diff --git a/tmc5160_driver/tmc5160.c b/tmc5160_driver/tmc5160.c new file mode 100644 index 0000000..8e60c01 --- /dev/null +++ b/tmc5160_driver/tmc5160.c @@ -0,0 +1,835 @@ +/** + * @file tmc5160.c + * @brief TMC5160 步进电机驱动芯片驱动实现 + * @note 支持 SPI 和 UART 双接口，完整运动控制 + StallGuard4 + * 适用于 STM32F103C8T6 + HAL 库 (CubeMX 生成框架) + */ + +#include "tmc5160.h" +#include + +/* ======================== 内部宏定义 ======================== */ +#define TMC5160_WRITE_BIT 0x80 /* 寄存器写标志位 */ +#define TMC5160_UART_SYNC 0x05 /* UART 同步字节 */ +#define TMC5160_SPI_TIMEOUT 100 /* SPI 超时 (ms) */ +#define TMC5160_UART_TIMEOUT 10 /* UART 超时 (ms) */ + +/* ======================== SPI 片选控制 ======================== */ +static inline void TMC5160_CS_Low(TMC5160_HandleTypeDef *htmc) +{ + HAL_GPIO_WritePin(htmc->cs_port, htmc->cs_pin, GPIO_PIN_RESET); +} + +static inline void TMC5160_CS_High(TMC5160_HandleTypeDef *htmc) +{ + HAL_GPIO_WritePin(htmc->cs_port, htmc->cs_pin, GPIO_PIN_SET); +} + +/* ================================================================ + * UART CRC8 计算 + * TMC5160 UART 协议使用 CRC8，多项式 0x07，初始值 0 + * ================================================================ */ +static uint8_t TMC5160_CalcCRC(uint8_t *data, uint8_t len) +{ + uint8_t crc = 0; + for (uint8_t i = 0; i < len; i++) { + uint8_t byte = data[i]; + for (uint8_t j = 0; j < 8; j++) { + if ((crc >> 7) ^ (byte >> 7)) { + crc = (crc << 1) ^ 0x07; + } else { + crc = crc << 1; + } + byte <<= 1; + } + } + return crc; +} + +/* ================================================================ + * SPI 寄存器读写 + * 40-bit 数据帧: [地址(8bit)] + [数据(32bit)] + * 写: 地址 bit7=1; 读: 地址 bit7=0 + * 返回上一次读取的数据，因此读操作需要发送两次 + * ================================================================ */ +static void TMC5160_SPI_ReadWrite(TMC5160_HandleTypeDef *htmc, + uint8_t *tx, uint8_t *rx, uint8_t len) +{ + TMC5160_CS_Low(htmc); + HAL_SPI_TransmitReceive(htmc->hspi, tx, rx, len, TMC5160_SPI_TIMEOUT); + TMC5160_CS_High(htmc); +} + +static void TMC5160_SPI_WriteRegister(TMC5160_HandleTypeDef *htmc, + uint8_t reg, uint32_t value) +{ + uint8_t tx[5], rx[5]; + tx[0] = reg | TMC5160_WRITE_BIT; + tx[1] = (value >> 24) & 0xFF; + tx[2] = (value >> 16) & 0xFF; + tx[3] = (value >> 8) & 0xFF; + tx[4] = value & 0xFF; + TMC5160_SPI_ReadWrite(htmc, tx, rx, 5); + htmc->spi_status = rx[0]; /* 保存状态字节 */ +} + +static uint32_t TMC5160_SPI_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg) +{ + uint8_t tx[5] = {0}, rx[5] = {0}; + + /* 第一次传输：发送读请求 */ + tx[0] = reg & 0x7F; + TMC5160_SPI_ReadWrite(htmc, tx, rx, 5); + + /* 第二次传输：获取实际数据 */ + memset(tx, 0, 5); + tx[0] = reg & 0x7F; + TMC5160_SPI_ReadWrite(htmc, tx, rx, 5); + + htmc->spi_status = rx[0]; + return ((uint32_t)rx[1] << 24) | ((uint32_t)rx[2] << 16) | + ((uint32_t)rx[3] << 8) | (uint32_t)rx[4]; +} + +/* ================================================================ + * UART 寄存器读写 + * 写帧: [SYNC(0x05)] [SLAVE_ADDR] [REG|0x80] [DATA x4] [CRC] 共8字节 + * 读请求: [SYNC] [SLAVE_ADDR] [REG] [CRC] 共4字节 + * 读响应: [SYNC] [0xFF] [REG] [DATA x4] [CRC] 共8字节 + * ================================================================ */ +static void TMC5160_UART_WriteRegister(TMC5160_HandleTypeDef *htmc, + uint8_t reg, uint32_t value) +{ + uint8_t tx[8]; + tx[0] = TMC5160_UART_SYNC; + tx[1] = htmc->slave_addr; + tx[2] = reg | TMC5160_WRITE_BIT; + tx[3] = (value >> 24) & 0xFF; + tx[4] = (value >> 16) & 0xFF; + tx[5] = (value >> 8) & 0xFF; + tx[6] = value & 0xFF; + tx[7] = TMC5160_CalcCRC(tx, 7); + + HAL_UART_Transmit(htmc->huart, tx, 8, TMC5160_UART_TIMEOUT); + + /* 等待总线释放（单线半双工需要等回显消失） */ + HAL_Delay(1); +} + +static uint32_t TMC5160_UART_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg) +{ + uint8_t tx[4], rx[8]; + + /* 构造读请求帧 */ + tx[0] = TMC5160_UART_SYNC; + tx[1] = htmc->slave_addr; + tx[2] = reg & 0x7F; + tx[3] = TMC5160_CalcCRC(tx, 3); + + /* 发送读请求 */ + HAL_UART_Transmit(htmc->huart, tx, 4, TMC5160_UART_TIMEOUT); + + /* 接收响应 (8字节: sync + master_addr + reg + data[4] + crc) */ + memset(rx, 0, 8); + HAL_UART_Receive(htmc->huart, rx, 8, TMC5160_UART_TIMEOUT); + + /* 校验 CRC */ + uint8_t crc = TMC5160_CalcCRC(rx, 7); + if (crc != rx[7]) { + return 0xFFFFFFFF; /* CRC 错误返回全1 */ + } + + return ((uint32_t)rx[3] << 24) | ((uint32_t)rx[4] << 16) | + ((uint32_t)rx[5] << 8) | (uint32_t)rx[6]; +} + +/* ================================================================ + * 统一寄存器读写接口 + * 根据句柄中的 interface 字段自动选择 SPI 或 UART + * ================================================================ */ +void TMC5160_WriteRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg, uint32_t value) +{ + if (htmc->interface == TMC5160_INTERFACE_SPI) { + TMC5160_SPI_WriteRegister(htmc, reg, value); + } else { + TMC5160_UART_WriteRegister(htmc, reg, value); + } +} + +uint32_t TMC5160_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg) +{ + if (htmc->interface == TMC5160_INTERFACE_SPI) { + return TMC5160_SPI_ReadRegister(htmc, reg); + } else { + return TMC5160_UART_ReadRegister(htmc, reg); + } +} + +/* ================================================================ + * 初始化与复位 + * ================================================================ */ + +/** + * @brief 初始化 TMC5160 + * @param htmc TMC5160 句柄（需预先填充接口类型和外设指针） + * @param config 初始化配置参数 + * @retval HAL_OK 成功, HAL_ERROR 芯片通信失败 + */ +HAL_StatusTypeDef TMC5160_Init(TMC5160_HandleTypeDef *htmc, TMC5160_InitTypeDef *config) +{ + /* 如果是 SPI 接口，先拉高片选 */ + if (htmc->interface == TMC5160_INTERFACE_SPI) { + TMC5160_CS_High(htmc); + HAL_Delay(10); + } + + /* 读取 IOIN 寄存器验证通信（高8位包含芯片版本号，TMC5160 = 0x30） */ + uint32_t ioin = TMC5160_ReadRegister(htmc, TMC5160_IOIN); + uint8_t version = (ioin >> 24) & 0xFF; + if (version != 0x30) { + return HAL_ERROR; /* 芯片版本不匹配，通信可能有问题 */ + } + + /* 清除全局状态标志 */ + TMC5160_WriteRegister(htmc, TMC5160_GSTAT, 0x07); + + /* 全局电流缩放 */ + if (config->global_scaler > 0) { + TMC5160_WriteRegister(htmc, TMC5160_GLOBAL_SCALER, config->global_scaler); + } + + /* 设置运行/保持电流 */ + TMC5160_SetIHoldIRun(htmc, config->hold_current, config->run_current, config->hold_delay); + + /* 停止后降功率延迟 */ + TMC5160_WriteRegister(htmc, TMC5160_TPOWERDOWN, 10); + + /* 配置斩波器: TOFF + HSTRT + HEND + TBL + 细分 + 插值 */ + uint32_t chopconf = 0; + chopconf |= (config->toff & 0x0F); + chopconf |= ((uint32_t)(config->hstrt & 0x07) << TMC5160_CHOPCONF_HSTRT_SHIFT); + chopconf |= ((uint32_t)(config->hend & 0x0F) << TMC5160_CHOPCONF_HEND_SHIFT); + chopconf |= ((uint32_t)(config->tbl & 0x03) << TMC5160_CHOPCONF_TBL_SHIFT); + chopconf |= ((uint32_t)config->microstep_res << TMC5160_CHOPCONF_MRES_SHIFT); + if (config->interpolation) { + chopconf |= TMC5160_CHOPCONF_INTPOL; + } + TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, chopconf); + + /* 配置 GCONF: StealthChop 使能 + 方向 + 多步滤波 */ + uint32_t gconf = TMC5160_GCONF_MULTISTEP_FILT; + if (config->en_pwm_mode) { + gconf |= TMC5160_GCONF_EN_PWM_MODE; + } + if (config->shaft) { + gconf |= TMC5160_GCONF_SHAFT; + } + TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf); + + /* StealthChop PWM 默认配置 (自动调节) */ + /* PWM_AUTOSCALE=1, PWM_AUTOGRAD=1, PWM_FREQ=01, PWM_OFS=36 */ + TMC5160_WriteRegister(htmc, TMC5160_PWMCONF, 0xC40C001E); + + /* 短路保护默认配置 */ + TMC5160_WriteRegister(htmc, TMC5160_SHORT_CONF, 0x00010606); + TMC5160_WriteRegister(htmc, TMC5160_DRV_CONF, 0x00080400); + + /* 初始化斜坡参数为安全默认值 */ + TMC5160_WriteRegister(htmc, TMC5160_VSTART, 0); + TMC5160_WriteRegister(htmc, TMC5160_VSTOP, 10); + TMC5160_WriteRegister(htmc, TMC5160_AMAX, 1000); + TMC5160_WriteRegister(htmc, TMC5160_DMAX, 1000); + TMC5160_WriteRegister(htmc, TMC5160_A1, 500); + TMC5160_WriteRegister(htmc, TMC5160_D1, 500); + TMC5160_WriteRegister(htmc, TMC5160_V1, 50000); + TMC5160_WriteRegister(htmc, TMC5160_VMAX, 100000); + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_POSITION); + + return HAL_OK; +} + +/** + * @brief 反初始化 TMC5160，停止电机并关闭驱动 + */ +void TMC5160_DeInit(TMC5160_HandleTypeDef *htmc) +{ + TMC5160_Stop(htmc); + HAL_Delay(10); + /* TOFF=0 关闭驱动桥 */ + uint32_t chopconf = TMC5160_ReadRegister(htmc, TMC5160_CHOPCONF); + chopconf &= ~TMC5160_CHOPCONF_TOFF_MASK; + TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, chopconf); +} + +/** + * @brief 获取芯片版本号 + * @retval 版本号 (TMC5160 应返回 0x30) + */ +uint32_t TMC5160_GetVersion(TMC5160_HandleTypeDef *htmc) +{ + uint32_t ioin = TMC5160_ReadRegister(htmc, TMC5160_IOIN); + return (ioin >> 24) & 0xFF; +} + +/* ================================================================ + * 运动控制 + * ================================================================ */ + +/** @brief 设置斜坡模式 */ +void TMC5160_SetRampMode(TMC5160_HandleTypeDef *htmc, TMC5160_RampMode mode) +{ + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, (uint32_t)mode); +} + +/** + * @brief 绝对定位运动 + * @param position 目标位置（微步单位） + */ +void TMC5160_MoveTo(TMC5160_HandleTypeDef *htmc, int32_t position) +{ + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_POSITION); + TMC5160_WriteRegister(htmc, TMC5160_XTARGET, (uint32_t)position); +} + +/** + * @brief 相对定位运动 + * @param offset 相对偏移量（微步单位，正/负） + */ +void TMC5160_MoveBy(TMC5160_HandleTypeDef *htmc, int32_t offset) +{ + int32_t current = TMC5160_GetActualPosition(htmc); + TMC5160_MoveTo(htmc, current + offset); +} + +/** + * @brief 速度模式旋转 + * @param velocity 目标速度，正值正转，负值反转，0停止 + */ +void TMC5160_Rotate(TMC5160_HandleTypeDef *htmc, int32_t velocity) +{ + if (velocity >= 0) { + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_POS); + TMC5160_WriteRegister(htmc, TMC5160_VMAX, (uint32_t)velocity); + } else { + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_NEG); + TMC5160_WriteRegister(htmc, TMC5160_VMAX, (uint32_t)(-velocity)); + } +} + +/** @brief 减速停止电机 */ +void TMC5160_Stop(TMC5160_HandleTypeDef *htmc) +{ + TMC5160_WriteRegister(htmc, TMC5160_VMAX, 0); + TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_POS); +} + +/** @brief 检查是否到达目标位置 (定位模式) */ +uint8_t TMC5160_IsPositionReached(TMC5160_HandleTypeDef *htmc) +{ + uint32_t stat = TMC5160_ReadRegister(htmc, TMC5160_RAMP_STAT); + return (stat & TMC5160_RS_POS_REACHED) ? 