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
• 2 驱动器TMC2209介绍
• • 2.1 引脚图及其功能
  • 2.2 细分介绍
  • 2.3 TMC控制驱动器接法
• 3 控制器介绍
• • 3.1 确定控制引脚
  • 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
    • 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

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64HAL_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2SMoveStep(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。