STM32F103C8T6控制步进电机，实现频率，占空比，脉冲个数控制

简介

• 控制对象：安川步进电机

• 控制器： STM32F103C8T6最小系统板

• 功能：

   1、输出PWM波驱动步进电机，PWM可调频、占空比；
   2、在输出指定脉冲数目后进入中断，PWM停止输出。
  

• 实现方式：

   采用主从定时器模式，tim1作为主定时器，tim2作为从定时器（计数器）。
  

配置步骤

1. 配置PWM（主定时器）
2. 配置CNT（从定时器）
3. 写中断（停止主、从定时器）

配置PWM包括两个步骤，时钟and引脚

1. 配置引脚：

2. 配置PWM
   初始化时基（timebase）
   

   初始化比较结构体
   

3. 将TIM1定时器配置为主定时器并使能定时器

配置计数器，共两步；包括时基以及优先级配置

1. 配置时基并将定时器TIM2作为从定时器
   需要使能定时器中断

	TIM_SelectInputTrigger( CNT_TIMx, TIM_TS_ITR0);
	TIM_SelectSlaveMode( CNT_TIMx, TIM_SlaveMode_External1);
	//配置从定时器
	TIM_ITConfig( CNT_TIMx, TIM_IT_Update, DISABLE);
	//使能定时器中断

3. 配置优先级

写中断函数，停止定时器和计数器，并清空标志位

主要代码

main.c

#include "stm32f10x.h"
#include "pwm_output.h"

//宏定义
#define veloc_1 1
#define DTime_1 1000 //ms
#define veloc_2 1
#define DTime_2 1000 //ms
#define veloc_3 1
#define DTime_3 1000 //ms
#define veloc_4 1
#define DTime_4 1000 //ms
#define veloc_5 1
#define DTime_5 1000 //ms
#define veloc_6 1
#define DTime_6 1000 //ms

int main(void)
{
  
	SystemInit(); //ÅäÖÃϵͳʱÖÓΪ72M   
	//划分位六个阶段，可输出不同频率、个数的PWM波
	//每个阶段之间的延时时间也可分别设置
	//占空比的设定在pwm_output.c文件，所以每个阶段的占空比恒定
	//函数的参数分别为频率，脉冲个数以及延时时间
	PWM_outset(veloc_1,100,DTime_1);
	PWM_outset(veloc_2,100,DTime_2);
	PWM_outset(veloc_3,100,DTime_3);
	PWM_outset(veloc_4,100,DTime_4);
	PWM_outset(veloc_5,100,DTime_5);
	PWM_outset(veloc_6,100,DTime_6);

}

pwm_output.c（部分）

1. 主要是进行初始化以及主从定时器配置

#include "pwm_output.h"
#include "misc.h"
//配置PWM_out函数
void TIM1_GPIO_Config(void) 
{
  GPIO_InitTypeDef GPIO_InitStructure;

  RCC_APB2PeriphClockCmd(PWM_TIM_CLK, ENABLE);
  RCC_APB2PeriphClockCmd(PWM_TIM_GPIO_CLK, ENABLE);

  GPIO_InitStructure.GPIO_Pin =  PWM_TIM_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	
  GPIO_Init(PWM_TIM_GPIO_PORT, &GPIO_InitStructure);
}
void TIM1_Mode_Config(uint16_t TIM1_Prescaler, uint16_t TIM_Period, uint16_t CCR_A)
{
	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	
 /* Time base configuration */
  TIM_TimeBaseStructure.TIM_Period = TIM_Period-1;
  TIM_TimeBaseStructure.TIM_Prescaler = TIM1_Prescaler-1;
  TIM_TimeBaseStructure.TIM_ClockDivision = 0;
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseStructure.TIM_RepetitionCounter=0;
  TIM_TimeBaseInit(PWM_TIMx, &TIM_TimeBaseStructure);
 
  /* PWM1 Mode configuration: Channel1 */
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OCInitStructure.TIM_Pulse = CCR_A;
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;

  TIM_OC1Init(PWM_TIMx, &TIM_OCInitStructure);
	