1 : 0; +} + +/** @brief 检查是否到达目标速度 (速度模式) */ +uint8_t TMC5160_IsVelocityReached(TMC5160_HandleTypeDef *htmc) +{ + uint32_t stat = TMC5160_ReadRegister(htmc, TMC5160_RAMP_STAT); + return (stat & TMC5160_RS_VEL_REACHED) ? 1 : 0; +} + +/* ================================================================ + * 位置与速度读写 + * ================================================================ */ + +void TMC5160_SetTargetPosition(TMC5160_HandleTypeDef *htmc, int32_t position) +{ + TMC5160_WriteRegister(htmc, TMC5160_XTARGET, (uint32_t)position); +} + +int32_t TMC5160_GetTargetPosition(TMC5160_HandleTypeDef *htmc) +{ + return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_XTARGET); +} + +void TMC5160_SetActualPosition(TMC5160_HandleTypeDef *htmc, int32_t position) +{ + TMC5160_WriteRegister(htmc, TMC5160_XACTUAL, (uint32_t)position); +} + +int32_t TMC5160_GetActualPosition(TMC5160_HandleTypeDef *htmc) +{ + return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_XACTUAL); +} + +int32_t TMC5160_GetActualVelocity(TMC5160_HandleTypeDef *htmc) +{ + return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_VACTUAL); +} + +/* ================================================================ + * 斜坡参数设置 + * 六点斜坡: VSTART -> A1 -> V1 -> AMAX -> VMAX (加速) + * VMAX -> DMAX -> V1 -> D1 -> VSTOP (减速) + * ================================================================ */ + +void TMC5160_SetVMAX(TMC5160_HandleTypeDef *htmc, uint32_t vmax) +{ + TMC5160_WriteRegister(htmc, TMC5160_VMAX, vmax & 0x7FFFFF); +} + +void TMC5160_SetAMAX(TMC5160_HandleTypeDef *htmc, uint32_t amax) +{ + TMC5160_WriteRegister(htmc, TMC5160_AMAX, amax & 0xFFFF); +} + +void TMC5160_SetDMAX(TMC5160_HandleTypeDef *htmc, uint32_t dmax) +{ + TMC5160_WriteRegister(htmc, TMC5160_DMAX, dmax & 0xFFFF); +} + +void TMC5160_SetV1(TMC5160_HandleTypeDef *htmc, uint32_t v1) +{ + TMC5160_WriteRegister(htmc, TMC5160_V1, v1 & 0xFFFFF); +} + +void TMC5160_SetA1(TMC5160_HandleTypeDef *htmc, uint32_t a1) +{ + TMC5160_WriteRegister(htmc, TMC5160_A1, a1 & 0xFFFF); +} + +void TMC5160_SetD1(TMC5160_HandleTypeDef *htmc, uint32_t d1) +{ + TMC5160_WriteRegister(htmc, TMC5160_D1, d1 & 0xFFFF); +} + +void TMC5160_SetVSTART(TMC5160_HandleTypeDef *htmc, uint32_t vstart) +{ + TMC5160_WriteRegister(htmc, TMC5160_VSTART, vstart & 0x3FFFF); +} + +void TMC5160_SetVSTOP(TMC5160_HandleTypeDef *htmc, uint32_t vstop) +{ + TMC5160_WriteRegister(htmc, TMC5160_VSTOP, vstop & 0x3FFFF); +} + +void TMC5160_SetTZEROWAIT(TMC5160_HandleTypeDef *htmc, uint32_t tzerowait) +{ + TMC5160_WriteRegister(htmc, TMC5160_TZEROWAIT, tzerowait & 0xFFFF); +} + +/* ================================================================ + * 电流控制 + * IHOLD_IRUN 寄存器: [IHOLDDELAY(19:16)] [IRUN(12:8)] [IHOLD(4:0)] + * 电流值 0-31，实际电流 = (value+1)/32 * GLOBAL_SCALER/256 * V_REF/R_SENSE + * ================================================================ */ + +void TMC5160_SetIHoldIRun(TMC5160_HandleTypeDef *htmc, + uint8_t ihold, uint8_t irun, uint8_t iholddelay) +{ + uint32_t val = ((uint32_t)(iholddelay & 0x0F) << 16) | + ((uint32_t)(irun & 0x1F) << 8) | + (uint32_t)(ihold & 0x1F); + TMC5160_WriteRegister(htmc, TMC5160_IHOLD_IRUN, val); +} + +void TMC5160_SetRunCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_IHOLD_IRUN); + val &= ~(0x1FUL << 8); + val |= ((uint32_t)(current & 0x1F) << 8); + TMC5160_WriteRegister(htmc, TMC5160_IHOLD_IRUN, val); +} + +void TMC5160_SetHoldCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_IHOLD_IRUN); + val &= ~0x1FUL; + val |= (uint32_t)(current & 0x1F); + TMC5160_WriteRegister(htmc, TMC5160_IHOLD_IRUN, val); +} + +void TMC5160_SetGlobalScaler(TMC5160_HandleTypeDef *htmc, uint8_t scaler) +{ + TMC5160_WriteRegister(htmc, TMC5160_GLOBAL_SCALER, scaler); +} + +/* ================================================================ + * 斩波器配置 + * ================================================================ */ + +/** + * @brief 设置斩波器参数 + * @param toff 关断时间 (3-15, 推荐3-5, 0=驱动关闭) + * @param hstrt 迟滞起始值 (0-7) + * @param hend 迟滞结束值 (0-15, 实际值 = hend - 3) + * @param tbl 比较器空白时间 (0-3, 推荐2) + */ +void TMC5160_SetChopConf(TMC5160_HandleTypeDef *htmc, + uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t tbl) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_CHOPCONF); + /* 清除相关位 */ + val &= ~(0x0FUL | (0x07UL << 4) | (0x0FUL << 7) | (0x03UL << 15)); + /* 写入新值 */ + val |= (toff & 0x0F); + val |= ((uint32_t)(hstrt & 0x07) << TMC5160_CHOPCONF_HSTRT_SHIFT); + val |= ((uint32_t)(hend & 0x0F) << TMC5160_CHOPCONF_HEND_SHIFT); + val |= ((uint32_t)(tbl & 0x03) << TMC5160_CHOPCONF_TBL_SHIFT); + TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, val); +} + +/** @brief 设置细分 */ +void TMC5160_SetMicrostepResolution(TMC5160_HandleTypeDef *htmc, TMC5160_MicrostepRes