可以读取到SPI数据了

Core/Inc/main.h

@@ -89,10 +89,6 @@ void Error_Handler(void);
 #define TMC2240_MISO_GPIO_Port GPIOA
 #define TMC2240_MOSI_Pin LL_GPIO_PIN_7
 #define TMC2240_MOSI_GPIO_Port GPIOA
-#define TMC2240_STEP_Pin LL_GPIO_PIN_0
-#define TMC2240_STEP_GPIO_Port GPIOB
-#define TMC2240_DIR_Pin LL_GPIO_PIN_1
-#define TMC2240_DIR_GPIO_Port GPIOB
 #define OLED_SDA_Pin LL_GPIO_PIN_12
 #define OLED_SDA_GPIO_Port GPIOB
 #define OLDE_SCK_Pin LL_GPIO_PIN_13

Core/Src/gpio.c

@@ -59,7 +59,7 @@ void MX_GPIO_Init(void)
   LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
 
   /**/
-  LL_GPIO_ResetOutputPin(GPIOB, TMC2240_STEP_Pin|TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
+  LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
 
   /**/
   GPIO_InitStruct.Pin = LED_BLUE_Pin;
@@ -80,32 +80,17 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = TMC2240_EN_Pin;
+  GPIO_InitStruct.Pin = TMC2240_EN_Pin|TMC2240_CS_Pin;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
   GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-  LL_GPIO_Init(TMC2240_EN_GPIO_Port, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = TMC2240_CS_Pin;
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+                          |LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+                          |LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
-  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+                          |LL_GPIO_PIN_8|LL_GPIO_PIN_9;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
-  LL_GPIO_Init(TMC2240_CS_GPIO_Port, &GPIO_InitStruct);
-
-  /**/
-  GPIO_InitStruct.Pin = TMC2240_STEP_Pin|TMC2240_DIR_Pin;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
-  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-  LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
-                          |LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
-                          |LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 

Core/Src/spi.c

@@ -47,7 +47,7 @@ void MX_SPI1_Init(void)
   */
   GPIO_InitStruct.Pin = TMC2240_SCK_Pin|TMC2240_MOSI_Pin;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_MEDIUM;
   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
@@ -64,7 +64,7 @@ void MX_SPI1_Init(void)
   SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_HIGH;
   SPI_InitStruct.ClockPhase = LL_SPI_PHASE_2EDGE;
   SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
-  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV256;
+  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV16;
   SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
   SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
   SPI_InitStruct.CRCPoly = 10;

MDK-ARM/motor.uvoptx

@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -153,7 +153,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>_tmc2240</ItemText>
+          <ItemText>_tmc2240,0x10</ItemText>
         </Ww>
         <Ww>
           <count>1</count>

MDK-ARM/motor.uvprojx

@@ -54,7 +54,7 @@
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
-          <BrowseInformation>1</BrowseInformation>
+          <BrowseInformation>0</BrowseInformation>
           <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
@@ -134,7 +134,7 @@
             <RunIndependent>0</RunIndependent>
             <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
             <Capability>1</Capability>
-            <DriverSelection>4101</DriverSelection>
+            <DriverSelection>4096</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>

User/board/board.c

@@ -43,9 +43,6 @@ void board_init(void)
 
     {
         GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
-        GPIO_SET(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
-        GPIO_RESET(TMC2240_STEP_GPIO_Port, TMC2240_STEP_Pin);
-        GPIO_RESET(TMC2240_DIR_GPIO_Port, TMC2240_DIR_Pin);
         delay_ms(100);
         spi_gpio_group_t gpios;
         gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);

User/lib/driver/tmc2240.c

@@ -20,7 +20,7 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
     tmc2240_t *tmc = &_tmc2240[index];
 
     tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
-    for (uint16_t i = 0; i < 5; i++) // 循环读取数据
+    for (uint16_t i = 0; i < 5; i++)
     {
         rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
     }
@@ -31,7 +31,7 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
     __NOP();
 
     tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
-    for (uint16_t i = 0; i < 5; i++) // 循环读取数据
+    for (uint16_t i = 0; i < 5; i++)
     {
         rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
     }
@@ -45,6 +45,7 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gp
 
     tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
     DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+    tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
 }
 
 tmc2240_t *tmc2240_get(tmc2240_index_e index)
@@ -60,12 +61,11 @@ void tmc2240_config(tmc2240_index_e index)
     wdata[1] = 0x00;
     wdata[2] = 0x00;
     wdata[3] = 0x00;
-    wdata[4] = 0x02;
+    wdata[4] = 0xE4;
     tmc2240_write(index, wdata);
-    osel_memset(wdata, 0, 5);
+
-    delay_ms(100);
-    // 读取 GCONF 寄存器
     uint8_t rdata[5] = {0};
+    osel_memset(wdata, 0, 5);
     wdata[0] = TMC2240_REG_GCONF;
     tmc2240_read(index, wdata, rdata);
     _tmc2240[index].data.gconf = rdata[4];
@@ -78,11 +78,10 @@ int32_t tmc2240_position_read(tmc2240_index_e index)
     uint8_t wdata[5] = {0};
     uint8_t rdata[5] = {0};
 
