STM32配置TMC5160的堵转检测功能

文章目录

STM32配置

是用STM32CUBEMX配置HAL库

TMC5160可以是用单线UART或者全双工的SPI进行通信，为了便于观察和代码copy，我选择是用spi通信，以下是stm32的配置：

可以不用选择USART1和USART2，这里配置主要是为了是用单线UART通信，不是本文重点。

关于时钟树的配置可以按照自己的开发版进行配置。

我是用CLION进行开发，具体配置可以参考稚晖君的教程：https://zhuanlan.zhihu.com/p/145801160

TMC5160关键寄存器

关键：多读数据手册

1.基础寄存器配置：

2.stallguard相关寄存器配置

TCOOLTHRS寄存器，使能CoolStep和StallGuard2功能的下限速度，到达此值电机停止并保持。个人配置0x00000FEC

SW_MODE寄存器的第十位sg_stop启用STALLGUARD 2功能。0x00000400* COOLCONF的16bit-22bit 用于设置灵敏度。

DRV_STATUS寄存器的SG_RESULT：StallGuard2值和用于监测电机所剩的扭力。

速度相关寄存器:RAMPMODE用于选择位置/速度模式，以及速度和加速度相关的寄存器功能如折线图所示。

Stallguard灵敏度调节

要根据自己的电机做改动

相关寄存器：

相关代码

  tmc5160_writeInt(&tmc5160, TMC5160_GCONF, 0x000000E4);
  tmc5160_writeInt(&tmc5160, TMC5160_CHOPCONF, 0x000000E4);
  tmc5160_writeInt(&tmc5160, TMC5160_IHOLD_IRUN, 0x00060100);

  tmc5160_writeInt(&tmc5160, TMC5160_AMAX, 0x0001FFFF);
  tmc5160_writeInt(&tmc5160, TMC5160_VMAX, 0x004FF00);
  tmc5160_writeInt(&tmc5160, TMC5160_SWMODE, 0x00000400);
  tmc5160_writeInt(&tmc5160, TMC5160_COOLCONF, 0x00900000);
  tmc5160_writeInt(&tmc5160, TMC5160_TCOOLTHRS, 0x00000FEC);
  tmc5160_writeInt(&tmc5160, TMC5160_RAMPMODE,0x00000001);

  while (1)
  {
    tmc5160_readInt(&tmc5160, TMC5160_TSTEP);
    HAL_Delay(200);
  }

// Write an integer to the given address
void tmc5160_writeInt(TMC5160TypeDef *tmc5160, uint8_t address, int32_t value)
{
	tmc5160_writeDatagram(tmc5160, address, BYTE(value, 3), BYTE(value, 2), BYTE(value, 1), BYTE(value, 0));
}

// Writes (x1 << 24) | (x2 << 16) | (x3 << 8) | x4 to the given address
void tmc5160_writeDatagram(TMC5160TypeDef *tmc5160, uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4)
{
	uint8_t data[5] = { address | TMC5160_WRITE_BIT, x1, x2, x3, x4 };
  uint8_t receive[5];

	tmc5160_readWriteArray(data, receive, 5, 1);

	int32_t value = ((uint32_t)x1 << 24) | ((uint32_t)x2 << 16) | (x3 << 8) | x4;

	// Write to the shadow register and mark the register dirty
	address = TMC_ADDRESS(address);
	tmc5160->config->shadowRegister[address] = value;
	tmc5160->registerAccess[address] |= TMC_ACCESS_DIRTY;
}

HAL_StatusTypeDef tmc5160_readWriteArray(uint8_t *transmit, uint8_t *receive, size_t size, uint8_t timeout)
{
  // Declare the status variable
  HAL_StatusTypeDef status;

  // Select the TMC5160 channel (if using multiple devices)
  // This usually involves setting a GPIO pin to select the correct device.
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET); // Select device
  // Transmit and receive data via SPI
  status = HAL_SPI_TransmitReceive(&hspi1, transmit, receive, size, timeout);
  // Deselect the TMC5160 channel
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET); // Deselect device

  return status;
}

实际上就是套了好几层函数，底层还是是用HAL库的SPI收发函数实现。

小结

！！！！！！！！仔细读数据手册真的很重要！！！！！！！！！

完整的代码在github仓库：https://github.com/Tianli-Wang/TMC5160-Stallguard