正如开箱贴所述，借助STM32CubeMX工具可以快速构建工程框架，此次通过对TIM3的控制，PWM输出驱动42步进电机。同样的，首先使用STM32CubeMX构建一个基于TIM3输出PWM的基础工程，这里选择四通道作为PUL输出。
设置好Prescaler预分频及Period周期的初始参数，PUL脉冲信号通道设置好了，但驱动步进电机还需要提供使能信号与方向信号，因此在GPIO口设置中增加两个GPIO，即用于ENA使能信号控制，DIR方向控制。
导出工程后，稍加修改，即可驱动步进电机。这里还引入OLED显示模块，采用GPIO口模拟IIC通讯。以及结合板上的LED、按键，可以实测一下C031C6的实时驱动能力。整体硬件连接示意图及实物连接如下图所示。另：为了注意LED4的及时响应，这里增加了一个蜂鸣器。
对照官方提供的原理图，这里值得注意的是，笔者采用的PB11引脚在原理图上标识错误，特此说明。
工程中采用循环读取USER按键的状态，改变TIM3的预分频系数，从而修改脉冲信号输出，工程中的部分代码展示如下。
#include "main.h"
#include "oled.h"
#include "bmp.h"
I2C_HandleTypeDef hi2c1;
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart1;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM3_Init(uint16_t Prescaler,uint16_t period);
static void MX_USART1_UART_Init(void);
int main(void)
{
uint8_t t;
uint32_t i=40;
static uint32_t num = 0;
HAL_Init();
SystemClock_Config();
HAL_NVIC_SetPriority(SysTick_IRQn,0,0);
MX_GPIO_Init();
MX_I2C1_Init();
MX_TIM3_Init(42-1,1000);
MX_USART1_UART_Init();
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
OLED_Init();
OLED_Clear();
t=' ';
while (1)
{
if(!HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13))//如果按键按下
{
i=i+20;
if(i>1000) {i=0;
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_4);} //停止PWM
MX_TIM3_Init(i,1000); //PWM重新配置，周期为1000，高电平持续时间为i
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4); //启动PWM
while(!HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13));//等待按键释放
}
HAL_GPIO_WritePin(Led_GPIO_Port, Led_Pin, GPIO_PIN_SET);
HAL_Delay(50);
HAL_GPIO_WritePin(Led_GPIO_Port, Led_Pin, GPIO_PIN_RESET);
HAL_Delay(200);
HAL_GPIO_WritePin(Led_GPIO_Port, Led_Pin, GPIO_PIN_SET);
HAL_Delay(50);
HAL_GPIO_WritePin(Led_GPIO_Port, Led_Pin, GPIO_PIN_RESET);
OLED_Clear();
OLED_ShowCHinese(10,0,25);//欢
OLED_ShowCHinese(18+10,0,26);//迎
OLED_ShowCHinese(36+10,0,27);//使
OLED_ShowCHinese(54+10,0,28);//用
OLED_ShowString(6,3,(uint8_t *)"STM32C031C6",16);
OLED_ShowString(6,6,(uint8_t *)"2023-03-11",16);
HAL_Delay(1500);
OLED_Clear();
OLED_ShowCHinese(10,0,20);//意
OLED_ShowCHinese(18+10,0,21);//法
OLED_ShowCHinese(36+10,0,22);//半
OLED_ShowCHinese(54+10,0,23);//导
OLED_ShowCHinese(72+10,0,24);//体
OLED_ShowString(16,3,(uint8_t *)"NUCLEO Board",16);
OLED_ShowChar(48,6,t,16);//显示ASCII字符
HAL_Delay(50);
t++;
if(t>'~')t=' ';
OLED_ShowNum(103,6,t,3,16);//显示ASCII字符的码值
HAL_Delay(1500);
OLED_Clear();
OLED_DrawBMP(0,0,128,8,BMP2);
HAL_Delay(1500);
}
}static void MX_TIM3_Init(uint16_t Prescaler,uint16_t period)
{
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
htim3.Instance = TIM3;
htim3.Init.Prescaler = Prescaler;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = period;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if(HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if(HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if(HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 500;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if(HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
