【STM32】stm32驱动TB6600控制42/57步进电机的案例（TIM中断和PWM实验） |
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【STM32】stm32驱动TB6600控制42/57步进电机的案例（TIM中断和PWM实验）
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步进电机的简单使用
接线：TB6600驱动盒的详细说明：程序设计：工程文件：
做毕业设计要用到57步进电机，所以花了两天时间做了一下电机函数 从淘宝查的资料： DIR- && PUL- 接 单片机GND DIR+ 接 PA1 PUL+ 接 PA0 驱动盒TB6600 VCC 24V 驱动盒TB6600 GND 24V的GND 我测出来的 A组（绿+蓝- ） B组（黄+红-） 如何确定AB两组看这个： 关于42步进电机驱动——基于STM32 HAL库实现 接线方法 TB6600驱动盒的详细说明：
1 off 2 off 3 on 4 on 5 on 6 off 对应下图： 代码我参考我之前用arduino写的驱动程序 hal库设置： main.c: /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * © Copyright (c) 2021 STMicroelectronics. * All rights reserved. * * This software component is licensed by ST under BSD 3-Clause license, * the "License"; You may not use this file except in compliance with the * License. You may obtain a copy of the License at: * opensource.org/licenses/BSD-3-Clause * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "my_lib.h" int QuanShu; int ITjishu; /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ int fputc(int ch, FILE *f){ HAL_UART_Transmit (&huart1,(uint8_t *)&ch,1,0xffff); return ch; } /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_TIM2_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ HAL_TIM_Base_Start_IT(&htim2);//启动定时器中断 HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);//启动定时器中断 /* USER CODE END 2 */ __HAL_TIM_SetAutoreload(&htim2,500); //设置速度快慢 __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 250);//设置脉冲 用不到 dianji_kongzhi(up,90,800); HAL_Delay(5000); // dianji_kongzhi(down,90,800); // HAL_Delay(5000); /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { // dianji_kongzhi(up,200,800); // HAL_Delay(5000); // dianji_kongzhi(down,200,800); // HAL_Delay(5000); // dianji_kongzhi(up,100,800); // HAL_Delay(5000); // dianji_kongzhi(down,100,800); // HAL_Delay(5000); /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET); HAL_Delay(500); HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_SET); HAL_Delay(500); } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) //中断溢出服务函数，每一个周期进入一次中断 { if (htim == (&htim2)) { ITjishu++; if(ITjishu>=3200) //3200个脉冲=1圈 { __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, 0);//设置脉冲为0，转完一圈就停 ITjishu=0; } } } /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/my_lib.h: #ifndef __MY_LIB_H__ #define __MY_LIB_H__ #include "main.h" #include "tim.h" #include "usart.h" #include "gpio.h" #include "dian_ji.h" #include "stdio.h" extern int ITjishu; //中断计数 #endifdian_ji.c: #include "dian_ji.h" #include "tim.h" void dianji_init(void) { } void dianji_kongzhi(int fangxiang,int sudu,int zhuoqi) { HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, fangxiang); __HAL_TIM_SetAutoreload(&htim2,sudu); //设置速度快慢 __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, (sudu/2));//设置脉冲 用不到 QuanShu=zhuoqi; }dian_ji.h #ifndef __DIAN_JI_H__ #define __DIAN_JI_H__ #include "main.h" #include "gpio.h" #include "my_lib.h" #define up 1 #define down 0 extern int AutoReload_data; //自动重装载值 extern int MaiChong; //脉冲 extern int QuanShu; //圈数 void dianji_init(void); void dianji_set(void); void dianji_kongzhi(int fangxiang,int sudu,int zhuoqi); //方向，速度 #endiftim.c(没改，给自己留着做参考): /** ****************************************************************************** * @file tim.c * @brief This file provides code for the configuration * of the TIM instances. ****************************************************************************** * @attention * * © Copyright (c) 2021 STMicroelectronics. * All rights reserved. * * This software component is licensed by ST under BSD 3-Clause license, * the "License"; You may not use this file except in compliance with the * License. You may obtain a copy of the License at: * opensource.org/licenses/BSD-3-Clause * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "tim.h" /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ TIM_HandleTypeDef htim2; /* TIM2 init function */ void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; htim2.Init.Prescaler = 72-1; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 800-1; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 400; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */ HAL_TIM_MspPostInit(&htim2); } void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) { if(tim_pwmHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspInit 0 */ /* USER CODE END TIM2_MspInit 0 */ /* TIM2 clock enable */ __HAL_RCC_TIM2_CLK_ENABLE(); /* TIM2 interrupt Init */ HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0); HAL_NVIC_EnableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspInit 1 */ /* USER CODE END TIM2_MspInit 1 */ } } void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(timHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspPostInit 0 */ /* USER CODE END TIM2_MspPostInit 0 */ __HAL_RCC_GPIOA_CLK_ENABLE(); /**TIM2 GPIO Configuration PA0-WKUP ------> TIM2_CH1 */ GPIO_InitStruct.Pin = GPIO_PIN_0; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /* USER CODE BEGIN TIM2_MspPostInit 1 */ /* USER CODE END TIM2_MspPostInit 1 */ } } void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) { if(tim_pwmHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspDeInit 0 */ /* USER CODE END TIM2_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_TIM2_CLK_DISABLE(); /* TIM2 interrupt Deinit */ HAL_NVIC_DisableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspDeInit 1 */ /* USER CODE END TIM2_MspDeInit 1 */ } } /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/理论上角度是可控的了， 3200个脉冲为一个周期，映射成360度 1600个脉冲，为180度 800个脉冲，为90度 400个脉冲，为45度 45°x=400 x约等于9（8.888888888888889） 得出角度系数约等于9 945=405 9*8.888888888889=400.000000000005 （小偏差，我能接受，但是做项目不行，你们有更好的算角度的，可以留言说一下） 工程文件：我的工程文件 |
接线如图： 
先冲英说明： Microstep Driver 微步驱动程序 Microstep 微步 Pulse 脉冲 
我开关SW设置成这个样：
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