stm32F103单片机pwm控制伺服驱动器进而控制步进电机

一.硬件

1.需要一台步进电机，私服驱动器，stm32单片机；先按照说明文档，连接好硬件相关线路，对应好sign+,sign-,puls+,puls-线路，其中sign只是个io口拉高拉低操作，puls是pwm波形输出口，虽然有两根线，但只是需要控制一个IO口输出波形即可；

二.软件

采用主从模式，TIM1为主定时器，tim3未从定时器；不可乱选，查看技术文档选择；附对应文档截图；意思是浅文字部分是你选的主定时器，深色是你能选的从定时器，ITR是需要在代码里配置的；（主定时器也不是可以选乱的，对应IO口有对应的定时器）

1.初始化输出pwm波形的IO口代码

TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
TIM_ARRPreloadConfig(TIM1, ENABLE);

这三行是开启主从模式的，如果你单纯想让电机动起来，不需要控制，去掉这三行，纯运行void pwmz_init(u16 arr）也可以；arr是pwm波形的周期，下面有它的占空比arr/2-1;占空比对电机运转速度不影响，周期越大速度越慢；一般填写4320是100r/min已经是较快速度；

注意所选引脚对应的定时器通道，我选的IO口（pe8）恰好是TIM1_CH1N,看截图，也就是所谓的互补输出，所以才需要额外添加下面这些加粗代码

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);

/*******************************************************************************
 * 函 数 名         : pwmz_init
 * 函数功能		    : Z轴电机控制程序,主1从2
 * 作    者         : Yy.Fu
 *******************************************************************************/
void pwmz_init(u16 arr) // Z
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOE, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = arr;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0; // 这一句很重要！！！！！！！！！！！
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);

    GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
    TIM_OCInitStructure.TIM_Pulse = arr / 2 - 1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);

    TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
    TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
    TIM_ARRPreloadConfig(TIM1, ENABLE);

    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
    TIM_Cmd(TIM1, ENABLE);
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
}

 

2.从定时器代码

 TIM_SelectInputTrigger(TIM2, TIM_TS_ITR0);
 TIM2->SMCR |= 0x07;

这两句代码就是前面提到的需要对应配置的。比如0x07如何来的，看截图，主TIM1从TIM2对应的是ITR0,也就是0x0；而7是你选择的触发模式，我选的是外部触发模式1，二进制是111，对应十进制7，所以得到0x07;TIM_TS_ITR0也是这个截图对应的；

void TIM2_PWM_Init(u16 PulseNum)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = PulseNum;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_SelectInputTrigger(TIM2, TIM_TS_ITR0);
    TIM2->SMCR |= 0x07;

    TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

3.从定时器被主定时器溢满出中断代码

 times_z++;
    if (times_z < currentIndex1 * 10)
    {
        Pulse_output_Z(3600, 10000);
        return;
    }
    times_z = 0;

这一部分是为了让电机转一圈所用的循环；

void TIM2_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
        TIM_CtrlPWMOutputs(TIM1, DISABLE);
        TIM_Cmd(TIM1, DISABLE);
        TIM_Cmd(TIM2, DISABLE);
        TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);
    }
    times_z++;
    if (times_z < currentIndex1 * 10)
    {
        Pulse_output_Z(3600, 10000);
        return;
    }
    times_z = 0;
}

4.IO口拉高拉低控制方向代码

这代码放在系统初始化即可；

/*******************************************************************************
 * 函 数 名         : DIR_Crl1
 * 函数功能		    : IO口初始化,电机正反转
 * 作    者         : Yy.Fu
 *******************************************************************************/
void DIR_Crl_Z(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE, ENABLE);
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_Init(GPIOE, &GPIO_InitStructure);
    GPIO_SetBits(GPIOE, GPIO_Pin_9);
}

5..h文件代码

#include "stm32f10x.h"
#include "stm32f10x_exti.h"

static u16 times_z = 0;


void Pulse_output_Z(u16 arr, u16 PulseNum);

6.主代码（放在你想用的地方）

void Pulse_output_Z(u16 arr, u16 PulseNum)
{
    TIM2_PWM_Init(PulseNum);
    TIM_Cmd(TIM2, ENABLE);
    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    pwmz_init(arr);
    TIM_CtrlPWMOutputs(TIM1, ENABLE);
    TIM_Cmd(TIM1, ENABLE);
}

到此，一台步进电机就可以控制啦，如果控制不了，仔细检查相关配置；