STM32 控制步进电机 28BYJ-48

选用的步进电机的型号为28BYJ-48（或MP28GA，5V，转速比1/64），驱动电路选用uln2003芯片的驱动板，其控制时序图如下：

四相八拍：A->AB->B ->BC ->C ->CD ->D ->DA

其A、B、C、D指的是uln2003芯片驱动板的1N1、1N2、1N3、1N4，波形在上表示有输入信号。

此外至少需要4根杜邦线，还需提供一个5V的直流电源，接线方式如下：

PE0接IN1
    PE1接IN2
    PE2接IN3
    PE3接IN4
    5V电源(一个是地，一个是正)。

/***************************************************************************//**
 * @file      : stm32_pio.h
 * @brief     : STM32F1xx CoX PIO Peripheral Interface
 * @version   : V1.0
 * @date      : 28 Feb. 2011
 * @author    : CooCox
*******************************************************************************/
#ifndef __STM_PIO_H
#define __STM_PIO_H

#include "cox_pio.h"

/***************************************************************************//**
 * Define STM32F1xx CoX PIO Peripheral Interface
*******************************************************************************/
extern COX_PIO_PI pi_pio;

#endif

/***************************************************************************//**
 * @file      : stm32_pio.c
 * @brief     : STM32F1xx CoX PIO Peripheral Interface
 * @version   : V1.0
 * @date      : 28 Feb. 2011
 * @author    : CooCox
 ******************************************************************************/
#include "stm32_pio.h"
#include "stm32f10x.h"


/***************************************************************************//**
 * @brief     Get pointer to GPIO peripheral due to GPIO port
 * @param[in] portNum : Port Number value, should be in range from 0 to 6.
 * @return    Pointer to GPIO peripheral
*******************************************************************************/
static GPIO_TypeDef* STM32_GetGPIO(uint8_t port)
{
    GPIO_TypeDef *pGPIO = COX_NULL;

    switch(port)
    {
        case 0: pGPIO = GPIOA; break;
        case 1: pGPIO = GPIOB; break;
        case 2: pGPIO = GPIOC; break;
        case 3: pGPIO = GPIOD; break;
        case 4: pGPIO = GPIOE; break;
        case 5: pGPIO = GPIOF; break;
        case 6: pGPIO = GPIOG; break;
        default: break;
    }

    return pGPIO;
}


/***************************************************************************//**
 * @brief     Initializes the PIO peripheral
 * @param[in] pio : The specified peripheral
 * @return    Result, may be :
 *              -COX_ERROR : Error occurred, parameter is not supported
 *              -COX_SUCCESS : Previous argument of the specified option
*******************************************************************************/
static COX_Status STM32_PIO_Init (COX_PIO_Dev pio)
{

    GPIO_TypeDef* pGPIO = COX_NULL;
    uint8_t port, pin;

    port = (pio >> 8) & 0xFF;
    pin  = (pio >> 0) & 0xFF;

    pGPIO = STM32_GetGPIO(port);

    if(port >6 || port<0 || pin<0 || pin > 15)
        return COX_ERROR;

    /* Enable GPIO and AFIO clocks */
    switch(port)
    {
        case 0: RCC->APB2ENR |= (RCC_APB2ENR_IOPAEN | RCC_APB2ENR_AFIOEN); break;
        case 1: RCC->APB2ENR |= (RCC_APB2ENR_IOPBEN | RCC_APB2ENR_AFIOEN); break;
        case 2: RCC->APB2ENR |= (RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN); break;
        case 3: RCC->APB2ENR |= (RCC_APB2ENR_IOPDEN | RCC_APB2ENR_AFIOEN); break;
        case 4: RCC->APB2ENR |= (RCC_APB2ENR_IOPEEN | RCC_APB2ENR_AFIOEN); break;
        default: break;
    }
  return COX_SUCCESS;
}


/***************************************************************************//**
 * @brief     Set direction (Input or Output)
 * @param[in] pio : The specified PIO peripheral
 * @param[in] dir : Direction, should be
 *             -0: Input
 *             -1: Output
 * @return    Result, may be :
 *              -COX_ERROR : Error occurred, parameter is not supported
 *              -COX_SUCCESS : Previous argument of the specified option
*******************************************************************************/
static COX_Status STM32_PIO_SetDir(COX_PIO_Dev pio, uint8_t dir)
{

    GPIO_TypeDef* pGPIO = COX_NULL;
    uint8_t port, pin;

    port = (pio >> 8) & 0xFF;
    pin  = (pio >> 0) & 0xFF;

    pGPIO = STM32_GetGPIO(port);

    /* Direction is input:GPIO_Mode_IN_FLOATING */
    if(dir == 0){
        if(pin>7)
        {
            /* Configure the eight high port pins */
            pin = pin-8;
            /* MODE[1:0]=00 */
            pGPIO -> CRH &= ~(0x3 << (pin*4));
            /* CNF[1:0] =01 */
            pGPIO -> CRH &= ~(0x8 << (pin*4));
            pGPIO -> CRH |=  (0x4 <<(pin*4));
        }

        else
        {
            /* Configure the eight low port pins */
            pGPIO -> CRL &= ~(0x3 << (pin*4));
            pGPIO -> CRL &= ~(0x8 << (pin*4));
            pGPIO -> CRL |=  (0x4 << (pin*4));
        }
    }

    /* Direction is output:GPIO_Mode_Out_PP */
    else {
        if(pin>7)
        {
            pin = pin-8;
            /* MODE[1:0]=11 */
            pGPIO -> CRH |=  (0x3 <<(pin*4));
            /* CNF[1:0] =00 */
              pGPIO -> CRH &= ~(0xc <<(pin*4));
        }
        else
        {
            pGPIO -> CRL |=  (0x3 << (pin*4));
            pGPIO -> CRL &= ~(0xc<<(pin*4));
        }
    }
    return COX_SUCCESS;
}


/******************************
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