硬件介绍：
连线：
注意这里stp连的是pwm脉冲，dir连的是方向到时候代码pwm波形就是从这里来的，具体接线根据你的代码来
注意要点：步进电机和舵机驱动是不一样的，它是根据步长来移动的，所以要开一个中断，来计算步长，具体代码，可以看看。
代码部分：
#include "stm32f10x.h"
#include "math.h"
// 步进电机参数配置
#define STEPS_PER_REVOLUTION 200 // 每转步数 (1.8°/步)
#define MICROSTEPS 16 // 微步细分
// 全局变量
volatile uint32_t step_count = 0;
float current_angle = 0.0f;
// 初始化函数
void Stepper_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
// 1. 使能时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
// 2. 配置PWM输出引脚 (PA1 - TIM2_CH2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 3. 配置方向控制引脚 (PA2)
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 4. 配置定时器时基
TIM_TimeBaseStructure.TIM_Period = 7200 - 1; // 初始频率约10Hz @72MHz
TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// 5. PWM 输出配置
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 3600; // 50% 占空比
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
// 6. 配置更新中断
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
}
// 启动电机
void Start_Motor(void)
{
step_count = 0;
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
TIM_Cmd(TIM2, ENABLE);
}
// 停止电机
void Stop_Motor(void)
{
TIM_Cmd(TIM2, DISABLE);
TIM_SetCompare2(TIM2, 0);
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
// 设置电机速度 (RPM)
void Set_Motor_Speed(float rpm)
{
if (rpm <= 0) return;
uint32_t freq = (uint32_t)(rpm * STEPS_PER_REVOLUTION * MICROSTEPS / 60.0f);
if (freq == 0) return;
uint32_t arr = (72000000UL / (72UL * freq)) - 1;
if (arr < 10) arr = 10; // 防止太小导致溢出
TIM_SetAutoreload(TIM2, arr);
TIM_SetCompare2(TIM2, arr / 2); // 保持50%占空比
}
// 旋转到指定角度(度)
void Rotate_To_Angle(float target_angle, float speed_rpm)
{
float angle_diff = target_angle - current_angle;
while(angle_diff > 180.0f) angle_diff -= 360.0f;
while(angle_diff < -180.0f) angle_diff += 360.0f;
int32_t required_steps = (int32_t)(angle_diff * STEPS_PER_REVOLUTION * MICROSTEPS / 360.0f);
if(required_steps >= 0) {
GPIO_SetBits(GPIOA, GPIO_Pin_2); // 正转
} else {
GPIO_ResetBits(GPIOA, GPIO_Pin_2); // 反转
required_steps = -required_steps;
}
Set_Motor_Speed(speed_rpm);
uint32_t total_steps = (uint32_t)required_steps;
step_count = 0;
Start_Motor();
while(step_count < total_steps) {
__NOP();
}
Stop_Motor();
current_angle = target_angle;
}
// 中断服务函数
void TIM2_IRQHandler(void)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
step_count++;
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
这是pwm部分
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "PWM.h"
// 主函数
int main(void)
{
__enable_irq(); // 开启全局中断
Stepper_Init(); // 初始化步进电机驱动
// 第一次旋转到90度
Rotate_To_Angle(90.0f, 60.0f);
Delay_ms(500);
// 第二次旋转到-90度
Rotate_To_Angle(-90.0f, 30.0f);
Delay_ms(2000);
// 进入主循环
while(1)
{
// 可以继续添加其他操作
}
}
这是主函数
注意要是想要同时驱动两个步进电机，代码还是要稍微修改的。后续代码再发