	TIM_SelectMasterSlaveMode( TIM1, TIM_MasterSlaveMode_Enable);
	TIM_SelectOutputTrigger( TIM1, TIM_TRGOSource_Update);
  TIM_OC1PreloadConfig(PWM_TIMx, TIM_OCPreload_Enable);
	
  TIM_ARRPreloadConfig(PWM_TIMx, ENABLE);

  /* TIM1 enable counter */
  TIM_Cmd(PWM_TIMx, ENABLE);
  TIM_CtrlPWMOutputs(PWM_TIMx, ENABLE);	
}

void TIM1_PWM_Init(uint16_t TIM1_Prescaler, uint16_t TIM_Period, uint16_t CCR_A)
{
	TIM1_GPIO_Config();
	TIM1_Mode_Config(TIM1_Prescaler,TIM_Period,CCR_A);
}
//配置定时器
void TIM3_GPIO_Config(u32 PulseNum_A)
{
	TIM_TimeBaseInitTypeDef	TIM_TimeBaseStructure;
	NVIC_InitTypeDef	NVIC_InitStructure;
	
	RCC_APB1PeriphClockCmd( CNT_TIM_CLK, ENABLE);
	
	TIM_TimeBaseStructure.TIM_Period = PulseNum_A;
	TIM_TimeBaseStructure.TIM_Prescaler = 1;
	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit( CNT_TIMx, &TIM_TimeBaseStructure);
	
	TIM_SelectInputTrigger( CNT_TIMx, TIM_TS_ITR0);
	TIM_SelectSlaveMode( CNT_TIMx, TIM_SlaveMode_External1);
	TIM_ITConfig( CNT_TIMx, TIM_IT_Update, DISABLE);
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	NVIC_InitStructure.NVIC_IRQChannel = CNT_TIM_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init( &NVIC_InitStructure);
	TIM_Cmd( TIM2, ENABLE);
}

//对应主函数
void PWM_outset(uint16_t p_freq ,uint32_t p_nums,int d_time)
{
	//通过设定TIM2_PWM_Init后两个参数设置占空比
	//第一个参数控制定时器周期
	//第二个参数控制脉冲宽度
	//两者做比值为占空比
	TIM2_PWM_Init(p_freq,50000,25000); //TIM1 
	TIM_Cmd( TIM1, ENABLE);
	TIM_CtrlPWMOutputs( TIM1, ENABLE);
	
	TIM3_GPIO_Config(p_nums);
	TIM_ClearITPendingBit( TIM2, TIM_IT_Update);
	TIM_ITConfig( TIM2, TIM_IT_Update, ENABLE);
	DelayNmS(d_time);
}
}

中断函数

void TIM2_IRQHandler(void)
{
	if (TIM_GetITStatus( TIM2, TIM_IT_Update) != RESET)
	{
		TIM_CtrlPWMOutputs( TIM1, DISABLE);
		TIM_Cmd( TIM1, DISABLE);
		TIM_Cmd( TIM2, DISABLE);
		TIM_ITConfig( TIM2, TIM_IT_Update, DISABLE);
		TIM_ClearITPendingBit( TIM2, TIM_IT_Update);
	}
}

pwm_output.h（部分）

1. 主要是一些宏定义

#define PWM_TIMx                  TIM1
#define PWM_TIM_CLK               RCC_APB2Periph_TIM1     
#define PWM_TIM_GPIO_CLK          RCC_APB2Periph_GPIOA
#define PWM_TIM_PIN               GPIO_Pin_8
#define PWM_TIM_GPIO_PORT         GPIOA

#define CNT_TIMx                  TIM2
#define CNT_TIM_CLK               RCC_APB1Periph_TIM2
#define CNT_TIM_GPIO_CLK          RCC_APB2Periph_GPIOA
#define CNT_TIM_PIN               GPIO_Pin_6
#define CNT_TIM_GPIO_PORT         GPIOA
#define CNT_TIM_AF                GPIO_AF_TIM2
#define CNT_TIM_IRQn              TIM2_IRQn
#define CNT_TIM_Priority          3
#define CNT_TIM_IRQHandler        TIM2_IRQHandler