HAL_TIM_MspPostInit(&htim3);
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(Led_GPIO_Port, Led_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(ENA_GPIO_Port, ENA_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(DIR_GPIO_Port, DIR_Pin, GPIO_PIN_SET);
/*Configure GPIO pin : User_Button_Pin */
GPIO_InitStruct.Pin = User_Button_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(User_Button_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : Led_Pin */
GPIO_InitStruct.Pin = Led_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(Led_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : ENA_Pin DIR_Pin */
GPIO_InitStruct.Pin = ENA_Pin|DIR_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32c0xx_hal.h"
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
void Error_Handler(void);
#define User_Button_Pin GPIO_PIN_13
#define User_Button_GPIO_Port GPIOC
#define User_Button_EXTI_IRQn EXTI4_15_IRQn
#define Led_Pin GPIO_PIN_5
#define Led_GPIO_Port GPIOA
#define ENA_Pin GPIO_PIN_10
#define ENA_GPIO_Port GPIOB
#define DIR_Pin GPIO_PIN_11
#define DIR_GPIO_Port GPIOB
#ifdef __cplusplus
}
#endif
#endif#ifndef __OLED_H #define __OLED_H #include "stm32c0xx_hal.h" #include "stm32c0xx_hal_gpio.h" #include "stm32c0xx.h" #include "stdlib.h" #include "stdint.h" #define OLED_MODE 0 #define SIZE 8 #define XLevelL 0x00 #define XLevelH 0x10 #define Max_Column 128 #define Max_Row 64 #define Brightness 0xFF #define X_WIDTH 128 #define Y_WIDTH 64 //-----------------OLED IIC端口定义---------------- #define OLED_SCLK_Clr() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0,0)//SCL PA0 #define OLED_SCLK_Set() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0,1) #define OLED_SDIN_Clr() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1,0)//SDA PA1 #define OLED_SDIN_Set() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1,1) #define OLED_CMD 0 //写命令 #define OLED_DATA 1 //写数据 typedef uint32_t u32; typedef uint16_t u16; typedef uint8_t u8; //OLED控制用函数 void OLED_WR_Byte(unsigned dat,unsigned cmd); void OLED_Display_On(void); void OLED_Display_Off(void); void OLED_Init(void); void OLED_Clear(void); void OLED_DrawPoint(u8 x,u8 y,u8 t); void OLED_Fill(u8 x1,u8 y1,u8 x2,u8 y2,u8 dot); void OLED_ShowChar(u8 x,u8 y,u8 chr,u8 Char_Size); void OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 size); void OLED_ShowString(u8 x,u8 y, u8 *p,u8 Char_Size); void OLED_Set_Pos(unsigned char x, unsigned char y); void OLED_ShowCHinese(u8 x,u8 y,u8 no); void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[]); void Delay_50ms(unsigned int Del_50ms); void Delay_1ms(unsigned int Del_1ms); void fill_picture(unsigned char fill_Data); void Picture(void); void IIC_Start(void); void IIC_Stop(void); void Write_IIC_Command(unsigned char IIC_Command); void Write_IIC_Data(unsigned char IIC_Data); void Write_IIC_Byte(unsigned char IIC_Byte); void IIC_Wait_Ack(void); #endif
