312 lines
17 KiB
C
312 lines
17 KiB
C
/**
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* @file tmc5160.h
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* @brief TMC5160 步进电机驱动芯片驱动头文件
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* @note 支持 SPI 和 UART 双接口通信
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* 支持完整的运动控制、StallGuard4 堵转检测、StealthChop/SpreadCycle
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* 适用于 STM32F103C8T6 + HAL 库
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*/
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#ifndef __TMC5160_H
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#define __TMC5160_H
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#include "stm32f1xx_hal.h"
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/* ======================== 通信接口类型 ======================== */
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typedef enum {
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TMC5160_INTERFACE_SPI, /* SPI 接口 */
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TMC5160_INTERFACE_UART /* 单线 UART 接口 */
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} TMC5160_Interface;
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/* ======================== 斜坡模式 ======================== */
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typedef enum {
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TMC5160_MODE_POSITION = 0, /* 定位模式（梯形/S形斜坡） */
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TMC5160_MODE_VEL_POS = 1, /* 正向速度模式 */
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TMC5160_MODE_VEL_NEG = 2, /* 反向速度模式 */
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TMC5160_MODE_HOLD = 3 /* 保持模式（速度为零） */
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} TMC5160_RampMode;
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/* ======================== 细分设置 ======================== */
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typedef enum {
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TMC5160_MRES_256 = 0, /* 256 细分 */
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TMC5160_MRES_128 = 1,
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TMC5160_MRES_64 = 2,
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TMC5160_MRES_32 = 3,
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TMC5160_MRES_16 = 4,
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TMC5160_MRES_8 = 5,
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TMC5160_MRES_4 = 6,
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TMC5160_MRES_2 = 7,
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TMC5160_MRES_1 = 8 /* 整步 */
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} TMC5160_MicrostepRes;
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/* ======================== 寄存器地址定义 ======================== */
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/* --- 通用配置寄存器 --- */
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#define TMC5160_GCONF 0x00 /* 全局配置 */
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#define TMC5160_GSTAT 0x01 /* 全局状态标志 */
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#define TMC5160_IFCNT 0x02 /* UART 接口计数器 */
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#define TMC5160_SLAVECONF 0x03 /* UART 从机配置 */
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#define TMC5160_IOIN 0x04 /* IO 输入引脚状态（读） */
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#define TMC5160_OUTPUT 0x04 /* IO 输出控制（写） */
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#define TMC5160_X_COMPARE 0x05 /* 位置比较寄存器 */
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#define TMC5160_OTP_PROG 0x06 /* OTP 编程 */
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#define TMC5160_OTP_READ 0x07 /* OTP 读取 */
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#define TMC5160_FACTORY_CONF 0x08 /* 工厂配置 */
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#define TMC5160_SHORT_CONF 0x09 /* 短路保护配置 */
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#define TMC5160_DRV_CONF 0x0A /* 驱动配置 */
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#define TMC5160_GLOBAL_SCALER 0x0B /* 全局电流缩放 (0=256) */
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#define TMC5160_OFFSET_READ 0x0C /* 偏移读取 */
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/* --- 速度相关控制寄存器 --- */
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#define TMC5160_IHOLD_IRUN 0x10 /* 保持/运行电流及延迟 */
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#define TMC5160_TPOWERDOWN 0x11 /* 停止后降低电流的延迟时间 */
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#define TMC5160_TSTEP 0x12 /* 实际步进间隔时间（只读） */
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#define TMC5160_TPWMTHRS 0x13 /* StealthChop 速度上限阈值 */
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#define TMC5160_TCOOLTHRS 0x14 /* CoolStep/StallGuard 速度下限阈值 */
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#define TMC5160_THIGH 0x15 /* 高速模式切换阈值 */
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/* --- 斜坡发生器寄存器 --- */
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#define TMC5160_RAMPMODE 0x20 /* 斜坡模式选择 */
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#define TMC5160_XACTUAL 0x21 /* 当前实际位置 */
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#define TMC5160_VACTUAL 0x22 /* 当前实际速度（只读） */
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#define TMC5160_VSTART 0x23 /* 起始速度 */
