GD32F303 步进电机驱动

目录

一、硬件原理图接口

二、软件实现

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一、硬件原理图接口

二、软件实现

/* motor.c */
#include "motor.h" 



//电机引脚和端口
#define MOTOR_PORT		GPIOE
#define MOTOR_PIN_A		GPIO_PIN_9
#define MOTOR_PIN_B		GPIO_PIN_8
#define MOTOR_PIN_C		GPIO_PIN_7


#define MOTOR_PORT_D		GPIOB
#define MOTOR_PIN_D		  GPIO_PIN_2




typedef struct
{
    volatile int   goCount;	    /*设置电位器在本次调节中需要转动步数*/										  															 
    volatile u8   RunOneStepInterval;	//每走一步的间隔时间														  
}S_FLOWCHECK;



S_FLOWCHECK FlowCheck=
{
    .goCount = 0,
    .RunOneStepInterval = 40,
};
 

//旋转控制逻辑A-AB-B-BC-C-CD-D-DA    //二相四线的控制方式
const uint8_t MotorCtrPara[] = {0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08, 0x09};



static void MOTOR_STOP()
{
	gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
	gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
	gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
	
	gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
}


void Motor_Init(void)
{
    rcu_periph_clock_enable(RCU_GPIOE);
	rcu_periph_clock_enable(RCU_GPIOB);

    gpio_init(MOTOR_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, 
    MOTOR_PIN_A|MOTOR_PIN_B|MOTOR_PIN_C);
	
    gpio_init(MOTOR_PORT_D, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, MOTOR_PIN_D);
	
    MOTOR_STOP();  //输出全部拉低
}


static void set_motor_rotation(uint8_t gpio_valve)
{
	gpio_valve &= 0x0f;
	
	switch(gpio_valve)
	{
		case 0x01:
		  gpio_bit_set(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
		
		case 0x03:
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
				
		case 0x02:
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
						
		case 0x06:
		    gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_C);
		    gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
								
		case 0x04:
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
		    gpio_bit_set(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_reset(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
										
		case 0x0c:
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_set(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
												
		case 0x08:
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_set(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
														
		case 0x09:
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_B);
			gpio_bit_reset(MOTOR_PORT, MOTOR_PIN_C);
			gpio_bit_set(MOTOR_PORT, MOTOR_PIN_A);
			gpio_bit_set(MOTOR_PORT_D, MOTOR_PIN_D);
			break;
																
		default:
			break;
	}
}


/******************************************************************
* @brief 步进电机控制，需要在1ms定时器中断中一直调用
*******************************************************************/
void Motor_TickInc(void)   //1ms进入一次
{
    static signed char positive_tick=0; //正向转
	static signed char negative_tick=7; //反向转
	uint8_t mOdr = 0x00;
	
	
	if(FlowCheck.goCount == 0)
	{
		MOTOR_STOP();
		return;
	}
	if(FlowCheck.RunOneStepInterval > 0)   //40ms没到直接返回
	{
		FlowCheck.RunOneStepInterval--;
		return;				
	}						
			
	//已经到达40ms						 
	if(FlowCheck.goCount > 0)  //正转
	{	  
		 mOdr|=MotorCtrPara[positive_tick];
			
		 positive_tick++;										
		 if(positive_tick > 7)      //磁极转完一圈
		 {
			 positive_tick =0;
			 FlowCheck.goCount--;	
			 FlowCheck.RunOneStepInterval = 40;	//8个磁极全部走完，40ms间隔重新赋值			 
		 }							 						
	}		
	else 	//反转
    {		
        mOdr|=MotorCtrPara[negative_tick];
		
		negative_tick--;							
		if(negative_tick < 0)      //磁极转完一圈
		{
			negative_tick = 7;	
			FlowCheck.goCount++;	
			FlowCheck.RunOneStepInterval = 40;				 
		}					  						 
	}				 							 			 
	set_motor_rotation(mOdr);
}