -470, -469, -468, -467, -466, -465, -464, -463, -462, -461, -460, -459, -458, -457, -456, -455, -454, -453, -452, -451, -450, -449,
    -448, -447, -446, -445, -444, -443, -442, -441, -440, -439, -438, -437, -436, -435, -434, -433, -432, -431, -430, -429, -428, -427, -426, -425, -424, -423, -422, -421, -420, -419, -418, -417,
    -416, -415, -414, -413, -412, -411, -410, -409, -408, -407, -406, -405, -404, -403, -402, -401, -400, -399, -398, -397, -396, -395, -394, -393, -392, -391, -390, -389, -388, -387, -386, -385,
    -384, -383, -382, -381, -380, -379, -378, -377, -376, -375, -374, -373, -372, -371, -370, -369, -368, -367, -366, -365, -364, -363, -362, -361, -360, -359, -358, -357, -356, -355, -354, -353,
    -352, -351, -350, -349, -348, -347, -346, -345, -344, -343, -342, -341, -340, -339, -338, -337, -336, -335, -334, -333, -332, -331, -330, -329, -328, -327, -326, -325, -324, -323, -322, -321,
    -320, -319, -318, -317, -316, -315, -314, -313, -312, -311, -310, -309, -308, -307, -306, -305, -304, -303, -302, -301, -300, -299, -298, -297, -296, -295, -294, -293, -292, -291, -290, -289,
    -288, -287, -286, -285, -284, -283, -282, -281, -280, -279, -278, -277, -276, -275, -274, -273, -272, -271, -270, -269, -268, -267, -266, -265, -264, -263, -262, -261, -260, -259, -258, -257,
    -256, -255, -254, -253, -252, -251, -250, -249, -248, -247, -246, -245, -244, -243, -242, -241, -240, -239, -238, -237, -236, -235, -234, -233, -232, -231, -230, -229, -228, -227, -226, -225,
    -224, -223, -222, -221, -220, -219, -218, -217, -216, -215, -214, -213, -212, -211, -210, -209, -208, -207, -206, -205, -204, -203, -202, -201, -200, -199, -198, -197, -196, -195, -194, -193,
    -192, -191, -190, -189, -188, -187, -186, -185, -184, -183, -182, -181, -180, -179, -178, -177, -176, -175, -174, -173, -172, -171, -170, -169, -168, -167, -166, -165, -164, -163, -162, -161,
    -160, -159, -158, -157, -156, -155, -154, -153, -152, -151, -150, -149, -148, -147, -146, -145, -144, -143, -142, -141, -140, -139, -138, -137, -136, -135, -134, -133, -132, -131, -130, -129,
    -128, -127, -126, -125, -124, -123, -122, -121, -120, -119, -118, -117, -116, -115, -114, -113, -112, -111, -110, -109, -108, -107, -106, -105, -104, -103, -102, -101, -100, - 99, - 98, - 97,
    -96, -95, -94, -93, -92, -91, -90, -89, -88, -87, -86, -85, -84, -83, -82, -81, -80, -79, -78, -77, -76, -75, -74, -73, -72, -71, -70, -69, -68, -67, -66, -65, -64, -63, -62, -61, -60, -59, -58, -57,
    -56, -55, -54, -53, -52, -51, -50, -49, -48, -47, -46, -45, -44, -43, -42, -41, -40, -39, -38, -37, -36, -35, -34, -33, -32, -31, -30, -29, -28, -27, -26, -25, -24, -23, -22, -21, -20, -19, -18, -17,
    -16, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1, 0
};

