835 lines
28 KiB
C
835 lines
28 KiB
C
/**
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* @file tmc5160.c
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* @brief TMC5160 步进电机驱动芯片驱动实现
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* @note 支持 SPI 和 UART 双接口，完整运动控制 + StallGuard4
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* 适用于 STM32F103C8T6 + HAL 库 (CubeMX 生成框架)
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*/
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#include "tmc5160.h"
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#include <string.h>
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/* ======================== 内部宏定义 ======================== */
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#define TMC5160_WRITE_BIT 0x80 /* 寄存器写标志位 */
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#define TMC5160_UART_SYNC 0x05 /* UART 同步字节 */
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#define TMC5160_SPI_TIMEOUT 100 /* SPI 超时 (ms) */
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#define TMC5160_UART_TIMEOUT 10 /* UART 超时 (ms) */
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/* ======================== SPI 片选控制 ======================== */
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static inline void TMC5160_CS_Low(TMC5160_HandleTypeDef *htmc)
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{
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HAL_GPIO_WritePin(htmc->cs_port, htmc->cs_pin, GPIO_PIN_RESET);
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}
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static inline void TMC5160_CS_High(TMC5160_HandleTypeDef *htmc)
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{
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HAL_GPIO_WritePin(htmc->cs_port, htmc->cs_pin, GPIO_PIN_SET);
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}
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/* ================================================================
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* UART CRC8 计算
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* TMC5160 UART 协议使用 CRC8，多项式 0x07，初始值 0
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* ================================================================ */
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static uint8_t TMC5160_CalcCRC(uint8_t *data, uint8_t len)
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{
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uint8_t crc = 0;
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for (uint8_t i = 0; i < len; i++) {
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uint8_t byte = data[i];
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for (uint8_t j = 0; j < 8; j++) {
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if ((crc >> 7) ^ (byte >> 7)) {
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crc = (crc << 1) ^ 0x07;
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} else {
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crc = crc << 1;
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}
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byte <<= 1;
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}
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}
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return crc;
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}
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/* ================================================================
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* SPI 寄存器读写
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* 40-bit 数据帧: [地址(8bit)] + [数据(32bit)]
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* 写: 地址 bit7=1; 读: 地址 bit7=0
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* 返回上一次读取的数据，因此读操作需要发送两次
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* ================================================================ */
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static void TMC5160_SPI_ReadWrite(TMC5160_HandleTypeDef *htmc,
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uint8_t *tx, uint8_t *rx, uint8_t len)
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{
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TMC5160_CS_Low(htmc);
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HAL_SPI_TransmitReceive(htmc->hspi, tx, rx, len, TMC5160_SPI_TIMEOUT);
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TMC5160_CS_High(htmc);
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}
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static void TMC5160_SPI_WriteRegister(TMC5160_HandleTypeDef *htmc,
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uint8_t reg, uint32_t value)
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{
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uint8_t tx[5], rx[5];
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tx[0] = reg | TMC5160_WRITE_BIT;
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tx[1] = (value >> 24) & 0xFF;
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tx[2] = (value >> 16) & 0xFF;
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tx[3] = (value >> 8) & 0xFF;
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tx[4] = value & 0xFF;
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TMC5160_SPI_ReadWrite(htmc, tx, rx, 5);
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htmc->spi_status = rx[0]; /* 保存状态字节 */
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}
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static uint32_t TMC5160_SPI_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg)
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{
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uint8_t tx[5] = {0}, rx[5] = {0};
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/* 第一次传输：发送读请求 */
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tx[0] = reg & 0x7F;
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TMC5160_SPI_ReadWrite(htmc, tx, rx, 5);
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/* 第二次传输：获取实际数据 */
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memset(tx, 0, 5);
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tx[0] = reg & 0x7F;
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TMC5160_SPI_ReadWrite(htmc, tx, rx, 5);
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htmc->spi_status = rx[0];
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return ((uint32_t)rx[1] << 24) | ((uint32_t)rx[2] << 16) |
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((uint32_t)rx[3] << 8) | (uint32_t)rx[4];
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}
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/* ================================================================
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* UART 寄存器读写
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* 写帧: [SYNC(0x05)] [SLAVE_ADDR] [REG|0x80] [DATA x4] [CRC] 共8字节
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* 读请求: [SYNC] [SLAVE_ADDR] [REG] [CRC] 共4字节
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* 读响应: [SYNC] [0xFF] [REG] [DATA x4] [CRC] 共8字节
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* ================================================================ */
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static void TMC5160_UART_WriteRegister(TMC5160_HandleTypeDef *htmc,
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uint8_t reg, uint32_t value)
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{
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uint8_t tx[8];
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tx[0] = TMC5160_UART_SYNC;
