stm32步进电机加减速

STM32控制步进电机的加减速可以通过以下步骤实现：

1. 初始化GPIO和时钟配置：首先，你需要为你的STM32微控制器配置GPIO引脚以连接到步进电机的驱动器。同时，设置系统的时钟频率，以便在后续代码中正确运行定时器和中断。

```c

// GPIO配置

GPIO_InitTypeDef GPIO_InitStruct;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB, ENABLE);

GPIO_InitStruct.Pin = GPIO_PIN_6; // PA6 for driver1, PB6 for driver2 (e.g. L298N)

GPIO_InitStruct.Mode = GPIO_MODE_OUT;

GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

// Clock configuration

SystemClockUpdate();

```

2. 初始化步进电机驱动器：根据你的驱动器类型（例如L298N），初始化驱动器的方向信号、使能信号和其他控制信号。

```c

// Initialize stepper driver

L298N_Init(L298N_CHANNEL1, L298N_DIR_FORWARD); // Set channel 1 to forward direction by default

L298N_SetEnabled(L298N_CHANNEL1, DISABLE); // By default, disable channel 1

L298N_SetEnabled(L298N_CHANNEL2, DISABLE); // Disable both channels by default

```

3. 计算步进电机的角位移和脉冲数：根据你的应用需求，确定步进电机需要旋转的角度和每个脉冲的步距角。然后，计算所需的脉冲数。

```c

// Calculate steps and angle

int steps = (angle / resolution) * 4096; // Assuming a resolution of 1.8 degrees and an angle of 90 degrees

```

4. 创建定时器中断：使用STM32的定时器（例如TIM2）生成周期性的脉冲信号来驱动步进电机。设置定时器的周期为所需脉冲宽度的倒数（例如，如果脉冲宽度为1ms，则将周期设置为1000Hz）。

```c

// Configure TIM2 as a pulse generator

TIM_TimeBaseInitTypeDef TIM_Config;

TIM_Config.Period = (uint32_t)(1000 / pulse_width) - 1; // Period should be slightly less than the desired pulse width

TIM_Config.Prescaler = (uint32_t)(SystemCoreClock / timer_clock) - 1;

TIM_Config.ClockDivision = TIM_CLOCKDIVISION_DIV1;

TIM_Config.CounterMode = TIM_COUNTERMODE_UP;

TIM_Config.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

TIM_Config.OutputState = TIM_OUTPUT_STATE_DISABLE;

TIM_Config.OutputNState = TIM_OUTPUT_NSTATE_DISABLE;

TIM_Config.InputTrigger = TIM_TS_ITR0;

TIM_Config.IterationMode = TIM_ITERATIONMODE_DISABLE;

TIM_Config.CounterDirection = TIM_COUNTERDIRECTION_UP;

HAL_TIM_ConfigTimeBase(&TIM2, &TIM_Config);

// Set up TIM2 as an input capture 1 (IC1) with external trigger from GPIO6

TIM_ICInitTypeDef TIM_IC_Config;

TIM_IC_Config.Channel = TIM_CHANNEL_1;

TIM_IC_Config.ICPolarity = TIM_ICPOLARITY_RISING;

TIM_IC_Config.ICSelection = TIM_ICSELECTION_DIRECTTI;

TIM_IC_Config.ICPrescaler = TIM_ICPRESCALER_DIV1;

TIM_IC_Config.ICFilter = 0;

HAL_TIM_IC_ConfigChannel(&TIM2, &TIM_IC_Config, TIM_IC_SELECTION_DIRECTTI);

// Enable TIM2

HAL_TIM_Base_Start(&TIM2);

```

5. 编写中断处理函数：在中断处理函数中，根据步进电机的当前角度和期望角度计算下一个脉冲的延迟时间，并在定时器到达时更新步进电机的角度。

```c

#ifdef USE_INTERRUPTS

void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim)

{

if (TIM_GetFlagStatus(htim, TIM_FLAG_UPDATE) != RESET) {

// Update the step counter based on the current angle

steps += (angle / resolution) * 4096; // Assuming a resolution of 1.8 degrees and an angle of 90 degrees

// Check if the target angle has been reached

if (steps <= target_angle * resolution) {

// Stop the timer when the target angle is reached

HAL_TIM_Base_Stop(&TIM2);

HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_6); // Toggle the driver output to change direction, if needed

break;

}

// Adjust the timer period to generate pulses with the new step count

TIM_SetCounter(htim, steps * (resolution / angle) * 4096 - 1);

TIM_Cmd(htim, ENABLE);

}

}

#endif

```

6. 启动步进电机：通过调用`HAL_GPIO_TogglePin()`函数来触发步进电机的中断，从而开始旋转。

```c

// Start the stepper motor

HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_6); // Toggle the driver output to start rotation

```

7. 停止步进电机：当需要停止步进电机时，再次调用`HAL_GPIO_TogglePin()`函数即可。