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#define TMC5160_A1 0x24 /* 第一段加速度 */
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#define TMC5160_V1 0x25 /* 第一段目标速度 */
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#define TMC5160_AMAX 0x26 /* 最大加速度 */
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#define TMC5160_VMAX 0x27 /* 最大速度 */
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#define TMC5160_DMAX 0x28 /* 最大减速度 */
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#define TMC5160_D1 0x2A /* 第一段减速度 */
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#define TMC5160_VSTOP 0x2B /* 停止速度（建议 >=10） */
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#define TMC5160_TZEROWAIT 0x2C /* 到达零速后等待时间 */
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#define TMC5160_XTARGET 0x2D /* 目标位置 */
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/* --- 斜坡状态寄存器 --- */
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#define TMC5160_SW_MODE 0x34 /* 参考开关与StallGuard停止配置 */
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#define TMC5160_RAMP_STAT 0x35 /* 斜坡状态标志 */
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#define TMC5160_XLATCH 0x36 /* 锁存位置 */
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/* --- 编码器寄存器 --- */
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#define TMC5160_ENCMODE 0x38 /* 编码器模式配置 */
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#define TMC5160_X_ENC 0x39 /* 编码器位置 */
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#define TMC5160_ENC_CONST 0x3A /* 编码器常数 */
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#define TMC5160_ENC_STATUS 0x3B /* 编码器状态 */
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#define TMC5160_ENC_LATCH 0x3C /* 编码器锁存位置 */
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#define TMC5160_ENC_DEVIATION 0x3D /* 编码器偏差允许值 */
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/* --- 斩波器与驱动寄存器 --- */
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#define TMC5160_CHOPCONF 0x6C /* 斩波器配置 */
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#define TMC5160_COOLCONF 0x6D /* CoolStep 与 StallGuard 配置 */
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#define TMC5160_DCCTRL 0x6E /* DC 步进控制 */
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#define TMC5160_DRV_STATUS 0x6F /* 驱动状态（只读） */
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#define TMC5160_PWMCONF 0x70 /* StealthChop PWM 配置 */
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#define TMC5160_PWM_SCALE 0x71 /* PWM 缩放值（只读） */
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#define TMC5160_PWM_AUTO 0x72 /* PWM 自动调节值（只读） */
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#define TMC5160_LOST_STEPS 0x73 /* 丢步计数（只读） */
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/* ======================== GCONF 位定义 ======================== */
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#define TMC5160_GCONF_RECALIBRATE (1UL << 0)
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#define TMC5160_GCONF_FASTSTANDSTILL (1UL << 1)
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#define TMC5160_GCONF_EN_PWM_MODE (1UL << 2) /* 启用 StealthChop */
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#define TMC5160_GCONF_MULTISTEP_FILT (1UL << 3)
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#define TMC5160_GCONF_SHAFT (1UL << 4) /* 反转电机方向 */
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#define TMC5160_GCONF_DIAG0_ERROR (1UL << 5)
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#define TMC5160_GCONF_DIAG0_OTPW (1UL << 6)
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#define TMC5160_GCONF_DIAG0_STALL (1UL << 7) /* DIAG0 输出堵转信号 */
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#define TMC5160_GCONF_DIAG1_STALL (1UL << 8) /* DIAG1 输出堵转信号 */
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#define TMC5160_GCONF_DIAG1_INDEX (1UL << 9)
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#define TMC5160_GCONF_DIAG1_ONSTATE (1UL << 10)
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#define TMC5160_GCONF_DIAG1_STEPS_SKIPPED (1UL << 11)
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#define TMC5160_GCONF_DIAG0_PUSHPULL (1UL << 12)
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#define TMC5160_GCONF_DIAG1_PUSHPULL (1UL << 13)
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#define TMC5160_GCONF_SMALL_HYSTERESIS (1UL << 14)
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#define TMC5160_GCONF_STOP_ENABLE (1UL << 15)
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#define TMC5160_GCONF_DIRECT_MODE (1UL << 16)
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#define TMC5160_GCONF_TEST_MODE (1UL << 17)
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/* ======================== DRV_STATUS 位定义 ======================== */
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#define TMC5160_DRV_SG_RESULT_MASK 0x3FFUL /* StallGuard 结果 [9:0] */
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#define TMC5160_DRV_S2VSA (1UL << 12)
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#define TMC5160_DRV_S2VSB (1UL << 13)
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#define TMC5160_DRV_STEALTH (1UL << 14) /* StealthChop 活跃 */
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#define TMC5160_DRV_FSACTIVE (1UL << 15) /* 全步模式活跃 */
