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_t		j=200;uint32_t		j=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。