五线四相步进电机驱动代码

### 五线四相步进电机驱动代码示例 以下是基于 STM32 的五线四相步进电机驱动代码示例。此代码通过定时器控制 GPIO 输出来实现步进电机的正转和反转功能。 #### 定义头文件 `motor.h` ```c #ifndef __MOTOR__H #define __MOTOR__H #include "sys.h" // 定义GPIO引脚 #define Motor_A PCout(6) #define Motor_B PCout(7) #define Motor_C PCout(8) #define Motor_D PCout(9) extern unsigned int Zz_flag; extern unsigned int Fz_flag; extern unsigned int Zz_Value; extern unsigned int Fz_Value; void Motor_Zz_Function(void); void Motor_Fz_Function(void); void Motor_Init(void); void Motor_Zz(void); // 正转 void Motor_Fz(void); // 反转 #endif ``` #### 实现源文件 `motor.c` ```c #include "motor.h" unsigned int Zz_flag = 0; unsigned int Fz_flag = 0; unsigned int Zz_Value = 0; unsigned int Fz_Value = 0; // 初始化函数 void Motor_Init(void) { RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); // 使能GPIOC时钟 GPIO_InitTypeDef GPIO_InitStructure; // 配置PC6-PC9为推挽输出模式 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOC, &GPIO_InitStructure); // 初始状态设置为低电平 Motor_A = 0; Motor_B = 0; Motor_C = 0; Motor_D = 0; } // 步进电机正转逻辑 void Motor_Zz(void) { static unsigned char step = 0; switch (step % 8) { // 使用八拍方式驱动 case 0: Motor_A = 1; Motor_B = 0; Motor_C = 0; Motor_D = 0; break; case 1: Motor_A = 1; Motor_B = 1; Motor_C = 0; Motor_D = 0; break; case 2: Motor_A = 0; Motor_B = 1; Motor_C = 0; Motor_D = 0; break; case 3: Motor_A = 0; Motor_B = 1; Motor_C = 1; Motor_D = 0; break; case 4: Motor_A = 0; Motor_B = 0; Motor_C = 1; Motor_D = 0; break; case 5: Motor_A = 0; Motor_B = 0; Motor_C = 1; Motor_D = 1; break; case 6: Motor_A = 0; Motor_B = 0; Motor_C = 0; Motor_D = 1; break; case 7: Motor_A = 1; Motor_B = 0; Motor_C = 0; Motor_D = 1; break; } step++; } // 步进电机反转逻辑 void Motor_Fz(void) { static unsigned char step = 0; switch ((step % 8)) { // 使用八拍方式驱动 case 0: Motor_A = 1; Motor_B = 0; Motor_C = 0; Motor_D = 1; break; case 1: Motor_A = 0; Motor_B = 0; Motor_C = 0; Motor_D = 1; break; case 2: Motor_A = 0; Motor_B = 0; Motor_C = 1; Motor_D = 1; break; case 3: Motor_A = 0; Motor_B = 0; Motor_C = 1; Motor_D = 0; break; case 4: Motor_A = 0; Motor_B = 1; Motor_C = 1; Motor_D = 0; break; case 5: Motor_A = 0; Motor_B = 1; Motor_C = 0; Motor_D = 0; break; case 6: Motor_A = 1; Motor_B = 1; Motor_C = 0; Motor_D = 0; break; case 7: Motor_A = 1; Motor_B = 0; Motor_C = 0; Motor_D = 0; break; } step--; } ``` 以上代码实现了五线四相步进电机的基本驱动逻辑，采用八拍工作方式[^3]。具体的工作原理是通过对四个绕组依次通电形成旋转磁场，从而带动电机轴转动。 ### 注意事项 - 上述代码中的 GPIO 引脚配置需根据实际硬件连接调整。 - 如果需要精确控制速度或角度，可以结合定时器中断或其他外设模块完成更复杂的任务。