CW32的步进电机和WS2812驱动：以制作简易旋转展台为例

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前言

用国产CW32F030C8T6单片机做个旋转展示台玩玩。具体硬件设计请移步【CW32】基于CW32F030的旋转展示台 - 嘉立创EDA开源硬件平台 (oshwhub.com)

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一、步进电机驱动

这里以四拍驱动5V步进电机为例。首先初始化一个基本定时器（BTIM），不过定时器的频率需要根据调试结果合理选择。

void BTIM_configuration(void){
    BTIM_TimeBaseInitStruct.BTIM_Mode = BTIM_Mode_TIMER;
    BTIM_TimeBaseInitStruct.BTIM_Period = 7000-1;
    BTIM_TimeBaseInitStruct.BTIM_Prescaler = BTIM_PRS_DIV16;
		BTIM_TimeBaseInitStruct.BTIM_OPMode=BTIM_OPMode_Repetitive;
    BTIM_TimeBaseInit(CW_BTIM1, &BTIM_TimeBaseInitStruct);
    BTIM_ITConfig(CW_BTIM1, BTIM_IT_OV, ENABLE);
    BTIM_Cmd(CW_BTIM1, ENABLE);
}

然后找4个IO端口给脉冲信号。如果有条件的话，可以分配相邻编号的4个管脚连到ULN2003驱动步进电机。那么，每一步的话，直接改BSRR寄存器一行完成。

void BTIM1_IRQHandler(void)
{
    /* USER CODE BEGIN */
    if (BTIM_GetITStatus(CW_BTIM1, BTIM_IT_OV))
    {
			BTIM_ClearITPendingBit(CW_BTIM1, BTIM_IT_OV);
			if (motor_enable==1){
				if(motor_direction==1){
					switch(motor_stage){
						case 1: CW_GPIOB->BSRR=0X00800030; break;
						case 2: CW_GPIOB->BSRR=0X00100060; break;
						case 3: CW_GPIOB->BSRR=0X002000C0; break;
						default: CW_GPIOB->BSRR=0X00400090; break; //case 4
					}
				}
				else{
					switch(motor_stage){
						case 1: CW_GPIOB->BSRR=0X00400030; break;
						case 2: CW_GPIOB->BSRR=0X00800060; break;
						case 3: CW_GPIOB->BSRR=0X001000C0; break;
						default: CW_GPIOB->BSRR=0X00200090; break; //case 4			
					}			
				}
				if(motor_direction==1)	motor_stage++;
				else					motor_stage--;
				if(motor_stage==5) motor_stage=1;
				if(motor_stage==0) motor_stage=4;
			}
			else{
				CW_GPIOB->BSRR=0X00F00000;
			}
    }
    /* USER CODE END */
}

 这里的代码还考虑了正反转两种情况，根据motor_direction切换驱动模式。

二、WS2812驱动

用STM32+ws2812灯条，点灯升级版_stm32 ws2812_哆啦哆小魔仙的博客-CSDN博客的代码，不过要根据CW32的实际情况改一下配置。为了分出7MHz时钟，CW32F030主频配成56MHz。

然后参考例程配置SPI和DMA。一些宏定义可以在文章最后的main.h找到。

void SPI_Configuration()
{
    SPI_InitTypeDef SPI_InitStructure;

    SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;    // 双线全双工
    SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                         // 主机模式
    SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;                     // 帧数据长度为8bit
    SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;                            // 时钟空闲电平为低
    SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;                          // 第一个边沿采样
    SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;                             // 片选信号由SSI寄存器控制
    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;    // 波特率为PCLK的4分频
    SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;                    // 最高有效位 MSB 收发在前
    SPI_InitStructure.SPI_Speed = SPI_Speed_High;                         // 高速SPI

    SPI_Init(SPIx, &SPI_InitStructure);
    SPI_Cmd(SPIx, ENABLE);
}

void DMA_Configuration(void)
{
    DMA_InitTypeDef DMA_InitStructure;

    //初始化SPI DMA TX
    DMA_InitStructure.DMA_Mode = DMA_MODE_BLOCK;
    DMA_InitStructure.DMA_TransferWidth = DMA_TRANSFER_WIDTH_8BIT;
    DMA_InitStructure.DMA_SrcInc = DMA_SrcAddress_Increase;
    DMA_InitStructure.DMA_DstInc = DMA_DstAddress_Fix;
    DMA_InitStructure.TrigMode = DMA_HardTrig;
    DMA_InitStructure.HardTrigSource = SPIx_DMA_TxTrigSource;
    DMA_InitStructure.DMA_TransferCnt = 24*PIXEL_NUM;
    DMA_InitStructure.DMA_SrcAddress = (uint32_t)pixelBuffer;
    DMA_InitStructure.DMA_DstAddress = (uint32_t)&SPIx->DR;
    DMA_Init(SPIx_TX_DMACHANNEL, &DMA_InitStructure);
    DMA_Cmd(SPIx_TX_DMACHANNEL, ENABLE);
}

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总结

如果会用STM32，使用CW32是一件不困难的事情。当然了，一些端口的名称会和STM32有些小的区别，写代码时对着例程写，那就没有问题了。

最后附上main.h

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.h
  * @brief          : Header for main.c file.
  *                   This file contains the common defines of the application.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 CW.
  * All rights reserved.</center></h2>
  *
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H