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tx[1] = htmc->slave_addr;
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tx[2] = reg | TMC5160_WRITE_BIT;
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tx[3] = (value >> 24) & 0xFF;
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tx[4] = (value >> 16) & 0xFF;
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tx[5] = (value >> 8) & 0xFF;
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tx[6] = value & 0xFF;
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tx[7] = TMC5160_CalcCRC(tx, 7);
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HAL_UART_Transmit(htmc->huart, tx, 8, TMC5160_UART_TIMEOUT);
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/* 等待总线释放（单线半双工需要等回显消失） */
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HAL_Delay(1);
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}
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static uint32_t TMC5160_UART_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg)
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{
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uint8_t tx[4], rx[8];
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/* 构造读请求帧 */
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tx[0] = TMC5160_UART_SYNC;
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tx[1] = htmc->slave_addr;
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tx[2] = reg & 0x7F;
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tx[3] = TMC5160_CalcCRC(tx, 3);
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/* 发送读请求 */
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HAL_UART_Transmit(htmc->huart, tx, 4, TMC5160_UART_TIMEOUT);
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/* 接收响应 (8字节: sync + master_addr + reg + data[4] + crc) */
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memset(rx, 0, 8);
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HAL_UART_Receive(htmc->huart, rx, 8, TMC5160_UART_TIMEOUT);
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/* 校验 CRC */
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uint8_t crc = TMC5160_CalcCRC(rx, 7);
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if (crc != rx[7]) {
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return 0xFFFFFFFF; /* CRC 错误返回全1 */
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}
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return ((uint32_t)rx[3] << 24) | ((uint32_t)rx[4] << 16) |
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((uint32_t)rx[5] << 8) | (uint32_t)rx[6];
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}
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/* ================================================================
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* 统一寄存器读写接口
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* 根据句柄中的 interface 字段自动选择 SPI 或 UART
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* ================================================================ */
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void TMC5160_WriteRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg, uint32_t value)
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{
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if (htmc->interface == TMC5160_INTERFACE_SPI) {
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TMC5160_SPI_WriteRegister(htmc, reg, value);
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} else {
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TMC5160_UART_WriteRegister(htmc, reg, value);
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}
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}
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uint32_t TMC5160_ReadRegister(TMC5160_HandleTypeDef *htmc, uint8_t reg)
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{
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if (htmc->interface == TMC5160_INTERFACE_SPI) {
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return TMC5160_SPI_ReadRegister(htmc, reg);
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} else {
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return TMC5160_UART_ReadRegister(htmc, reg);
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}
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}
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/* ================================================================
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* 初始化与复位
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* ================================================================ */
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/**
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* @brief 初始化 TMC5160
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* @param htmc TMC5160 句柄（需预先填充接口类型和外设指针）
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* @param config 初始化配置参数
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* @retval HAL_OK 成功, HAL_ERROR 芯片通信失败
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*/
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HAL_StatusTypeDef TMC5160_Init(TMC5160_HandleTypeDef *htmc, TMC5160_InitTypeDef *config)
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{
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/* 如果是 SPI 接口，先拉高片选 */
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if (htmc->interface == TMC5160_INTERFACE_SPI) {
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TMC5160_CS_High(htmc);
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HAL_Delay(10);
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}
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/* 读取 IOIN 寄存器验证通信（高8位包含芯片版本号，TMC5160 = 0x30） */
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uint32_t ioin = TMC5160_ReadRegister(htmc, TMC5160_IOIN);
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uint8_t version = (ioin >> 24) & 0xFF;
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if (version != 0x30) {
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return HAL_ERROR; /* 芯片版本不匹配，通信可能有问题 */
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}
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/* 清除全局状态标志 */
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TMC5160_WriteRegister(htmc, TMC5160_GSTAT, 0x07);
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/* 全局电流缩放 */
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if (config->global_scaler > 0) {
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TMC5160_WriteRegister(htmc, TMC5160_GLOBAL_SCALER, config->global_scaler);
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}
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/* 设置运行/保持电流 */
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TMC5160_SetIHoldIRun(htmc, config->hold_current, config->run_current, config->hold_delay);
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/* 停止后降功率延迟 */
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TMC5160_WriteRegister(htmc, TMC5160_TPOWERDOWN, 10);
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/* 配置斩波器: TOFF + HSTRT + HEND + TBL + 细分 + 插值 */
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uint32_t chopconf = 0;
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chopconf |= (config->toff & 0x0F);
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chopconf |= ((uint32_t)(config->hstrt & 0x07) << TMC5160_CHOPCONF_HSTRT_SHIFT);
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chopconf |= ((uint32_t)(config->hend & 0x0F) << TMC5160_CHOPCONF_HEND_SHIFT);
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chopconf |= ((uint32_t)(config->tbl & 0x03) << TMC5160_CHOPCONF_TBL_SHIFT);