mres) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_CHOPCONF); + val &= ~(0x0FUL << TMC5160_CHOPCONF_MRES_SHIFT); + val |= ((uint32_t)mres << TMC5160_CHOPCONF_MRES_SHIFT); + TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, val); +} + +/** @brief 启用/禁用 256 细分插值 */ +void TMC5160_EnableInterpolation(TMC5160_HandleTypeDef *htmc, uint8_t enable) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_CHOPCONF); + if (enable) { + val |= TMC5160_CHOPCONF_INTPOL; + } else { + val &= ~TMC5160_CHOPCONF_INTPOL; + } + TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, val); +} + +/* ================================================================ + * StealthChop / SpreadCycle + * StealthChop: 低速静音模式 (GCONF.en_pwm_mode=1) + * SpreadCycle: 高速高精度模式 + * TPWMTHRS: 速度低于此阈值时使用 StealthChop，高于时切换 SpreadCycle + * ================================================================ */ + +void TMC5160_EnableStealthChop(TMC5160_HandleTypeDef *htmc, uint8_t enable) +{ + uint32_t gconf = TMC5160_ReadRegister(htmc, TMC5160_GCONF); + if (enable) { + gconf |= TMC5160_GCONF_EN_PWM_MODE; + } else { + gconf &= ~TMC5160_GCONF_EN_PWM_MODE; + } + TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf); +} + +void TMC5160_SetPWMConf(TMC5160_HandleTypeDef *htmc, uint32_t pwmconf) +{ + TMC5160_WriteRegister(htmc, TMC5160_PWMCONF, pwmconf); +} + +void TMC5160_SetTPWMTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tpwmthrs) +{ + TMC5160_WriteRegister(htmc, TMC5160_TPWMTHRS, tpwmthrs & 0xFFFFF); +} + +/* ================================================================ + * StallGuard4 堵转检测 + * + * 工作原理: 通过检测电机反电动势来判断负载情况 + * SG_RESULT: 0=高负载/堵转, 值越大负载越轻 + * SGT: StallGuard 阈值 (-64 ~ +63)，值越大越不敏感 + * + * 使用条件: + * 1. 必须设置 TCOOLTHRS，速度高于此阈值时 StallGuard 才工作 + * 2. 建议在 SpreadCycle 模式下使用（更准确） + * 3. StealthChop 模式下也可用，但需速度高于 TPWMTHRS + * ================================================================ */ + +/** + * @brief 设置 StallGuard 灵敏度阈值 + * @param sgt 阈值 (-64 ~ +63)，值越小越敏感 + * 推荐从 0 开始调试，堵转时降低，误触发时升高 + */ +void TMC5160_SetStallGuardThreshold(TMC5160_HandleTypeDef *htmc, int8_t sgt) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_COOLCONF); + val &= ~(0x7FUL << 16); /* 清除 SGT 位 [22:16] */ + val |= ((uint32_t)(sgt & 0x7F) << 16); + TMC5160_WriteRegister(htmc, TMC5160_COOLCONF, val); +} + +/** + * @brief 设置 CoolStep/StallGuard 速度下限阈值 + * @note 只有当 TSTEP < TCOOLTHRS 时 StallGuard 才激活 + * TSTEP 与速度成反比，所以 TCOOLTHRS 越大，激活速度越低 + */ +void TMC5160_SetTCOOLTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tcoolthrs) +{ + TMC5160_WriteRegister(htmc, TMC5160_TCOOLTHRS, tcoolthrs & 0xFFFFF); +} + +/** + * @brief 设置高速模式切换阈值 + * @note TSTEP < THIGH 时切换到全步模式（如果 VHIGHFS 使能） + */ +void TMC5160_SetTHIGH(TMC5160_HandleTypeDef *htmc, uint32_t thigh) +{ + TMC5160_WriteRegister(htmc, TMC5160_THIGH, thigh & 0xFFFFF); +} + +/** + * @brief 获取 StallGuard 结果值 + * @retval SG_RESULT (0-1023)，0=堵转，值越大负载越轻 + */ +uint16_t TMC5160_GetStallGuardResult(TMC5160_HandleTypeDef *htmc) +{ + uint32_t status = TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); + return (uint16_t)(status & TMC5160_DRV_SG_RESULT_MASK); +} + +/** + * @brief 检查电机是否堵转 + * @retval 1=堵转, 0=正常 + */ +uint8_t TMC5160_IsStalled(TMC5160_HandleTypeDef *htmc) +{ + uint32_t status = TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); + return (status & TMC5160_DRV_STALLGUARD) ? 1 : 0; +} + +/** + * @brief 启用/禁用 StallGuard 自动停止功能 + * @note 启用后堵转时电机自动停止，RAMP_STAT.event_stop_sg 置位 + * 通过 SW_MODE 寄存器的 sg_stop 位控制 + */ +void TMC5160_EnableStallGuardStop(TMC5160_HandleTypeDef *htmc, uint8_t enable) +{ + uint32_t sw_mode = TMC5160_ReadRegister(htmc, TMC5160_SW_MODE); + if (enable) { + sw_mode |= (1UL << 10); /* sg_stop 位 */ + } else { + sw_mode &= ~(1UL << 10); + } + TMC5160_WriteRegister(htmc, TMC5160_SW_MODE, sw_mode); +} + +/** @brief 注册堵转回调函数 */ +void TMC5160_SetStallCallback(TMC5160_HandleTypeDef *htmc, TMC5160_StallCallback cb) +{ + htmc->stall_callback = cb; +} + +/** + * @brief StallGuard 轮询检测（在主循环中调用） + * @note 检测到堵转时自动调用回调函数 + */ +void TMC5160_StallGuardPoll(TMC5160_HandleTypeDef *htmc) +{ + if (TMC5160_IsStalled(htmc)) { + if (htmc->stall_callback != NULL) { + htmc->stall_callback(); + } + } +} + +/* ================================================================ + * CoolStep 自适应电流控制 + * 根据负载自动调节电流，降低功耗和发热 + * 依赖 StallGuard 结果，需要 TCOOLTHRS 配置 + * ================================================================ */ + +void TMC5160_SetCoolConf(TMC5160_HandleTypeDef *htmc, uint32_t coolconf) +{ + TMC5160_WriteRegister(htmc, TMC5160_COOLCONF, coolconf); +} + +/** + * @brief 配置 CoolStep 参数 + * @param semin CoolStep 下限 (0=关闭, 1-15: SG_RESULT < semin*32 时增加电流) + * @param semax CoolStep 上限 (0-15: SG_RESULT > (semin+semax+1)*32 时降低电流) + * @param seup 电流增加步长 (0-3: 1/2/4/8) + * @param sedn 电流降低速度 (0-3: 每32/8/2/1次降低) + * @param seimin 最小电流 (0=IRUN/2, 1=IRUN/4) + */ +void TMC5160_ConfigCoolStep(TMC5160_HandleTypeDef *htmc, + uint8_t semin, uint8_t semax, + uint8_t seup, uint8_t sedn, uint8_t seimin) +{ + uint32_t val = TMC5160_ReadRegister(htmc, TMC5160_COOLCONF); + /* 保留 SGT 位 [22:16]，清除 CoolStep 位 */ + val &= (0x7FUL << 16); + val |= (uint32_t)(semin & 0x0F); + val |= ((uint32_t)(seup & 0x03) << 5); + val |= ((uint32_t)(semax & 0x0F) << 8); + val |= ((uint32_t)(sedn & 0x03) << 13); + val |= ((uint32_t)(seimin & 0x01) << 15); + TMC5160_WriteRegister(htmc, TMC5160_COOLCONF, val); +} + +/* ================================================================ + * 状态查询 + * ================================================================ */ + +uint32_t TMC5160_GetDrvStatus(TMC5160_HandleTypeDef *htmc) +{ + return TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); +} + +uint32_t TMC5160_GetRampStat(TMC5160_HandleTypeDef *htmc) +{ + return TMC5160_ReadRegister(htmc, TMC5160_RAMP_STAT); +} + +uint32_t TMC5160_GetGStat(TMC5160_HandleTypeDef *htmc) +{ + return TMC5160_ReadRegister(htmc, TMC5160_GSTAT); +} + +/** @brief 清除全局状态标志 (写1清除) */ +void TMC5160_ClearGStat(TMC5160_HandleTypeDef *htmc) +{ + TMC5160_WriteRegister(htmc, TMC5160_GSTAT, 0x07); +} + +/** @brief 获取实际驱动电流 CS (0-31) */ +uint8_t TMC5160_GetCurrentCS(TMC5160_HandleTypeDef *htmc) +{ + uint32_t status = TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); + return (uint8_t)((status & TMC5160_DRV_CS_ACTUAL_MASK) >> TMC5160_DRV_CS_ACTUAL_SHIFT); +} + +/** @brief 过温关断检测 */ +uint8_t TMC5160_IsOverTemp(TMC5160_HandleTypeDef *htmc) +{ + return (TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS) & TMC5160_DRV_OT) ? 1 : 0; +} + +/** @brief 过温预警检测 */ +uint8_t TMC5160_IsOverTempWarning(TMC5160_HandleTypeDef *htmc) +{ + return (TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS) & TMC5160_DRV_OTPW) ? 1 : 0; +} + +/** @brief 对地短路检测 (A相或B相) */ +uint8_t TMC5160_IsShortToGround(TMC5160_HandleTypeDef *htmc) +{ + uint32_t s = TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); + return (s & (TMC5160_DRV_S2GA | TMC5160_DRV_S2GB)) ? 1 : 0; +} + +/** @brief 开路检测 (A相或B相) */ +uint8_t TMC5160_IsOpenLoad(TMC5160_HandleTypeDef *htmc) +{ + uint32_t s = TMC5160_ReadRegister(htmc, TMC5160_DRV_STATUS); + return (s & (TMC5160_DRV_OLA | TMC5160_DRV_OLB)) ? 1 : 0; +} + +/** @brief 获取当前步进间隔时间 */ +uint32_t TMC5160_GetTStep(TMC5160_HandleTypeDef *htmc) +{ + return TMC5160_ReadRegister(htmc, TMC5160_TSTEP); +} + +/* ================================================================ + * 电机方向 + * ================================================================ */ + +/** @brief 设置电机旋转方向 (0=正常, 1=反转) */ +void TMC5160_SetDirection(TMC5160_HandleTypeDef *htmc, uint8_t shaft) +{ + uint32_t gconf = TMC5160_ReadRegister(htmc, TMC5160_GCONF); + if (shaft) { + gconf |= TMC5160_GCONF_SHAFT; + } else { + gconf &= ~TMC5160_GCONF_SHAFT; + } + TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf); +} + +/* ================================================================ + * 编码器接口 + * ================================================================ */ + +void TMC5160_SetEncMode(TMC5160_HandleTypeDef *htmc, uint32_t encmode) +{ + TMC5160_WriteRegister(htmc, TMC5160_ENCMODE, encmode); +} + +int32_t TMC5160_GetEncPosition(TMC5160_HandleTypeDef *htmc) +{ + return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_X_ENC); +} + +void TMC5160_SetEncPosition(TMC5160_HandleTypeDef *htmc, int32_t position) +{ + TMC5160_WriteRegister(htmc, TMC5160_X_ENC, (uint32_t)position); +} + +void TMC5160_SetEncConst(TMC5160_HandleTypeDef *htmc, uint32_t enc_const) +{ + TMC5160_WriteRegister(htmc, TMC5160_ENC_CONST, enc_const); +} + +/* ================================================================ + * 限位开关配置 + * ================================================================ */ + +void TMC5160_SetSWMode(TMC5160_HandleTypeDef *htmc, uint32_t sw_mode) +{ + TMC5160_WriteRegister(htmc, TMC5160_SW_MODE, sw_mode); +} + +uint32_t TMC5160_GetSWMode(TMC5160_HandleTypeDef *htmc) +{ + return TMC5160_ReadRegister(htmc, TMC5160_SW_MODE); +} + +/* ================================================================ + * 功率管理 + * ================================================================ */ + +/** + * @brief 设置停止后降低电流的延迟 + * @param tpowerdown 延迟值 (0-255)，单位约 2^18 个时钟周期 + */ +void TMC5160_SetTPOWERDOWN(TMC5160_HandleTypeDef *htmc, uint8_t tpowerdown) +{ + TMC5160_WriteRegister(htmc, TMC5160_TPOWERDOWN, tpowerdown); +} + +/* ================================================================ + * DIAG 诊断引脚配置 + * DIAG0/DIAG1 可配置为输出堵转、错误、过温等信号 + * 可连接到 MCU 外部中断引脚实现硬件级堵转检测 + * ================================================================ */ + +/** + * @brief 配置 DIAG0 引脚输出 + * @param stall 1=输出堵转信号 + * @param error 1=输出错误信号 + * @param otpw 1=输出过温预警信号 + */ +void TMC5160_ConfigDiag0(TMC5160_HandleTypeDef *htmc, + uint8_t stall, uint8_t error, uint8_t otpw) +{ + uint32_t gconf = TMC5160_ReadRegister(htmc, TMC5160_GCONF); + gconf &= ~(TMC5160_GCONF_DIAG0_STALL | TMC5160_GCONF_DIAG0_ERROR | + TMC5160_GCONF_DIAG0_OTPW); + if (stall) gconf |= TMC5160_GCONF_DIAG0_STALL; + if (error) gconf |= TMC5160_GCONF_DIAG0_ERROR; + if (otpw) gconf |= TMC5160_GCONF_DIAG0_OTPW; + TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf); +} + +/** + * @brief 配置 DIAG1 引脚输出 + * @param stall 1=输出堵转信号 + * @param index 1=输出编码器索引信号 + * @param onstate 1=输出 chopper on 状态 + */ +void TMC5160_ConfigDiag1(TMC5160_HandleTypeDef *htmc, + uint8_t stall, uint8_t index, uint8_t onstate) +{ + uint32_t gconf = TMC5160_ReadRegister(htmc, TMC5160_GCONF); + gconf &= ~(TMC5160_GCONF_DIAG1_STALL | TMC5160_GCONF_DIAG1_INDEX | + TMC5160_GCONF_DIAG1_ONSTATE); + if (stall) gconf |= TMC5160_GCONF_DIAG1_STALL; + if (index) gconf |= TMC5160_GCONF_DIAG1_INDEX; + if (onstate) gconf |= TMC5160_GCONF_DIAG1_ONSTATE; + TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf); +} \ No newline at end of file diff --git a/tmc5160_driver/tmc5160.h b/tmc5160_driver/tmc5160.h new file mode 100644 index 0000000..a08b2e8 --- /dev/null +++ b/tmc5160_driver/tmc5160.h @@ -0,0 +1,311 @@ +/** + * @file tmc5160.h + * @brief TMC5160 步进电机驱动芯片驱动头文件 + * @note 支持 SPI 和 UART 双接口通信 + * 支持完整的运动控制、StallGuard4 堵转检测、StealthChop/SpreadCycle + * 适用于 STM32F103C8T6 + HAL 库 + */ + +#ifndef __TMC5160_H +#define __TMC5160_H + +#include "stm32f1xx_hal.h" + +/* ======================== 通信接口类型 ======================== */ +typedef enum { + TMC5160_INTERFACE_SPI, /* SPI 接口 */ + TMC5160_INTERFACE_UART /* 单线 UART 接口 */ +} TMC5160_Interface; + +/* ======================== 斜坡模式 ======================== */ +typedef enum { + TMC5160_MODE_POSITION = 0, /* 定位模式（梯形/S形斜坡） */ + TMC5160_MODE_VEL_POS = 1, /* 正向速度模式 */ + TMC5160_MODE_VEL_NEG = 2, /* 反向速度模式 */ + TMC5160_MODE_HOLD = 3 /* 保持模式（速度为零） */ +} TMC5160_RampMode; + +/* ======================== 细分设置 ======================== */ +typedef enum { + TMC5160_MRES_256 = 0, /* 256 细分 */ + TMC5160_MRES_128 = 1, + TMC5160_MRES_64 = 2, + TMC5160_MRES_32 = 3, + TMC5160_MRES_16 = 4, + TMC5160_MRES_8 = 5, + TMC5160_MRES_4 = 6, + TMC5160_MRES_2 = 7, + TMC5160_MRES_1 = 8 /* 整步 */ +} TMC5160_MicrostepRes; + +/* ======================== 寄存器地址定义 ======================== */ + +/* --- 通用配置寄存器 --- */ +#define TMC5160_GCONF 0x00 /* 全局配置 */ +#define TMC5160_GSTAT 0x01 /* 全局状态标志 */ +#define TMC5160_IFCNT 0x02 /* UART 接口计数器 */ +#define TMC5160_SLAVECONF 0x03 /* UART 从机配置 */ +#define TMC5160_IOIN 0x04 /* IO 输入引脚状态（读） */ +#define TMC5160_OUTPUT 0x04 /* IO 输出控制（写） */ +#define TMC5160_X_COMPARE 0x05 /* 位置比较寄存器 */ +#define TMC5160_OTP_PROG 0x06 /* OTP 编程 */ +#define TMC5160_OTP_READ 0x07 /* OTP 读取 */ +#define TMC5160_FACTORY_CONF 0x08 /* 工厂配置 */ +#define TMC5160_SHORT_CONF 0x09 /* 短路保护配置 */ +#define TMC5160_DRV_CONF 0x0A /* 驱动配置 */ +#define TMC5160_GLOBAL_SCALER 0x0B /* 全局电流缩放 (0=256) */ +#define TMC5160_OFFSET_READ 0x0C /* 偏移读取 */ + +/* --- 速度相关控制寄存器 --- */ +#define TMC5160_IHOLD_IRUN 0x10 /* 保持/运行电流及延迟 */ +#define TMC5160_TPOWERDOWN 0x11 /* 停止后降低电流的延迟时间 */ +#define TMC5160_TSTEP 0x12 /* 实际步进间隔时间（只读） */ +#define TMC5160_TPWMTHRS 0x13 /* StealthChop 速度上限阈值 */ +#define TMC5160_TCOOLTHRS 0x14 /* CoolStep/StallGuard 速度下限阈值 */ +#define TMC5160_THIGH 0x15 /* 高速模式切换阈值 */ + +/* --- 斜坡发生器寄存器 --- */ +#define TMC5160_RAMPMODE 0x20 /* 斜坡模式选择 */ +#define TMC5160_XACTUAL 0x21 /* 当前实际位置 */ +#define TMC5160_VACTUAL 0x22 /* 当前实际速度（只读） */ +#define TMC5160_VSTART 0x23 /* 起始速度 */ +#define TMC5160_A1 0x24 /* 第一段加速度 */ +#define TMC5160_V1 0x25 /* 第一段目标速度 */ +#define TMC5160_AMAX 0x26 /* 最大加速度 */ +#define TMC5160_VMAX 0x27 /* 最大速度 */ +#define TMC5160_DMAX 0x28 /* 最大减速度 */ +#define TMC5160_D1 0x2A /* 第一段减速度 */ +#define TMC5160_VSTOP 0x2B /* 停止速度（建议 >=10） */ +#define TMC5160_TZEROWAIT 0x2C /* 到达零速后等待时间 */ +#define TMC5160_XTARGET 0x2D /* 目标位置 */ + +/* --- 斜坡状态寄存器 --- */ +#define TMC5160_SW_MODE 0x34 /* 参考开关与StallGuard停止配置 */ +#define TMC5160_RAMP_STAT 0x35 /* 斜坡状态标志 */ +#define TMC5160_XLATCH 0x36 /* 锁存位置 */ + +/* --- 编码器寄存器 --- */ +#define TMC5160_ENCMODE 0x38 /* 编码器模式配置 */ +#define TMC5160_X_ENC 0x39 /* 编码器位置 */ +#define TMC5160_ENC_CONST 0x3A /* 编码器常数 */ +#define TMC5160_ENC_STATUS 0x3B /* 编码器状态 */ +#define TMC5160_ENC_LATCH 0x3C /* 编码器锁存位置 */ +#define TMC5160_ENC_DEVIATION 0x3D /* 编码器偏差允许值 */ + +/* --- 斩波器与驱动寄存器 --- */ +#define TMC5160_CHOPCONF 0x6C /* 斩波器配置 */ +#define TMC5160_COOLCONF 0x6D /* CoolStep 与 StallGuard 配置 */ +#define TMC5160_DCCTRL 0x6E /* DC 步进控制 */ +#define TMC5160_DRV_STATUS 0x6F /* 驱动状态（只读） */ +#define TMC5160_PWMCONF 0x70 /* StealthChop PWM 配置 */ +#define TMC5160_PWM_SCALE 0x71 /* PWM 缩放值（只读） */ +#define TMC5160_PWM_AUTO 0x72 /* PWM 自动调节值（只读） */ +#define TMC5160_LOST_STEPS 0x73 /* 丢步计数（只读） */ + +/* ======================== GCONF 位定义 ======================== */ +#define TMC5160_GCONF_RECALIBRATE (1UL << 0) +#define TMC5160_GCONF_FASTSTANDSTILL (1UL << 1) +#define TMC5160_GCONF_EN_PWM_MODE (1UL << 2) /* 启用 StealthChop */ +#define TMC5160_GCONF_MULTISTEP_FILT (1UL << 