stm32驱动四相五线步进电机（附源码）

目录

一.四相五线步进电机驱动原理

二.源码（HAL库）

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（学习自用，原理网上找的，侵权可删）

一.四相五线步进电机驱动原理

        

        电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，即给电机加一个脉冲信号，电机则转过一个步距角。  

步进电机的主要特性：

1、 步进电机必须加驱动才可以运转， 驱动信号必须为脉冲信号，没有脉冲的时候，步进电机静止， 如果加入适当的脉冲信号， 就会以一定的角度（称为步角）转动。转动的速度和脉冲的频率成正比。

2、 黑金刚配套的是 28BYJ48 5V 驱动的 4 相 5 线的步进电机，而且是减速步进电机，减速比为 1：64，步进角为 5.625/64 度。如果需要转动 1 圈，那么需要360/5.625*64=4096 个脉冲信号。

采用八拍的方式进行驱动:AA AB BB BC CC CD DD DA

注意事项:

步进电机停止后需要使四个相位引脚都为高电平，否则步进电机会发热。因为不进电机公共端为高电平，所有引脚都为高电平就不会产生电流，就不会发热。

二.源码（HAL库）

驱动代码：

#include "./BSP/sun_motor/sun_motor.h"

int32_t location_now[ArrayCount(LINES_MOTOR_STEP)];          //the val of motor location now
int32_t location_aim[ArrayCount(LINES_MOTOR_STEP)];          //the val of motor location aim
StepMotorState motorState[ArrayCount(LINES_MOTOR_STEP)];    //mark the state of motor


void StepMotor_AA(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

void StepMotor_AB(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

void StepMotor_BB(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

void StepMotor_BC(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

void StepMotor_CC(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

void StepMotor_CD(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_ON);
}

void StepMotor_DD(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_ON);
}

void StepMotor_DA(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_ON);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_ON);
}

void StepMotor_Stop(uint8_t choose_motor)
{
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][0], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][1], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][2], LINE_OFF);
    PIN_OUT( LINES_MOTOR_STEP[choose_motor][3], LINE_OFF);
}

/*
@brief:   Init the location and series of the stepmotor
@para:    none
@retval:  none
*/
void StepMotor_Init()
{
    uint8_t flag;
    uint8_t i;
    
    GPIO_InitTypeDef motor_gpio_init_struct;
    MOTOR_GPIO_CLK_ENABLE();
    
    for(flag = 0;flag < ArrayCount(LINES_MOTOR_STEP); flag++)
    {
        for(i = 0; i < 4; i++)
        {
            motor_gpio_init_struct.Pin=LINES_MOTOR_STEP[flag][i];
            motor_gpio_init_struct.Mode=GPIO_MODE_OUTPUT_PP;
            motor_gpio_init_struct.Pull=GPIO_PULLUP;
        }
        
        StepMotor_AA(flag);
        delay_ms(1);
        StepMotor_AB(flag);
        delay_ms(1);
        StepMotor_BB(flag);
        delay_ms(1);
        StepMotor_BC(flag);
        delay_ms(1);
        StepMotor_BB(flag);
        delay_ms(1);
        StepMotor_AB(flag);
        delay_ms(1);
        StepMotor_AA(flag);
        delay_ms(1);
        StepMotor_Stop(flag);
        delay_ms(1);
        
        location_now[flag] = 0;
        location_aim[flag] = 0;
        motorState[flag] = StepMotor_Stop;
        
    }
    HAL_GPIO_Init(GPIOB, &motor_gpio_init_struct);
}

/*
@brief:   motor walk one step
@para:    choose motor 
@retval:  NULL
*/
void StepMotor_WalkOneStep(uint8_t choose_motor)
{
    uint8_t state = 0; 
    
    //if the location now is the same with the location aim, step_motor will stop
    if(location_now[choose_motor]==location_aim[choose_motor])
    {
        StepMotor_Stop(choose_motor);
        motorState[flag] = StepMotor_Stop;
        return;
    }
    
    //if the location now is not the same with the location aim, step_motor will stop
    state = (location_now[choose_motor]%8 + 8)%8; //Calculate the current coil that needs to be connected
    switch(state)
    {
        case 0:Step_AB(choose_motor);break;
        case 1:Step_BB(choose_motor);break;
        case 2:Step_BC(choose_motor);break;
        case 3:Step_CC(choose_motor);break;
        case 4:Step_CD(choose_motor);break;
        case 5:Step_DD(choose_motor);break;
        case 6:Step_DA(choose_motor);break;
        case 7:Step_AA(choose_motor);break;
    } 
    
    if(location_now[choose_motor] < location_aim[choose_motor] )//if now location less than aim location
    {
        location_now[choose_motor]++; //location_now add 1
    }
}

头文件

#ifndef _sun_motor_H_
#define _sun_motor_H_

#include "./SYSTEM/sys/sys.h"

typedef enum
{
    StepMotor_Backward=-1,
    StepMotor_Stop=0,
    StepMotor_Forward=1
}StepMotorState;

#define LINE_ON   GPIO_PIN_SET
#define LINE_OFF  GPIO_PIN_RESET

/******************************************************************************************/
/* 引脚 定义 */
#define MOTOR_GPIO_PORT   GPIOB
#define MOTOR0_A_GPIO_PIN  GPIO_PIN_0
#define MOTOR0_B_GPIO_PIN  GPIO_PIN_1
#define MOTOR0_C_GPIO_PIN  GPIO_PIN_8
#define MOTOR0_D_GPIO_PIN  GPIO_PIN_3

#define PB0   MOTOR0_A_GPIO_PIN 
#define PB1   MOTOR0_B_GPIO_PIN
#define PB8   MOTOR0_C_GPIO_PIN 
#define PB3   MOTOR0_D_GPIO_PIN

#define MOTOR1_A_GPIO_PIN  GPIO_PIN_4
#define MOTOR1_B_GPIO_PIN  GPIO_PIN_5
#define MOTOR1_C_GPIO_PIN  GPIO_PIN_6
#define MOTOR1_D_GPIO_PIN  GPIO_PIN_7

#define PB4   MOTOR1_A_GPIO_PIN 
#define PB5   MOTOR1_B_GPIO_PIN
#define PB6   MOTOR1_C_GPIO_PIN 
#define PB7   MOTOR1_D_GPIO_PIN

static const uint16_t  LINES_MOTOR_STEP[][4] = {{PB0,PB1,PB8,PB3},{PB4,PB5,PB6,PB7}};

#define MOTOR_GPIO_CLK_ENABLE()          do{ __HAL_RCC_GPIOB_CLK_ENABLE(); }while(0)             /* PB口时钟使能 */

#define PIN_OUT(uint16_t GPIO_Pin, GPIO_PinState PinState)   HAL_GPIO_WritePin(GPIOB, uint16_t GPIO_Pin, GPIO_PinState PinState)
#endif