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#define TMC5160_DRV_CS_ACTUAL_MASK (0x1FUL << 16) /* 实际电流 [20:16] */
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#define TMC5160_DRV_CS_ACTUAL_SHIFT 16
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#define TMC5160_DRV_STALLGUARD (1UL << 24) /* StallGuard 标志 */
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#define TMC5160_DRV_OT (1UL << 25) /* 过温关断 */
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#define TMC5160_DRV_OTPW (1UL << 26) /* 过温预警 */
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#define TMC5160_DRV_S2GA (1UL << 27) /* A相对地短路 */
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#define TMC5160_DRV_S2GB (1UL << 28) /* B相对地短路 */
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#define TMC5160_DRV_OLA (1UL << 29) /* A相开路 */
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#define TMC5160_DRV_OLB (1UL << 30) /* B相开路 */
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#define TMC5160_DRV_STST (1UL << 31) /* 电机静止 */
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/* ======================== RAMP_STAT 位定义 ======================== */
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#define TMC5160_RS_STOP_L (1UL << 0) /* 左限位开关触发 */
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#define TMC5160_RS_STOP_R (1UL << 1) /* 右限位开关触发 */
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#define TMC5160_RS_LATCH_L (1UL << 2)
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#define TMC5160_RS_LATCH_R (1UL << 3)
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#define TMC5160_RS_EV_STOP_L (1UL << 4) /* 左限位停止事件 */
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#define TMC5160_RS_EV_STOP_R (1UL << 5) /* 右限位停止事件 */
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#define TMC5160_RS_EV_STOP_SG (1UL << 6) /* StallGuard 停止事件 */
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#define TMC5160_RS_EV_POS_REACHED (1UL << 7) /* 到达目标位置事件 */
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#define TMC5160_RS_VEL_REACHED (1UL << 8) /* 到达目标速度 */
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#define TMC5160_RS_POS_REACHED (1UL << 9) /* 位置已到达 */
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#define TMC5160_RS_VZERO (1UL << 10) /* 速度为零 */
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#define TMC5160_RS_ZEROWAIT (1UL << 11) /* 零速等待中 */
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#define TMC5160_RS_SECOND_MOVE (1UL << 12) /* 第二次运动 */
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#define TMC5160_RS_SG (1UL << 13) /* StallGuard 实时状态 */
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/* ======================== CHOPCONF 位偏移 ======================== */
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#define TMC5160_CHOPCONF_TOFF_MASK 0x0FUL
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#define TMC5160_CHOPCONF_HSTRT_SHIFT 4
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#define TMC5160_CHOPCONF_HEND_SHIFT 7
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#define TMC5160_CHOPCONF_TBL_SHIFT 15
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#define TMC5160_CHOPCONF_VHIGHFS (1UL << 18)
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#define TMC5160_CHOPCONF_VHIGHCHM (1UL << 19)
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#define TMC5160_CHOPCONF_MRES_SHIFT 24
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#define TMC5160_CHOPCONF_INTPOL (1UL << 28) /* 256细分插值 */
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#define TMC5160_CHOPCONF_DEDGE (1UL << 29)
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#define TMC5160_CHOPCONF_DISS2G (1UL << 30)
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#define TMC5160_CHOPCONF_DISS2VS (1UL << 31)
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/* ======================== StallGuard 回调函数类型 ======================== */
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typedef void (*TMC5160_StallCallback)(void);
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/* ======================== TMC5160 句柄结构体 ======================== */
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typedef struct {
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TMC5160_Interface interface; /* 通信接口类型 */
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/* SPI 接口相关 */
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SPI_HandleTypeDef *hspi; /* SPI 句柄指针 */
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GPIO_TypeDef *cs_port; /* 片选 GPIO 端口 */
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uint16_t cs_pin; /* 片选 GPIO 引脚 */
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/* UART 接口相关 */
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UART_HandleTypeDef *huart; /* UART 句柄指针 */
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uint8_t slave_addr; /* UART 从机地址 (0-3) */
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/* 运行状态 */
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uint8_t spi_status; /* 最近一次 SPI 状态字节 */
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/* StallGuard 回调 */
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TMC5160_StallCallback stall_callback;
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} TMC5160_HandleTypeDef;
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/* ======================== 初始化配置结构体 ======================== */
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typedef struct {