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chopconf |= ((uint32_t)config->microstep_res << TMC5160_CHOPCONF_MRES_SHIFT);
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if (config->interpolation) {
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chopconf |= TMC5160_CHOPCONF_INTPOL;
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}
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TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, chopconf);
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/* 配置 GCONF: StealthChop 使能 + 方向 + 多步滤波 */
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uint32_t gconf = TMC5160_GCONF_MULTISTEP_FILT;
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if (config->en_pwm_mode) {
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gconf |= TMC5160_GCONF_EN_PWM_MODE;
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}
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if (config->shaft) {
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gconf |= TMC5160_GCONF_SHAFT;
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}
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TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf);
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/* StealthChop PWM 默认配置 (自动调节) */
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/* PWM_AUTOSCALE=1, PWM_AUTOGRAD=1, PWM_FREQ=01, PWM_OFS=36 */
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TMC5160_WriteRegister(htmc, TMC5160_PWMCONF, 0xC40C001E);
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/* 短路保护默认配置 */
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TMC5160_WriteRegister(htmc, TMC5160_SHORT_CONF, 0x00010606);
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TMC5160_WriteRegister(htmc, TMC5160_DRV_CONF, 0x00080400);
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/* 初始化斜坡参数为安全默认值 */
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TMC5160_WriteRegister(htmc, TMC5160_VSTART, 0);
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TMC5160_WriteRegister(htmc, TMC5160_VSTOP, 10);
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TMC5160_WriteRegister(htmc, TMC5160_AMAX, 1000);
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TMC5160_WriteRegister(htmc, TMC5160_DMAX, 1000);
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TMC5160_WriteRegister(htmc, TMC5160_A1, 500);
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TMC5160_WriteRegister(htmc, TMC5160_D1, 500);
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TMC5160_WriteRegister(htmc, TMC5160_V1, 50000);
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TMC5160_WriteRegister(htmc, TMC5160_VMAX, 100000);
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_POSITION);
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return HAL_OK;
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}
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/**
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* @brief 反初始化 TMC5160，停止电机并关闭驱动
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*/
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void TMC5160_DeInit(TMC5160_HandleTypeDef *htmc)
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{
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TMC5160_Stop(htmc);
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HAL_Delay(10);
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/* TOFF=0 关闭驱动桥 */
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uint32_t chopconf = TMC5160_ReadRegister(htmc, TMC5160_CHOPCONF);
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chopconf &= ~TMC5160_CHOPCONF_TOFF_MASK;
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TMC5160_WriteRegister(htmc, TMC5160_CHOPCONF, chopconf);
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}
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/**
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* @brief 获取芯片版本号
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* @retval 版本号 (TMC5160 应返回 0x30)
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*/
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uint32_t TMC5160_GetVersion(TMC5160_HandleTypeDef *htmc)
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{
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uint32_t ioin = TMC5160_ReadRegister(htmc, TMC5160_IOIN);
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return (ioin >> 24) & 0xFF;
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}
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/* ================================================================
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* 运动控制
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* ================================================================ */
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/** @brief 设置斜坡模式 */
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void TMC5160_SetRampMode(TMC5160_HandleTypeDef *htmc, TMC5160_RampMode mode)
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{
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, (uint32_t)mode);
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}
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/**
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* @brief 绝对定位运动
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* @param position 目标位置（微步单位）
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*/
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void TMC5160_MoveTo(TMC5160_HandleTypeDef *htmc, int32_t position)
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{
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_POSITION);
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TMC5160_WriteRegister(htmc, TMC5160_XTARGET, (uint32_t)position);
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}
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/**
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* @brief 相对定位运动
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* @param offset 相对偏移量（微步单位，正/负）
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*/
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void TMC5160_MoveBy(TMC5160_HandleTypeDef *htmc, int32_t offset)
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{
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int32_t current = TMC5160_GetActualPosition(htmc);
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TMC5160_MoveTo(htmc, current + offset);
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}
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/**
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* @brief 速度模式旋转
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* @param velocity 目标速度，正值正转，负值反转，0停止
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*/
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void TMC5160_Rotate(TMC5160_HandleTypeDef *htmc, int32_t velocity)
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{
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if (velocity >= 0) {
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_POS);
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TMC5160_WriteRegister(htmc, TMC5160_VMAX, (uint32_t)velocity);
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} else {
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_NEG);
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TMC5160_WriteRegister(htmc, TMC5160_VMAX, (uint32_t)(-velocity));
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}
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}
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/** @brief 减速停止电机 */