#ifdef __cplusplus
extern "C"
{
#endif

/* Includes ------------------------------------------------------------------*/
#include "base_types.h"
#include "cw32f030.h"
#include "system_cw32f030.h"
#include "interrupts_cw32f030.h"
#include "cw32f030_gtim.h"
#include "cw32f030_gpio.h"
#include "cw32f030_rcc.h"
#include "cw32f030_flash.h"
#include "cw32f030_spi.h"
#include "cw32f030_dma.h"
#include "cw32f030_btim.h"
#include "cw32f030_uart.h"
#include "ws2812.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */


/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */


/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */


/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */


/* Exported functions prototypes ---------------------------------------------*/
/* USER CODE BEGIN EFP */
void DMA_Configuration(void);
void BTIM_configuration(void);
void USART_SendString(UART_TypeDef* USARTx, char *String);
void keyPress_BTIM_config(void);

/* USER CODE END EFP */


/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN Private defines */
#define  SPI_MASTER //????
//#define  SPI_SLAVE  //????

//SPI
#define  SPIx                           CW_SPI2
#define  SPIx_CLK                       RCC_APB1_PERIPH_SPI2
#define  SPIx_APBClkENx                 RCC_APBPeriphClk_Enable1

//SPI GPIO
#define  SPIx_SCK_GPIO_CLK              RCC_AHB_PERIPH_GPIOA
#define  SPIx_SCK_GPIO_PORT             CW_GPIOA
#define  SPIx_SCK_GPIO_PIN              GPIO_PIN_2
#define  SPIx_SCK_AF()                  PA02_AFx_SPI2SCK()

#define  SPIx_MISO_GPIO_CLK             RCC_AHB_PERIPH_GPIOA
#define  SPIx_MISO_GPIO_PORT            CW_GPIOA
#define  SPIx_MISO_GPIO_PIN             GPIO_PIN_0
#define  SPIx_MISO_AF()                 PA00_AFx_SPI2MISO()

#define  SPIx_MOSI_GPIO_CLK             RCC_AHB_PERIPH_GPIOA
#define  SPIx_MOSI_GPIO_PORT            CW_GPIOA
#define  SPIx_MOSI_GPIO_PIN             GPIO_PIN_1
#define  SPIx_MOSI_AF()                 PA01_AFx_SPI2MOSI()

#define  SPIx_CS_GPIO_CLK               RCC_AHB_PERIPH_GPIOA
#define  SPIx_CS_GPIO_PORT              CW_GPIOA
#define  SPIx_CS_GPIO_PIN               GPIO_PIN_3
#define  SPIx_CS_AF()                   PA03_AFx_SPI2CS()

//CS LOW or HIGH
#define  SPIx_CS_LOW()                       PA03_SETLOW()
#define  SPIx_CS_HIGH()                      PA03_SETHIGH()

//DMA
#define  SPIx_RX_DMACHANNEL             CW_DMACHANNEL1
#define  SPIx_TX_DMACHANNEL             CW_DMACHANNEL2
#define  SPIx_DMA_RxTrigSource          DMA_HardTrig_SPI2_RXBufferNE
#define  SPIx_DMA_TxTrigSource          DMA_HardTrig_SPI2_TXBufferE
#define  BufferSize                     ARRAY_SZ(TxBuffer)

#define MOTOR_PORT CW_GPIOB
#define MT1 GPIO_PIN_4
#define MT2 GPIO_PIN_5
#define MT3 GPIO_PIN_6
#define MT4 GPIO_PIN_7

//UARTx
#define  DEBUG_USARTx                   CW_UART1
#define  DEBUG_USART_CLK                RCC_APB2_PERIPH_UART1
#define  DEBUG_USART_APBClkENx          RCC_APBPeriphClk_Enable2
#define  DEBUG_USART_BaudRate           9600
#define  DEBUG_USART_UclkFreq           32800

//UARTx GPIO
#define  DEBUG_USART_GPIO_CLK           RCC_AHB_PERIPH_GPIOA
#define  DEBUG_USART_TX_GPIO_PORT       CW_GPIOA
#define  DEBUG_USART_TX_GPIO_PIN        GPIO_PIN_8
#define  DEBUG_USART_RX_GPIO_PORT       CW_GPIOA
#define  DEBUG_USART_RX_GPIO_PIN        GPIO_PIN_9

//GPIO AF
#define  DEBUG_USART_AFTX               PA08_AFx_UART1TXD()
#define  DEBUG_USART_AFRX               PA09_AFx_UART1RXD()

//GPIO INPUT
#define USR_SW_PORT											CW_GPIOB
#define USR_SW1_PIN											GPIO_PIN_10
#define USR_SW2_PIN											GPIO_PIN_2
#define USR_SW3_PIN											GPIO_PIN_1
#define USR_SW4_PIN											GPIO_PIN_0

//??
#define  DEBUG_USART_IRQ                UART1_IRQn

/* USER CODE END Private defines */


#ifdef __cplusplus
}
#endif

#endif /* __MAIN_H */

/************************ (C) COPYRIGHT CW *****END OF FILE****/