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uint8_t run_current; /* 运行电流 0-31 (IRUN) */
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uint8_t hold_current; /* 保持电流 0-31 (IHOLD) */
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uint8_t hold_delay; /* 保持延迟 0-15 (IHOLDDELAY) */
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uint8_t global_scaler; /* 全局电流缩放 0-255, 0表示256 */
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TMC5160_MicrostepRes microstep_res; /* 细分设置 */
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uint8_t en_pwm_mode; /* 1=StealthChop, 0=SpreadCycle */
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uint8_t shaft; /* 电机方向 0/1 */
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uint8_t interpolation; /* 256细分插值 0/1 */
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uint8_t toff; /* 斩波器关断时间 (3-15, 推荐3-5) */
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uint8_t tbl; /* 比较器空白时间 (0-3, 推荐2) */
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uint8_t hstrt; /* 迟滞起始值 (0-7) */
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uint8_t hend; /* 迟滞结束值 (0-15, 实际值 -3~12) */
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} TMC5160_InitTypeDef;
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/* ======================== 函数声明 ======================== */
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/* ---------- 底层寄存器读写 ---------- */
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void TMC5160_WriteRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg, uint32_t value);
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uint32_t TMC5160_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg);
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/* ---------- 初始化与复位 ---------- */
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HAL_StatusTypeDef TMC5160_Init(TMC5160_HandleTypeDef *htmc, TMC5160_InitTypeDef *config);
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void TMC5160_DeInit(TMC5160_HandleTypeDef *htmc);
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uint32_t TMC5160_GetVersion(TMC5160_HandleTypeDef *htmc);
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/* ---------- 运动控制 ---------- */
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void TMC5160_SetRampMode(TMC5160_HandleTypeDef *htmc, TMC5160_RampMode mode);
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void TMC5160_MoveTo(TMC5160_HandleTypeDef *htmc, int32_t position);
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void TMC5160_MoveBy(TMC5160_HandleTypeDef *htmc, int32_t offset);
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void TMC5160_Rotate(TMC5160_HandleTypeDef *htmc, int32_t velocity);
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void TMC5160_Stop(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsPositionReached(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsVelocityReached(TMC5160_HandleTypeDef *htmc);
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/* ---------- 位置与速度读写 ---------- */
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void TMC5160_SetTargetPosition(TMC5160_HandleTypeDef *htmc, int32_t position);
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int32_t TMC5160_GetTargetPosition(TMC5160_HandleTypeDef *htmc);
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void TMC5160_SetActualPosition(TMC5160_HandleTypeDef *htmc, int32_t position);
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int32_t TMC5160_GetActualPosition(TMC5160_HandleTypeDef *htmc);
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int32_t TMC5160_GetActualVelocity(TMC5160_HandleTypeDef *htmc);
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/* ---------- 斜坡参数设置 ---------- */
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void TMC5160_SetVMAX(TMC5160_HandleTypeDef *htmc, uint32_t vmax);
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void TMC5160_SetAMAX(TMC5160_HandleTypeDef *htmc, uint32_t amax);
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void TMC5160_SetDMAX(TMC5160_HandleTypeDef *htmc, uint32_t dmax);
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void TMC5160_SetV1(TMC5160_HandleTypeDef *htmc, uint32_t v1);
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void TMC5160_SetA1(TMC5160_HandleTypeDef *htmc, uint32_t a1);
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void TMC5160_SetD1(TMC5160_HandleTypeDef *htmc, uint32_t d1);
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void TMC5160_SetVSTART(TMC5160_HandleTypeDef *htmc, uint32_t vstart);
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void TMC5160_SetVSTOP(TMC5160_HandleTypeDef *htmc, uint32_t vstop);
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void TMC5160_SetTZEROWAIT(TMC5160_HandleTypeDef *htmc, uint32_t tzerowait);
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/* ---------- 电流控制 ---------- */
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void TMC5160_SetRunCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current);
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void TMC5160_SetHoldCurrent(TMC5160_HandleTypeDef *htmc, uint8_t current);
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void TMC5160_SetIHoldIRun(TMC5160_HandleTypeDef *htmc, uint8_t ihold, uint8_t irun, uint8_t iholddelay);
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void TMC5160_SetGlobalScaler(TMC5160_HandleTypeDef *htmc, uint8_t scaler);
