步进电机转台设计

步进电机驱动设置：

STM32单片机程序：

配置STM32的定时器模式，TIM2为主定时器，TIM3为从定时器，其中PulseFrequency为TIM输出PWM的频率。其主要功能，将TIM2的输出中断TR1指定到TIM3的计数器输入中，每当TIM2输出完成，TIM3就进行一次计数，当TIM3完成计数时，向系统提出一次中断。

void TIM2_Master__TIM3_Slave_Configuration(u32 PulseFrequency)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure; 

    u16 nPDTemp ;
    //配置TIM2为输出PWM的端口，PulseFrequency为设置的PWM频率
    TIM_Cmd(TIM2, DISABLE);
    nPDTemp = 72000UL/PulseFrequency;                // 更改频率时，注意处理72000UL及TIM_Prescaler，使TIM_Period不要超过0xFFFF

    // 时基配置：配置PWM输出定时器——TIM2
    /* Time base configuration */
    TIM_TimeBaseStructure.TIM_Period = nPDTemp-1;
    TIM_TimeBaseStructure.TIM_Prescaler = 999;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); 

    // 输出配置：配置PWM输出定时器——TIM2
    /* PWM1 Mode configuration: Channel1 */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = nPDTemp>>1;//50%
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM2, ENABLE); 

    // 时基配置：配置脉冲计数寄存器——TIM3
    TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); 

    // Output Compare Active Mode configuration: Channel1
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Inactive;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0xFFFF; // 这里的配置值意义不大
    TIM_OC1Init(TIM3, &TIM_OCInitStructure); 

    // 配置TIM2为主定时器
    // Select the Master Slave Mode
    TIM_SelectMasterSlaveMode(TIM2, TIM_MasterSlaveMode_Enable);
    // Master Mode selection
    TIM_SelectOutputTrigger(TIM2, TIM_TRGOSource_Update); 

    // 配置TIM3为从定时器
    // Slave Mode selection: TIM3
    TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Gated);
    TIM_SelectInputTrigger(TIM3, TIM_TS_ITR1);
    TIM_ITRxExternalClockConfig(TIM3, TIM_TS_ITR1);
//    TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);               

    TIM_Cmd(TIM2, DISABLE);
    TIM_Cmd(TIM3, DISABLE);
} 

再添加TIM的比较数值，当计数超过该数值时产生一次中断：

void Output_Pulse(u16 Num)
{
        TIM3->CCR1 = Num;
        TIM3->CNT = 0;
        TIM_Cmd(TIM3, ENABLE);
        TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
        TIM_Cmd(TIM2, ENABLE); 

}

在TIM3的中断程序中，若发送中断后，则停止TIM2，和TIM3的定时功能，因此该程序完成了使用TIM2和TIM3完成指定个数的PWM波输出。

void TIM3_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET)        // TIM_IT_CC1
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_CC1); // 清除中断标志位
        TIM_Cmd(TIM2, DISABLE); // 关闭定时器
        TIM_Cmd(TIM3, DISABLE); // 关闭定时器
        TIM_ITConfig(TIM3, TIM_IT_CC1, DISABLE);
        TIM2_Pulse_TIM3_Counter_OK=1;
    }
}