#include "oled.h"
#include "stdlib.h"
#include "oledfont.h"
void IIC_Start()
{
OLED_SCLK_Set();
OLED_SDIN_Set();
OLED_SDIN_Clr();
OLED_SCLK_Clr();
}
void IIC_Stop()
{
OLED_SCLK_Set();
OLED_SDIN_Clr();
OLED_SDIN_Set();
}
void IIC_Wait_Ack()
{
OLED_SCLK_Set() ;
OLED_SCLK_Clr();
}
void Write_IIC_Byte(unsigned char IIC_Byte)
{
unsigned char i;
unsigned char m,da;
da=IIC_Byte;
OLED_SCLK_Clr();
for(i=0;i<8;i++)
{
m=da;
m=m&0x80;
if(m==0x80)
{OLED_SDIN_Set();}
else OLED_SDIN_Clr();
da=da<<1;
OLED_SCLK_Set();
OLED_SCLK_Clr();
}
}
void Write_IIC_Command(unsigned char IIC_Command)
{
IIC_Start();
Write_IIC_Byte(0x78); //Slave address,SA0=0
IIC_Wait_Ack();
Write_IIC_Byte(0x00); //write command
IIC_Wait_Ack();
Write_IIC_Byte(IIC_Command);
IIC_Wait_Ack();
IIC_Stop();
}
void Write_IIC_Data(unsigned char IIC_Data)
{
IIC_Start();
Write_IIC_Byte(0x78); //D/C#=0; R/W#=0
IIC_Wait_Ack();
Write_IIC_Byte(0x40); //write data
IIC_Wait_Ack();
Write_IIC_Byte(IIC_Data);
IIC_Wait_Ack();
IIC_Stop();
}
void OLED_WR_Byte(unsigned dat,unsigned cmd)
{
if(cmd)
{
Write_IIC_Data(dat);
}
else
{
Write_IIC_Command(dat);
}
}
void fill_picture(unsigned char fill_Data)
{
unsigned char m,n;
for(m=0;m<8;m++)
{
OLED_WR_Byte(0xb0+m,0); //page0-page1
OLED_WR_Byte(0x00,0); //low column start address
OLED_WR_Byte(0x10,0); //high column start address
for(n=0;n<128;n++)
{
OLED_WR_Byte(fill_Data,1);
}
}
}
void OLED_Set_Pos(unsigned char x, unsigned char y)
{ OLED_WR_Byte(0xb0+y,OLED_CMD);
OLED_WR_Byte(((x&0xf0)>>4)|0x10,OLED_CMD);
OLED_WR_Byte((x&0x0f),OLED_CMD);
}
void OLED_Display_On(void)
{
OLED_WR_Byte(0X8D,OLED_CMD); //SET DCDC命令
OLED_WR_Byte(0X14,OLED_CMD); //DCDC ON
OLED_WR_Byte(0XAF,OLED_CMD); //DISPLAY ON
}
void OLED_Display_Off(void)
{
OLED_WR_Byte(0X8D,OLED_CMD); //SET DCDC命令
OLED_WR_Byte(0X10,OLED_CMD); //DCDC OFF
OLED_WR_Byte(0XAE,OLED_CMD); //DISPLAY OFF
}
void OLED_Clear(void)
{
u8 i,n;
for(i=0;i<8;i++)
{
OLED_WR_Byte (0xb0+i,OLED_CMD); //设置页地址（0~7）
OLED_WR_Byte (0x00,OLED_CMD); //设置显示位置—列低地址
OLED_WR_Byte (0x10,OLED_CMD); //设置显示位置—列高地址
for(n=0;n<128;n++)OLED_WR_Byte(0,OLED_DATA);
}
}
void OLED_On(void)
{
u8 i,n;
for(i=0;i<8;i++)
{
OLED_WR_Byte (0xb0+i,OLED_CMD); //设置页地址（0~7）
OLED_WR_Byte (0x00,OLED_CMD); //设置显示位置—列低地址
OLED_WR_Byte (0x10,OLED_CMD); //设置显示位置—列高地址
for(n=0;n<128;n++)OLED_WR_Byte(1,OLED_DATA);
}
}
void OLED_ShowChar(u8 x,u8 y,u8 chr,u8 Char_Size)
{
unsigned char c=0,i=0;
c=chr-' ';
if(x>Max_Column-1){x=0;y=y+2;}
if(Char_Size ==16)
{
OLED_Set_Pos(x,y);
for(i=0;i<8;i++)
OLED_WR_Byte(F8X16[c*16+i],OLED_DATA);
OLED_Set_Pos(x,y+1);
for(i=0;i<8;i++)
OLED_WR_Byte(F8X16[c*16+i+8],OLED_DATA);
}
else {
OLED_Set_Pos(x,y);
for(i=0;i<6;i++)
OLED_WR_Byte(F6x8[c][i],OLED_DATA);
}
}
u32 oled_pow(u8 m,u8 n)