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/* ---------- 斩波器配置 ---------- */
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void TMC5160_SetChopConf(TMC5160_HandleTypeDef *htmc, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t tbl);
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void TMC5160_SetMicrostepResolution(TMC5160_HandleTypeDef *htmc, TMC5160_MicrostepRes mres);
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void TMC5160_EnableInterpolation(TMC5160_HandleTypeDef *htmc, uint8_t enable);
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/* ---------- StealthChop / SpreadCycle ---------- */
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void TMC5160_EnableStealthChop(TMC5160_HandleTypeDef *htmc, uint8_t enable);
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void TMC5160_SetPWMConf(TMC5160_HandleTypeDef *htmc, uint32_t pwmconf);
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void TMC5160_SetTPWMTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tpwmthrs);
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/* ---------- StallGuard4 堵转检测 ---------- */
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void TMC5160_SetStallGuardThreshold(TMC5160_HandleTypeDef *htmc, int8_t sgt);
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void TMC5160_SetTCOOLTHRS(TMC5160_HandleTypeDef *htmc, uint32_t tcoolthrs);
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void TMC5160_SetTHIGH(TMC5160_HandleTypeDef *htmc, uint32_t thigh);
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uint16_t TMC5160_GetStallGuardResult(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsStalled(TMC5160_HandleTypeDef *htmc);
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void TMC5160_EnableStallGuardStop(TMC5160_HandleTypeDef *htmc, uint8_t enable);
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void TMC5160_SetStallCallback(TMC5160_HandleTypeDef *htmc, TMC5160_StallCallback cb);
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void TMC5160_StallGuardPoll(TMC5160_HandleTypeDef *htmc);
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/* ---------- CoolStep 自适应电流 ---------- */
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void TMC5160_SetCoolConf(TMC5160_HandleTypeDef *htmc, uint32_t coolconf);
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void TMC5160_ConfigCoolStep(TMC5160_HandleTypeDef *htmc,
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uint8_t semin, uint8_t semax, uint8_t seup, uint8_t sedn, uint8_t seimin);
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/* ---------- 状态查询 ---------- */
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uint32_t TMC5160_GetDrvStatus(TMC5160_HandleTypeDef *htmc);
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uint32_t TMC5160_GetRampStat(TMC5160_HandleTypeDef *htmc);
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uint32_t TMC5160_GetGStat(TMC5160_HandleTypeDef *htmc);
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void TMC5160_ClearGStat(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_GetCurrentCS(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsOverTemp(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsOverTempWarning(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsShortToGround(TMC5160_HandleTypeDef *htmc);
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uint8_t TMC5160_IsOpenLoad(TMC5160_HandleTypeDef *htmc);
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uint32_t TMC5160_GetTStep(TMC5160_HandleTypeDef *htmc);
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/* ---------- 电机方向 ---------- */
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void TMC5160_SetDirection(TMC5160_HandleTypeDef *htmc, uint8_t shaft);
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/* ---------- 编码器 ---------- */
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void TMC5160_SetEncMode(TMC5160_HandleTypeDef *htmc, uint32_t encmode);
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int32_t TMC5160_GetEncPosition(TMC5160_HandleTypeDef *htmc);
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void TMC5160_SetEncPosition(TMC5160_HandleTypeDef *htmc, int32_t position);
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void TMC5160_SetEncConst(TMC5160_HandleTypeDef *htmc, uint32_t enc_const);
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/* ---------- 限位开关配置 ---------- */
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void TMC5160_SetSWMode(TMC5160_HandleTypeDef *htmc, uint32_t sw_mode);
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uint32_t TMC5160_GetSWMode(TMC5160_HandleTypeDef *htmc);
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/* ---------- 功率管理 ---------- */
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void TMC5160_SetTPOWERDOWN(TMC5160_HandleTypeDef *htmc, uint8_t tpowerdown);
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/* ---------- DIAG 引脚配置 ---------- */
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void TMC5160_ConfigDiag0(TMC5160_HandleTypeDef *htmc, uint8_t stall, uint8_t error, uint8_t otpw);
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void TMC5160_ConfigDiag1(TMC5160_HandleTypeDef *htmc, uint8_t stall, uint8_t index, uint8_t onstate);
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#endif /* __TMC5160_H */
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