4.3 微步控制

代码实现了控制，有很多需要调整的地方。这里我通过命令行来测试的，输入命令

ctr_test_sin 1 100 50

这里的50是延时，越短越顺滑，但过短可能造成电机转不起来，也可以用来看看电机转速大概的极限。

1次命令转一圈，我测试有丢步，一圈差一点点，应该是sin表那里没处理好。

c 复制代码

#define MICROSTEP_NUM  64      // 微步数（可选8/16/32/64/128/256）
#define FULLSTEP_NUM   200     // 电机一圈步数（常见1.8°/步）
#define SINTAB_SIZE    4096    // 正弦表长度
#define EFFORT         1024    // 电流幅值（最大1024，建议600~900）

static int32_t gs_test_current_microstep = 0; // 当前微步序号
static void ctr_sin(int dir)
{
    gs_test_current_microstep += dir;
    if (gs_test_current_microstep < 0) gs_test_current_microstep += FULLSTEP_NUM * MICROSTEP_NUM;
    if (gs_test_current_microstep >= FULLSTEP_NUM * MICROSTEP_NUM) gs_test_current_microstep -= FULLSTEP_NUM * MICROSTEP_NUM;

    // 计算电角度
    float phase_multiplier = (float)SINTAB_SIZE / MICROSTEP_NUM; // 每微步对应的正弦表步进
    int theta = gs_test_current_microstep;
    int angle_b = (int)(phase_multiplier * theta) % SINTAB_SIZE;
    if (angle_b < 0) angle_b += SINTAB_SIZE;
    int angle_a = angle_b + SINTAB_SIZE / 4;
    if (angle_a >= SINTAB_SIZE) angle_a -= SINTAB_SIZE;

    int16_t sinA = test_sin_table[angle_a];
    int16_t sinB = test_sin_table[angle_b];

    int vA = EFFORT * sinA / 1024;
    int vB = EFFORT * sinB / 1024;

    // 计算参考电压，用于调整电流
    uint16_t vA_dac = abs(vA) * 4096 / EFFORT; if (vA_dac > 4095) vA_dac = 4095;
    uint16_t vB_dac = abs(vB) * 4096 / EFFORT; if (vB_dac > 4095) vB_dac = 4095;

    // A相方向
    if (vA > 0) {
        STEPMOT_INA1_LEV_H();  // OUT1 = H
        STEPMOT_INA2_LEV_L();  // OUT2 = L
    } else if (vA < 0) {
        STEPMOT_INA1_LEV_L();  // OUT1 = L
        STEPMOT_INA2_LEV_H();  // OUT2 = H
    } else {
        STEPMOT_INA1_LEV_L();
        STEPMOT_INA2_LEV_L();
    }

    // B相方向
    if (vB > 0) {
        STEPMOT_INB1_LEV_H();  // OUT1 = H
        STEPMOT_INB2_LEV_L();  // OUT2 = L
    } else if (vB < 0) {
        STEPMOT_INB1_LEV_L();  // OUT1 = L
        STEPMOT_INB2_LEV_H();  // OUT2 = H
    } else {
        STEPMOT_INB1_LEV_L();
        STEPMOT_INB2_LEV_L();
    }

    // DAC输出
    DAC_SetChannel1Data(DAC_Align_12b_R, vA_dac); // A相
    DAC_SetChannel2Data(DAC_Align_12b_R, vB_dac); // B相
}

// 微步控制命令
static void ctr_test_sin(int argc, char **argv)
{
    int dir = atoi(argv[1]); // 0正转, 1反转
    int step = atoi(argv[2]);
    int dly = atoi(argv[3]);

    dir = (dir > 0) ? 1 : -1;
    for (int i = 0; i < step * MICROSTEP_NUM; i++)
    {
        ctr_sin(dir);
        delay_us(dly);
    }
}
SHELL_EXPORT_CMD(ctr_test_sin, ctr_test_sin, ctr test sin <dir:-1/1> <step> <dly>);

4.4 控制小结

gs_test_current_microstep 用于记录当前步数，限制在FULLSTEP_NUM * MICROSTEP_NUM以内。为了符合全步表的逻辑，这里我先计算了B的角度，当我们正转第一步的时候，angleB的角度为0，angleA的角度在B的角度上偏90°，即angle_b + SINTAB_SIZE / 4;

vA和vB用于控制电流方向

EFFORT在我这好像没啥用，但应该可以用起来，按需吧。

五、后语

电机的学问挺多的，这里我只是让其转动了起来，但是如何很好的调速，我还没想好，需要继续学习。我想很好的用微步方式去控制，但我可能连sin表都没能很好的理解，如果能掌握到比较好的理论，再来更新完善。