步进电机工作原理简介（28BYJ-48）
https://www.bilibili.com/read/cv11379422?spm_id_from=333.999.0.0
驱动例程代码
1 #ifndef __MOTOR_H 2 #define __MOTOR_H 3 #include "main.h" 4 5 ////位带操作,实现51类似的GPIO控制功能 6 ////具体实现思想,参考<<CM3权威指南>>第五章(87页~92页). 7 ////IO口操作宏定义 8 //#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) 9 //#define MEM_ADDR(addr) *((volatile unsigned long *)(addr)) 10 //#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum)) 11 ////IO口地址映射 12 //#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C 13 //#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C 14 //#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C 15 //#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C 16 //#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C 17 //#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C 18 //#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C 19 20 //#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808 21 //#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08 22 //#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008 23 //#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408 24 //#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808 25 //#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08 26 //#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08 27 // 28 ////IO口操作,只对单一的IO口! 29 ////确保n的值小于16! 30 //#define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) //输出 31 //#define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) //输入 32 33 //#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) //输出 34 //#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) //输入 35 36 //#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) //输出 37 //#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) //输入 38 39 //#define PDout(n) BIT_ADDR(GPIOD_ODR_Addr,n) //输出 40 //#define PDin(n) BIT_ADDR(GPIOD_IDR_Addr,n) //输入 41 42 //#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) //输出 43 //#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) //输入 44 45 //#define PFout(n) BIT_ADDR(GPIOF_ODR_Addr,n) //输出 46 //#define PFin(n) BIT_ADDR(GPIOF_IDR_Addr,n) //输入 47 48 //#define PGout(n) BIT_ADDR(GPIOG_ODR_Addr,n) //输出 49 //#define PGin(n) BIT_ADDR(GPIOG_IDR_Addr,n) //输入 50 51 52 void motor_init(void);// 初始化 53 void motor_single_four_beat(uint8_t direction);// 单四拍 控制电机 54 void motor_double_four_beat(uint8_t direction);// 双四拍 控制电机 55 void motor_four_phase_eight_beat(uint8_t direction);// 四相八拍 控制电机 56 57 58 void motor_stop(void); 59 60 void motor_start_run(uint16_t angle, uint8_t direction, uint8_t mode) ; //电机角度 61 #endif
源文件
1 #include "motor.h" 2 3 void motor_init(void)// 初始化 4 { 5 GPIO_InitTypeDef GPIO_InitStruct = {0}; 6 __HAL_RCC_GPIOA_CLK_ENABLE ( ); 7 8 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; 9 GPIO_InitStruct.Pull = GPIO_NOPULL; 10 GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; 11 12 GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; 13 HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 14 } 15 16 /*****************************************************************/ 17 18 #define MOTOR_A_H PAout(4) = 1 19 #define MOTOR_A_L PAout(4) = 0 20 21 #define MOTOR_B_H PAout(5) = 1 22 #define MOTOR_B_L PAout(5) = 0 23 24 #define MOTOR_C_H PAout(6) = 1 25 #define MOTOR_C_L PAout(6) = 0 26 27 #define MOTOR_D_H PAout(7) = 1 28 #define MOTOR_D_L PAout(7) = 0 29 /*****************************************************************/ 30 void motor_start_run(uint16_t angle, uint8_t direction, uint8_t mode) //电机角度 31 { 32 int i = 0; 33 // 查看28BYJ-48步进电机, 步距角=5.625°/64，其意思就是 34 // 每64个脉冲步进电机集成的变速器输出轴就会转5.625度。 