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void TMC5160_Stop(TMC5160_HandleTypeDef *htmc)
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{
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TMC5160_WriteRegister(htmc, TMC5160_VMAX, 0);
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TMC5160_WriteRegister(htmc, TMC5160_RAMPMODE, TMC5160_MODE_VEL_POS);
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}
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/** @brief 检查是否到达目标位置 (定位模式) */
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uint8_t TMC5160_IsPositionReached(TMC5160_HandleTypeDef *htmc)
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{
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uint32_t stat = TMC5160_ReadRegister(htmc, TMC5160_RAMP_STAT);
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return (stat & TMC5160_RS_POS_REACHED) ? 1 : 0;
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}
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/** @brief 检查是否到达目标速度 (速度模式) */
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uint8_t TMC5160_IsVelocityReached(TMC5160_HandleTypeDef *htmc)
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{
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uint32_t stat = TMC5160_ReadRegister(htmc, TMC5160_RAMP_STAT);
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return (stat & TMC5160_RS_VEL_REACHED) ? 1 : 0;
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}
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/* ================================================================
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* 位置与速度读写
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* ================================================================ */
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void TMC5160_SetTargetPosition(TMC5160_HandleTypeDef *htmc, int32_t position)
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{
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TMC5160_WriteRegister(htmc, TMC5160_XTARGET, (uint32_t)position);
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}
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int32_t TMC5160_GetTargetPosition(TMC5160_HandleTypeDef *htmc)
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{
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return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_XTARGET);
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}
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void TMC5160_SetActualPosition(TMC5160_HandleTypeDef *htmc, int32_t position)
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{
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TMC5160_WriteRegister(htmc, TMC5160_XACTUAL, (uint32_t)position);
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}
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int32_t TMC5160_GetActualPosition(TMC5160_HandleTypeDef *htmc)
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{
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return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_XACTUAL);
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}
|
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int32_t TMC5160_GetActualVelocity(TMC5160_HandleTypeDef *htmc)
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{
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return (int32_t)TMC5160_ReadRegister(htmc, TMC5160_VACTUAL);
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}
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/* ================================================================
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* 斜坡参数设置
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* 六点斜坡: VSTART -> A1 -> V1 -> AMAX -> VMAX (加速)
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* VMAX -> DMAX -> V1 -> D1 -> VSTOP (减速)
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* ================================================================ */
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void TMC5160_SetVMAX(TMC5160_HandleTypeDef *htmc, uint32_t vmax)
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{
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TMC5160_WriteRegister(htmc, TMC5160_VMAX, vmax & 0x7FFFFF);
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}
|
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void TMC5160_SetAMAX(TMC5160_HandleTypeDef *htmc, uint32_t amax)
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{
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TMC5160_WriteRegister(htmc, TMC5160_AMAX, amax & 0xFFFF);
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}
|
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void TMC5160_SetDMAX(TMC5160_HandleTypeDef *htmc, uint32_t dmax)
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{
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TMC5160_WriteRegister(htmc, TMC5160_DMAX, dmax & 0xFFFF);
|
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}
|
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|
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void TMC5160_SetV1(TMC5160_HandleTypeDef *htmc, uint32_t v1)
|
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{
|
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TMC5160_WriteRegister(htmc, TMC5160_V1, v1 & 0xFFFFF);
|
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}
|
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void TMC5160_SetA1(TMC5160_HandleTypeDef *htmc, uint32_t a1)
|
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{
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TMC5160_WriteRegister(htmc, TMC5160_A1, a1 & 0xFFFF);
|
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}
|
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|
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void TMC5160_SetD1(TMC5160_HandleTypeDef *htmc, uint32_t d1)
|
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{
|
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TMC5160_WriteRegister(htmc, TMC5160_D1, d1 & 0xFFFF);
|
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}
|
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|
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void TMC5160_SetVSTART(TMC5160_HandleTypeDef *htmc, uint32_t vstart)
|
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{
|
||
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)
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{
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uint32_t gconf = TMC5160_ReadRegister(htmc, TMC5160_GCONF);
|
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gconf &= ~(TMC5160_GCONF_DIAG0_STALL | TMC5160_GCONF_DIAG0_ERROR |
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TMC5160_GCONF_DIAG0_OTPW);
|
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if (stall) gconf |= TMC5160_GCONF_DIAG0_STALL;
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if (error) gconf |= TMC5160_GCONF_DIAG0_ERROR;
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if (otpw) gconf |= TMC5160_GCONF_DIAG0_OTPW;
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TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf);
|
||
}
|
||
|
||
/**
|
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* @brief 配置 DIAG1 引脚输出
|
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* @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;
|
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if (index) gconf |= TMC5160_GCONF_DIAG1_INDEX;
|
||
if (onstate) gconf |= TMC5160_GCONF_DIAG1_ONSTATE;
|
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TMC5160_WriteRegister(htmc, TMC5160_GCONF, gconf);
|
||
} |