3) +#define TMC5160_GCONF_SHAFT (1UL << 4) /* 反转电机方向 */ +#define TMC5160_GCONF_DIAG0_ERROR (1UL << 5) +#define TMC5160_GCONF_DIAG0_OTPW (1UL << 6) +#define TMC5160_GCONF_DIAG0_STALL (1UL << 7) /* DIAG0 输出堵转信号 */ +#define TMC5160_GCONF_DIAG1_STALL (1UL << 8) /* DIAG1 输出堵转信号 */ +#define TMC5160_GCONF_DIAG1_INDEX (1UL << 9) +#define TMC5160_GCONF_DIAG1_ONSTATE (1UL << 10) +#define TMC5160_GCONF_DIAG1_STEPS_SKIPPED (1UL << 11) +#define TMC5160_GCONF_DIAG0_PUSHPULL (1UL << 12) +#define TMC5160_GCONF_DIAG1_PUSHPULL (1UL << 13) +#define TMC5160_GCONF_SMALL_HYSTERESIS (1UL << 14) +#define TMC5160_GCONF_STOP_ENABLE (1UL << 15) +#define TMC5160_GCONF_DIRECT_MODE (1UL << 16) +#define TMC5160_GCONF_TEST_MODE (1UL << 17) + +/* ======================== DRV_STATUS 位定义 ======================== */ +#define TMC5160_DRV_SG_RESULT_MASK 0x3FFUL /* StallGuard 结果 [9:0] */ +#define TMC5160_DRV_S2VSA (1UL << 12) +#define TMC5160_DRV_S2VSB (1UL << 13) +#define TMC5160_DRV_STEALTH (1UL << 14) /* StealthChop 活跃 */ +#define TMC5160_DRV_FSACTIVE (1UL << 15) /* 全步模式活跃 */ +#define TMC5160_DRV_CS_ACTUAL_MASK (0x1FUL << 16) /* 实际电流 [20:16] */ +#define TMC5160_DRV_CS_ACTUAL_SHIFT 16 +#define TMC5160_DRV_STALLGUARD (1UL << 24) /* StallGuard 标志 */ +#define TMC5160_DRV_OT (1UL << 25) /* 过温关断 */ +#define TMC5160_DRV_OTPW (1UL << 26) /* 过温预警 */ +#define TMC5160_DRV_S2GA (1UL << 27) /* A相对地短路 */ +#define TMC5160_DRV_S2GB (1UL << 28) /* B相对地短路 */ +#define TMC5160_DRV_OLA (1UL << 29) /* A相开路 */ +#define TMC5160_DRV_OLB (1UL << 30) /* B相开路 */ +#define TMC5160_DRV_STST (1UL << 31) /* 电机静止 */ + +/* ======================== RAMP_STAT 位定义 ======================== */ +#define TMC5160_RS_STOP_L (1UL << 0) /* 左限位开关触发 */ +#define TMC5160_RS_STOP_R (1UL << 1) /* 右限位开关触发 */ +#define TMC5160_RS_LATCH_L (1UL << 2) +#define TMC5160_RS_LATCH_R (1UL << 3) +#define TMC5160_RS_EV_STOP_L (1UL << 4) /* 左限位停止事件 */ +#define TMC5160_RS_EV_STOP_R (1UL << 5) /* 右限位停止事件 */ +#define TMC5160_RS_EV_STOP_SG (1UL << 6) /* StallGuard 停止事件 */ +#define TMC5160_RS_EV_POS_REACHED (1UL << 7) /* 到达目标位置事件 */ +#define TMC5160_RS_VEL_REACHED (1UL << 8) /* 到达目标速度 */ +#define TMC5160_RS_POS_REACHED (1UL << 9) /* 位置已到达 */ +#define TMC5160_RS_VZERO (1UL << 10) /* 速度为零 */ +#define TMC5160_RS_ZEROWAIT (1UL << 11) /* 零速等待中 */ +#define TMC5160_RS_SECOND_MOVE (1UL << 12) /* 第二次运动 */ +#define TMC5160_RS_SG (1UL << 13) /* StallGuard 实时状态 */ + +/* ======================== CHOPCONF 位偏移 ======================== */ +#define TMC5160_CHOPCONF_TOFF_MASK 0x0FUL +#define TMC5160_CHOPCONF_HSTRT_SHIFT 4 +#define TMC5160_CHOPCONF_HEND_SHIFT 7 +#define TMC5160_CHOPCONF_TBL_SHIFT 15 +#define TMC5160_CHOPCONF_VHIGHFS (1UL << 18) +#define TMC5160_CHOPCONF_VHIGHCHM (1UL << 19) +#define TMC5160_CHOPCONF_MRES_SHIFT 24 +#define TMC5160_CHOPCONF_INTPOL (1UL << 28) /* 256细分插值 */ +#define TMC5160_CHOPCONF_DEDGE (1UL << 29) +#define TMC5160_CHOPCONF_DISS2G (1UL << 30) +#define TMC5160_CHOPCONF_DISS2VS (1UL << 31) + +/* ======================== StallGuard 回调函数类型 ======================== */ +typedef void (*TMC5160_StallCallback)(void); + +/* ======================== TMC5160 句柄结构体 ======================== */ +typedef struct { + TMC5160_Interface interface; /* 通信接口类型 */ + + /* SPI 接口相关 */ + SPI_HandleTypeDef *hspi; /* SPI 句柄指针 */ + GPIO_TypeDef *cs_port; /* 片选 GPIO 端口 */ + uint16_t cs_pin; /* 片选 GPIO 引脚 */ + + /* UART 接口相关 */ + UART_HandleTypeDef *huart; /* UART 句柄指针 */ + uint8_t slave_addr; /* UART 从机地址 (0-3) */ + + /* 运行状态 */ + uint8_t spi_status; /* 最近一次 SPI 状态字节 */ + + /* StallGuard 回调 */ + TMC5160_StallCallback stall_callback; +} TMC5160_HandleTypeDef; + +/* ======================== 初始化配置结构体 ======================== */ +typedef struct { + uint8_t run_current; /* 运行电流 0-31 (IRUN) */ + uint8_t hold_current; /* 保持电流 0-31 (IHOLD) */ + uint8_t hold_delay; /* 保持延迟 0-15 (IHOLDDELAY) */ + uint8_t global_scaler; /* 全局电流缩放 0-255, 0表示256 */ + TMC5160_MicrostepRes microstep_res; /* 细分设置 */ + uint8_t en_pwm_mode; /* 1=StealthChop, 0=SpreadCycle */ + uint8_t shaft; /* 电机方向 0/1 */ + uint8_t interpolation; /* 256细分插值 0/1 */ + uint8_t toff; /* 斩波器关断时间 (3-15, 推荐3-5) */ + uint8_t tbl; /* 比较器空白时间 (0-3, 推荐2) */ + uint8_t hstrt; /* 迟滞起始值 (0-7) */ + uint8_t hend; /* 迟滞结束值 (0-15, 实际值 -3~12) */ +} TMC5160_InitTypeDef; + +/* ======================== 函数声明 ======================== */ + +/* ---------- 底层寄存器读写 ---------- */ +void TMC5160_WriteRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg, uint32_t value); +uint32_t TMC5160_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg); + +/* ---------- 初始化与复位 ---------- */ +HAL_StatusTypeDef TMC5160_Init(TMC5160_HandleTypeDef *htmc, TMC5160_InitTypeDef *config); +void TMC5160_DeInit(TMC5160_HandleTypeDef *htmc); +uint32_t TMC5160_GetVersion(TMC5160_HandleTypeDef *htmc); + +/* ---------- 运动控制 ---------- */ +void TMC5160_SetRampMode(TMC5160_HandleTypeDef *htmc, TMC5160_RampMode mode); +void TMC5160_MoveTo(TMC5160_HandleTypeDef *htmc, int32_t position); +void TMC5160_MoveBy(TMC5160_HandleTypeDef *htmc, int32_t offset); +void TMC5160_Rotate(TMC5160_HandleTypeDef *htmc, int32_t velocity); +void TMC5160_Stop(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsPositionReached(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsVelocityReached(TMC5160_HandleTypeDef *htmc); + +/* ---------- 位置与速度读写 ---------- */ +void TMC5160_SetTargetPosition(TMC5160_HandleTypeDef *htmc, int32_t position); +int32_t TMC5160_GetTargetPosition(TMC5160_HandleTypeDef *htmc); +void TMC5160_SetActualPosition(TMC5160_HandleTypeDef *htmc, int32_t position); +int32_t TMC5160_GetActualPosition(TMC5160_HandleTypeDef *htmc); +int32_t TMC5160_GetActualVelocity(TMC5160_HandleTypeDef *htmc); + +/* ---------- 斜坡参数设置 ---------- */ +void TMC5160_SetVMAX(TMC5160_HandleTypeDef *htmc, uint32_t vmax); +void TMC5160_SetAMAX(TMC5160_HandleTypeDef *htmc, uint32_t amax); +void TMC5160_SetDMAX(TMC5160_HandleTypeDef *htmc, uint32_t dmax); +void TMC5160_SetV1(TMC5160_HandleTypeDef *htmc, uint32_t v1); +void TMC5160_SetA1(TMC5160_HandleTypeDef *htmc, uint32_t a1); +void TMC5160_SetD1(TMC5160_HandleTypeDef *htmc, uint32_t d1); +void TMC5160_SetVSTART(TMC5160_HandleTypeDef *htmc, uint32_t vstart); +void TMC5160_SetVSTOP(TMC5160_HandleTypeDef *htmc, uint32_t vstop); +void TMC5160_SetTZEROWAIT(TMC5160_HandleTypeDef *htmc, uint32_t tzerowait); + +/* ---------- 电流控制 ---------- */ +void TMC5160_SetRunCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current); +void TMC5160_SetHoldCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current); +void TMC5160_SetIHoldIRun(TMC5160_HandleTypeDef *htmc, uint8_t ihold, uint8_t irun, uint8_t iholddelay); +void TMC5160_SetGlobalScaler(TMC5160_HandleTypeDef *htmc, uint8_t scaler); + +/* ---------- 斩波器配置 ---------- */ +void TMC5160_SetChopConf(TMC5160_HandleTypeDef *htmc, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t tbl); +void TMC5160_SetMicrostepResolution(TMC5160_HandleTypeDef *htmc, TMC5160_MicrostepRes mres); +void TMC5160_EnableInterpolation(TMC5160_HandleTypeDef *htmc, uint8_t enable); + +/* ---------- StealthChop / SpreadCycle ---------- */ +void TMC5160_EnableStealthChop(TMC5160_HandleTypeDef *htmc, uint8_t enable); +void TMC5160_SetPWMConf(TMC5160_HandleTypeDef *htmc, uint32_t pwmconf); +void TMC5160_SetTPWMTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tpwmthrs); + +/* ---------- StallGuard4 堵转检测 ---------- */ +void TMC5160_SetStallGuardThreshold(TMC5160_HandleTypeDef *htmc, int8_t sgt); +void TMC5160_SetTCOOLTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tcoolthrs); +void TMC5160_SetTHIGH(TMC5160_HandleTypeDef *htmc, uint32_t thigh); +uint16_t TMC5160_GetStallGuardResult(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsStalled(TMC5160_HandleTypeDef *htmc); +void TMC5160_EnableStallGuardStop(TMC5160_HandleTypeDef *htmc, uint8_t enable); +void TMC5160_SetStallCallback(TMC5160_HandleTypeDef *htmc, TMC5160_StallCallback cb); +void TMC5160_StallGuardPoll(TMC5160_HandleTypeDef *htmc); + +/* ---------- CoolStep 自适应电流 ---------- */ +void TMC5160_SetCoolConf(TMC5160_HandleTypeDef *htmc, uint32_t coolconf); +void TMC5160_ConfigCoolStep(TMC5160_HandleTypeDef *htmc, + uint8_t semin, uint8_t semax, uint8_t seup, uint8_t sedn, uint8_t seimin); + +/* ---------- 状态查询 ---------- */ +uint32_t TMC5160_GetDrvStatus(TMC5160_HandleTypeDef *htmc); +uint32_t TMC5160_GetRampStat(TMC5160_HandleTypeDef *htmc); +uint32_t TMC5160_GetGStat(TMC5160_HandleTypeDef *htmc); +void TMC5160_ClearGStat(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_GetCurrentCS(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsOverTemp(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsOverTempWarning(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsShortToGround(TMC5160_HandleTypeDef *htmc); +uint8_t TMC5160_IsOpenLoad(TMC5160_HandleTypeDef *htmc); +uint32_t TMC5160_GetTStep(TMC5160_HandleTypeDef *htmc); + +/* ---------- 电机方向 ---------- */ +void TMC5160_SetDirection(TMC5160_HandleTypeDef *htmc, uint8_t shaft); + +/* ---------- 编码器 ---------- */ +void TMC5160_SetEncMode(TMC5160_HandleTypeDef *htmc, uint32_t encmode); +int32_t TMC5160_GetEncPosition(TMC5160_HandleTypeDef *htmc); +void TMC5160_SetEncPosition(TMC5160_HandleTypeDef *htmc, int32_t position); +void TMC5160_SetEncConst(TMC5160_HandleTypeDef *htmc, uint32_t enc_const); + +/* ---------- 限位开关配置 ---------- */ +void TMC5160_SetSWMode(TMC5160_HandleTypeDef *htmc, uint32_t sw_mode); +uint32_t TMC5160_GetSWMode(TMC5160_HandleTypeDef *htmc); + +/* ---------- 功率管理 ---------- */ +void TMC5160_SetTPOWERDOWN(TMC5160_HandleTypeDef *htmc, uint8_t tpowerdown); + +/* ---------- DIAG 引脚配置 ---------- */ +void TMC5160_ConfigDiag0(TMC5160_HandleTypeDef *htmc, uint8_t stall, uint8_t error, uint8_t otpw); +void TMC5160_ConfigDiag1(TMC5160_HandleTypeDef *htmc, uint8_t stall, uint8_t index, uint8_t onstate); + +#endif /* __TMC5160_H */