35 int pulse = (int)((double)(angle/5.625)*64); 36 if( mode == 0x48) 37 { 38 for(i=0; i<pulse; i++){ 39 motor_four_phase_eight_beat(direction); 40 HAL_Delay(2);//延时2ms,修改延时可改变电机转动速度。即修改了脉冲频率 41 } 42 } 43 if( mode == 0x14) // 单四拍 44 { 45 pulse = pulse/2;// 脉冲数折半 46 for(i=0; i<pulse; i++){ 47 motor_single_four_beat(direction); 48 HAL_Delay(2);//延时2ms,修改延时可改变电机转动速度。即修改了脉冲频率 49 } 50 } 51 if( mode == 0x24) // 双四拍 52 { 53 pulse = pulse/2;// 脉冲数折半 54 for(i=0; i<pulse; i++){ 55 motor_double_four_beat(direction); 56 HAL_Delay(2);//延时2ms,修改延时可改变电机转动速度。即修改了脉冲频率 57 } 58 } 59 } 60 61 /*****************************************************************/ 62 void motor_four_phase_eight_beat(uint8_t direction)// 四相八拍 控制电机 63 { 64 static uint8_t step = 0; 65 if(1 == direction){//反转 66 if(0 == step) step = 8; 67 step--; 68 } 69 if(0 == step){//步序1 70 MOTOR_A_H; 71 MOTOR_B_L; 72 MOTOR_C_L; 73 MOTOR_D_L; 74 }else if(1 == step){//步序2 75 MOTOR_A_H; 76 MOTOR_B_H; 77 MOTOR_C_L; 78 MOTOR_D_L; 79 }else if(2 == step){//步序3 80 MOTOR_A_L; 81 MOTOR_B_H; 82 MOTOR_C_L; 83 MOTOR_D_L; 84 }else if(3 == step){//步序4 85 MOTOR_A_L; 86 MOTOR_B_H; 87 MOTOR_C_H; 88 MOTOR_D_L; 89 }else if(4 == step){//步序5 90 MOTOR_A_L; 91 MOTOR_B_L; 92 MOTOR_C_H; 93 MOTOR_D_L; 94 }else if(5 == step){//步序6 95 MOTOR_A_L; 96 MOTOR_B_L; 97 MOTOR_C_H; 98 MOTOR_D_H; 99 }else if(6 == step){//步序7 100 MOTOR_A_L; 101 MOTOR_B_L; 102 MOTOR_C_L; 103 MOTOR_D_H; 104 }else if(7 == step){//步序8 105 MOTOR_A_H; 106 MOTOR_B_L; 107 MOTOR_C_L; 108 MOTOR_D_H; 109 } 110 if(0 == direction){//正转 111 step++; if(8 == step) step = 0; 112 } 113 } 114 115 /*****************************************************************/ 116 void motor_single_four_beat(uint8_t direction)// 单四拍 控制电机 117 { 118 static uint8_t step = 0; 119 if(1 == direction){//反转 120 if(0 == step) step = 4; 121 step--; 122 } 123 if(0 == step){//步序1 124 MOTOR_A_H; 125 MOTOR_B_L; 126 MOTOR_C_L; 127 MOTOR_D_L; 128 }else if(1 == step){//步序2 129 MOTOR_A_L; 130 MOTOR_B_H; 131 MOTOR_C_L; 132 MOTOR_D_L; 133 }else if(2 == step){//步序3 134 MOTOR_A_L; 135 MOTOR_B_L; 136 MOTOR_C_H; 137 MOTOR_D_L; 138 }else if(3 == step){//步序4 139 MOTOR_A_L; 140 MOTOR_B_L; 141 MOTOR_C_L; 142 MOTOR_D_H; 143 } 144 if(0 == direction){//正转 145 step++; if(4 == step) step = 0; 146 } 147 } 148 149 /*****************************************************************/ 150 void motor_double_four_beat(uint8_t direction)// 双四拍 控制电机 151 { 152 static uint8_t step = 0; 153 if(1 == direction){//反转 154 if(0 == step) step = 4; 155 step--; 156 } 157 if(0 == step){//步序1 158 MOTOR_A_H; 159 MOTOR_B_L; 160 MOTOR_C_L; 161 MOTOR_D_H; 162 }else if(1 == step){//步序2 163 MOTOR_A_H; 164 MOTOR_B_H; 165 MOTOR_C_L; 166 MOTOR_D_L; 167 }else if(2 == step){//步序3 168 MOTOR_A_L; 169 MOTOR_B_H; 170 MOTOR_C_H; 171 MOTOR_D_L; 172 }else if(3 == step){//步序4 173 MOTOR_A_L; 174 MOTOR_B_L; 175 MOTOR_C_H; 176 MOTOR_D_H; 177 } 178 if(0 == direction){//正转 179 step++; if(4 == step) step = 0; 180 } 181 } 182 183 /*****************************************************************/ 184 void motor_stop(void) 185 { 186 //四相输出都为低电平是，电机停止工作 187 MOTOR_A_L; 188 MOTOR_B_L; 189 MOTOR_C_L; 190 MOTOR_D_L; 191 }