{
u32 result=1;
while(n--)result*=m;
return result;
}
void OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 size2)
{
u8 t,temp;
u8 enshow=0;
for(t=0;t<len;t++)
{
temp=(num/oled_pow(10,len-t-1))%10;
if(enshow==0&&t<(len-1))
{
if(temp==0)
{
OLED_ShowChar(x+(size2/2)*t,y,' ',size2);
continue;
}else enshow=1;
}
OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2);
}
}
void OLED_ShowString(u8 x,u8 y,u8 *chr,u8 Char_Size)
{
unsigned char j=0;
while (chr[j]!='\0')
{
OLED_ShowChar(x,y,chr[j],Char_Size);
x+=8;
if(x>120){x=0;y+=2;}
j++;
}
}
void OLED_ShowCHinese(u8 x,u8 y,u8 no)
{
u8 t,adder=0;
OLED_Set_Pos(x,y);
for(t=0;t<16;t++)
{
OLED_WR_Byte(Hzk[2*no][t],OLED_DATA);
adder+=1;
}
OLED_Set_Pos(x,y+1);
for(t=0;t<16;t++)
{
OLED_WR_Byte(Hzk[2*no+1][t],OLED_DATA);
adder+=1;
}
}
void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[])
{
unsigned int j=0;
unsigned char x,y;
if(y1%8==0) y=y1/8;
else y=y1/8+1;
for(y=y0;y<y1;y++)
{
OLED_Set_Pos(x0,y);
for(x=x0;x<x1;x++)
{
OLED_WR_Byte(BMP[j++],OLED_DATA);
}
}
}
void OLED_Init(void)
{
GPIO_InitTypeDef configStruct;
/* enable the OLED GPIO clock */
__HAL_RCC_GPIOA_CLK_ENABLE();
/* configure OLED GPIO pin */
configStruct.Pin = (GPIO_PIN_0 | GPIO_PIN_1);
configStruct.Mode = GPIO_MODE_OUTPUT_PP;
configStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOA, &configStruct);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0|GPIO_PIN_1,1);
HAL_Delay(800);
OLED_WR_Byte(0xAE,OLED_CMD);//--display off
OLED_WR_Byte(0x00,OLED_CMD);//---set low column address
OLED_WR_Byte(0x10,OLED_CMD);//---set high column address
OLED_WR_Byte(0x40,OLED_CMD);//--set start line address
OLED_WR_Byte(0xB0,OLED_CMD);//--set page address
OLED_WR_Byte(0x81,OLED_CMD);// contract control
OLED_WR_Byte(0xFF,OLED_CMD);//--128
OLED_WR_Byte(0xA1,OLED_CMD);//set segment remap
OLED_WR_Byte(0xA6,OLED_CMD);//--normal / reverse
OLED_WR_Byte(0xA8,OLED_CMD);//--set multiplex ratio(1 to 64)
OLED_WR_Byte(0x3F,OLED_CMD);//--1/32 duty
OLED_WR_Byte(0xC8,OLED_CMD);//Com scan direction
OLED_WR_Byte(0xD3,OLED_CMD);//-set display offset
OLED_WR_Byte(0x00,OLED_CMD);
OLED_WR_Byte(0xD5,OLED_CMD);//set osc division
OLED_WR_Byte(0x80,OLED_CMD);
OLED_WR_Byte(0xD8,OLED_CMD);//set area color mode off
OLED_WR_Byte(0x05,OLED_CMD);
OLED_WR_Byte(0xD9,OLED_CMD);//Set Pre-Charge Period
OLED_WR_Byte(0xF1,OLED_CMD);
OLED_WR_Byte(0xDA,OLED_CMD);//set com pin configuartion
OLED_WR_Byte(0x12,OLED_CMD);
OLED_WR_Byte(0xDB,OLED_CMD);//set Vcomh
OLED_WR_Byte(0x30,OLED_CMD);
OLED_WR_Byte(0x8D,OLED_CMD);//set charge pump enable
OLED_WR_Byte(0x14,OLED_CMD);
OLED_WR_Byte(0xAF,OLED_CMD);//--turn on oled panel
} 至于采用“PCtoLCD2002”取字模软件生成的十六进制数据不再粘贴出来，编译工程后，下载到开发板，可通过按下按键改变步进电机的转速。视频后续经EEPW审核后再跟帖附上。综合体验，STM32C031C6控制外设实时可靠，相较于八位单片机，完全可以胜任在电机控制方面的产品开发。加之可使用STM32CubeMX工具方便构建工程，是一款不错的MCU。
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