A4988 drive stepper motor "recommended collection"

Hello everyone , I meet you again , I'm your friend, Quan Jun .

A4988 It's usually used arduino To drive , I use STM32F103 Driven .

First push a web page ,https://www.pololu.com/product/1182, There are more detailed and professional instructions on it , There is also a video explanation about limiting current to make subdivision more accurate , All in all , major . Then push one datasheet,https://www.pololu.com/file/0J450/a4988_DMOS_microstepping_driver_with_translator.pdf

I use it

The driver is easy to write , First of all, make sure the wiring mode .

Code ：

motor.c
//IO initialization 
void MOTOR_Init(void)
{
  RCC->APB2ENR|=1<<3;
  GPIOB->CRH&=0xff000000;
  GPIOB->CRH|=0x00333333;
}
// To subdivide 
// x==1  Full step 
// x==2  half of step  
// x==4 1/4 Step 
// x==8 1/8 Step 
// x==16 1/16 Step 
void Step_Micr(u16 x)
{
    switch(x)
    {
        case 1:Full_step;break;
        case 2:Half_step;break;
        case 4:Quarter_step;break;
        case 8:Eighth_step;break;
        case 16:Sixteenth_step;break;
        default:break;
    }   
}
// Parameters 
// dir:FALSE  Positive rotation TRUE reverse 
// period  cycle 
// step  pulse 
void Step_Control(u8 dir,u16 period,u32 steps)
{
    u32 i;
  for(i=0; i <= steps;i++)
  {
        DIR = dir;
    STEP = 1;
    delay_us(1);
    STEP = 0;
    delay_us(period);//periodԽС£¬×ªËÙÔ½¿ì£¬²»ÒªÐ¡ÓÚ1000
  }
}
// This function can be locked 
// 0  Cling to death 
// 1  normal 
void Step_Enable()
{
    ENABLE = 0;
}


motor.h
#define STEP PBout(8) //step
#define DIR PBout(9) //dir
#define MS1 PBout(10)//MS1
#define MS2 PBout(11)//MS2
#define MS3 PBout(12)//MS3
#define ENABLE PBout(13)//ENABLE
// Subdivision macro definition 
#define Full_step {MS1 = 0;MS2 = 0;MS3 = 0;} 
#define Half_step {MS1 = 1;MS2 = 0;MS3 = 0;}
#define Quarter_step {MS1 = 0;MS2 = 1;MS3 = 0;} 
#define Eighth_step {MS1 = 1;MS2 = 1;MS3 = 0;}
#define Sixteenth_step {MS1 = 1;MS2 = 1;MS3 = 1;} 

void MOTOR_Init(void);
void Step_Micr(u16 x);
void Step_Enable(void);
void Step_Control(u8 dir,u16 period,u32 steps);

main.c
int main(void)
{
    int i=0;
  Stm32_Clock_Init(9);
  delay_init(72);
  MOTOR_Init();
    Step_Micr(1);//1/2/4/8/16 
    for(i=0;i<10;i++)
    {
        Step_Control(FALSE,1600,200);// Positive rotation 
    delay_ms(1000);
        Step_Control(TRUE,1600,200);// reverse 
    delay_ms(1000);
    }
    Step_Enable();// Cling to death 
  while(1)
  {

  }
}

Copy

Realize a positive turn in the full step state , Turn around , Hold on for a while and then lock up .

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