STM32+TMC2209控制步进电机正反转。
STM32F103ZET6+TMC2209控制步进电机正反转
1. 步进电机介绍
- 本实验采用2项步进电机，电机只有2项，A+\A-\B+\B-。
- 电机步距角1.8°
2 驱动器TMC2209介绍
2.1 引脚图及其功能
2.2 细分介绍
- 8细分控制精度=1.8°/8=0.225°，电机转一周需要1600个脉冲。
- 16细分控制精度=1.8°/16=0.1125°，电机转一周需要3200个脉冲。
- 32细分控制精度=1.8°/32=0.05625°，电机转一周需要6400个脉冲。
- 64细分控制精度=1.8°/64=0.0140625°，电机转一周需要12800个脉冲。
满足绝大多数精度场景，如低精度机床、家电、3D打印等。
2.3 TMC控制驱动器接法
这里只需要使用13个引脚
EN：控制器使能引脚，接GND, 电机才能工作。
DIR:控制方向，这个引脚的高\低电平分别控制正\反转
VM：给电机的电压(4.75—>28VDC)，可以选择24V电源供电，没24V直流电源可以在网上买一个。电机电压5V可能导致电机丢步，尽量选择24V的直流电源。
GND：VM的GND
STEP: 控制脉冲，一个占空比为50%高电平、一个占空比50%的低电平为一个脉冲。
MS1\MS2: 控制细分，参考2.2节
VDD: 给TMC2209供电，供+5V供电。
GND: VDD的GND
A1\A2\B1\B2: 参考第1节的电机。
3 控制器介绍
- STM32F103ZET6（正点原子V3）
3.1 确定控制引脚
- 将下面的引脚与2.3的引脚连接，具体位置如下图红圈位置。
DIR: PF12/FSMC_A6
STEP: PG1/FSMC_A11
EN: PF14/FSMC_A8
MS1: PF15/FSMC_A9
MS2: PG0/FSMC_VA10
VDD: 见下图红圈位置
GND: 见下图红圈位置
3.2 UBEMX配置
3.2.1 GPIO配置
3.2.2 NVIC配置
3.2.3 RCC配置
3.2.4 SYS配置
- 用的ST-link V2的仿真器，选择下面这个：
3.2.5 USRAT2配置（PS:没用上可以跳过）
3.2.6 保存并生成工程
4 代码部分
主要修改main.c，其他的不用管。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* 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 ---------------------------------------------------------*/
// UART_HandleTypeDef huart2a;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
// static void MX_GPIO_Init(void);
// static void MX_USART2_UART_Init(void);
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void SubdivisionSet(uint8_t i);//细分设置
void MoveStep(uint8_t DIR_Flag,uint32_t Step);//电机移动多少步
/* 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_USART2_UART_Init();
/* USER CODE BEGIN 2 */
SubdivisionSet(64);//细分设置为64
HAL_GPIO_WritePin(GPIOG,STEP_Pin, GPIO_PIN_SET);
//STEP设置为高
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
MoveStep(1,12800*10);//正转一圈
HAL_Delay(2000);//延时2S
MoveStep(0,12800*10);//反转一圈
HAL_Delay(2000);//延时2S
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief SubdivisionSet
* 细分设置
* @retval None
*/
void SubdivisionSet(uint8_t i)
{
if(i==8)
{
HAL_GPIO_WritePin(GPIOG,MS2_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOF,MS1_Pin, GPIO_PIN_RESET);
}
else if(i==32)
{
HAL_GPIO_WritePin(GPIOG,MS2_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOF,MS1_Pin, GPIO_PIN_SET);
}
else if(i==64)
{
HAL_GPIO_WritePin(GPIOG,MS2_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOF,MS1_Pin, GPIO_PIN_RESET);
}
else
{
HAL_GPIO_WritePin(GPIOG,MS2_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOF,MS1_Pin, GPIO_PIN_SET);
}
}
/**
* @brief DelayNop
* 延时
* @retval None
*/
void DelayNop(uint8_t i)
{
uint32_t j;
do
{
for(j=0;j<100;j++){;}
}while(i--);
}
/**
* @brief MoveStep
* 电机移动多少步
* @retval None
*/
void MoveStep(uint8_t DIR_Flag,uint32_t Step)
{
//uint8_tj=200;
uint32_tj=1;
uint32_t i;
//电机使能
HAL_GPIO_WritePin(GPIOF,EN_Pin, GPIO_PIN_RESET);
if(DIR_Flag)
{
//正转
HAL_GPIO_WritePin(GPIOF,DIR_Pin, GPIO_PIN_SET);
}
else
{
//反转
HAL_GPIO_WritePin(GPIOF,DIR_Pin, GPIO_PIN_RESET);
}
for(i=0;i<Step;i++)
{
//发送脉冲
HAL_GPIO_WritePin(GPIOG,STEP_Pin, GPIO_PIN_RESET);
//if(j>1)j--;
//else;
DelayNop(j);
HAL_GPIO_WritePin(GPIOG,STEP_Pin, GPIO_PIN_SET);
DelayNop(j);
}
HAL_Delay(10);
//电机非使能
HAL_GPIO_WritePin(GPIOF,EN_Pin, GPIO_PIN_SET);
}
/**
* @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_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
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_1) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/**
* @brief USART2 Initialization Function
* @param None
* @retval None
*/
//void MX_USART2_UART_Init(void)
//{
// /* USER CODE BEGIN USART2_Init 0 */
// /* USER CODE END USART2_Init 0 */
// /* USER CODE BEGIN USART2_Init 1 */
// /* USER CODE END USART2_Init 1 */
// huart2a.Instance = USART2;
// huart2a.Init.BaudRate = 115200;
// huart2a.Init.WordLength = UART_WORDLENGTH_8B;
// huart2a.Init.StopBits = UART_STOPBITS_1;
// huart2a.Init.Parity = UART_PARITY_NONE;
// huart2a.Init.Mode = UART_MODE_TX_RX;
// huart2a.Init.HwFlowCtl = UART_HWCONTROL_NONE;
// huart2a.Init.OverSampling = UART_OVERSAMPLING_16;
// if (HAL_UART_Init(&huart2a) != HAL_OK)
// {
// Error_Handler();
// }
/* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */
//}
/**
* @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 */
- 这边的代码是选择64细分，正转10圈-等待2S-反转10圈-等待2S。
- 编译代码烧录到单板
仿真器配置参考link中13节。
- 这样，就可以控制电机正反转啦。
ps: 正点原子STM32战舰版V3的板子每次烧录需要摁红色reset按钮，烧录才能生效。
原文地址：https://blog.csdn.net/eettttttt/article/details/140426295
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