-    wdata[0] = 0x21; // XACTUAL register address
+    wdata[0] = TMC2240_REG_XACTUAL; // XACTUAL register address
     tmc2240_read(index, wdata, rdata);
 
     int32_t response = 0;
-
     response |= (rdata[1]);
     response <<= 8;
     response |= (rdata[2]);

User/lib/driver/tmc2240.h

@@ -1,3 +1,12 @@
+/**
+ * @file tmc2240.h
+ * @author xushenghao
+ * @brief TMC2240驱动头文件
+ * @version 0.1
+ * @note
+ * 1. 芯片VM需要供电，否则SPI无法正常通信
+ */
+
 #ifndef __TMC2240_H
 #define __TMC2240_H
 #include "main.h"

User/system/bsp/spis.c

@@ -460,19 +460,16 @@ static uint8_t spi_read_write_byte(spi_t *handle, uint8_t tx_data)
     }
     else
     {
+        if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
+        {
+            return 0xff;
+        }
         LL_SPI_TransmitData8(handle->spi, tx_data);
-        if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
+
-        {
-            return 0xff;
-        }
         if (spi_wait_flag(handle, LL_SPI_SR_RXNE, SPI_TIMEOUT) == FALSE)
         {
             return 0xff;
         }
-        if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
-        {
-            return 0xff;
-        }
         rdata = LL_SPI_ReceiveData8(handle->spi);
         return rdata;
     }

motor.ioc

@@ -42,26 +42,24 @@ Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PD0-OSC_IN
-Mcu.Pin10=PB1
+Mcu.Pin10=PB13
-Mcu.Pin11=PB12
+Mcu.Pin11=PA9
-Mcu.Pin12=PB13
+Mcu.Pin12=PA10
-Mcu.Pin13=PA9
+Mcu.Pin13=PA13
-Mcu.Pin14=PA10
+Mcu.Pin14=PA14
-Mcu.Pin15=PA13
+Mcu.Pin15=VP_SYS_VS_Systick
-Mcu.Pin16=PA14
+Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin18=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin19=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin2=PD1-OSC_OUT
-Mcu.Pin20=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin3=PA1
 Mcu.Pin4=PA3
 Mcu.Pin5=PA4
 Mcu.Pin6=PA5
 Mcu.Pin7=PA6
 Mcu.Pin8=PA7
-Mcu.Pin9=PB0
+Mcu.Pin9=PB12
-Mcu.PinsNb=21
+Mcu.PinsNb=19
 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@@ -93,34 +91,28 @@ PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
 PA3.GPIOParameters=GPIO_PuPd,GPIO_Label
 PA3.GPIO_Label=TMC2240_EN
-PA3.GPIO_PuPd=GPIO_PULLDOWN
+PA3.GPIO_PuPd=GPIO_NOPULL
 PA3.Signal=GPIO_Output
 PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
 PA4.GPIO_Label=TMC2240_CS
-PA4.GPIO_PuPd=GPIO_PULLUP
+PA4.GPIO_PuPd=GPIO_NOPULL
 PA4.Signal=GPIO_Output
-PA5.GPIOParameters=GPIO_Label
+PA5.GPIOParameters=GPIO_Speed,GPIO_Label
 PA5.GPIO_Label=TMC2240_SCK
+PA5.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
 PA6.GPIOParameters=GPIO_Label
 PA6.GPIO_Label=TMC2240_MISO
 PA6.Mode=Full_Duplex_Master
 PA6.Signal=SPI1_MISO
-PA7.GPIOParameters=GPIO_Label
+PA7.GPIOParameters=GPIO_Speed,GPIO_Label
 PA7.GPIO_Label=TMC2240_MOSI
+PA7.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PA7.Mode=Full_Duplex_Master
 PA7.Signal=SPI1_MOSI
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
-PB0.GPIOParameters=GPIO_Label
-PB0.GPIO_Label=TMC2240_STEP
-PB0.Locked=true
-PB0.Signal=GPIO_Output
-PB1.GPIOParameters=GPIO_Label
-PB1.GPIO_Label=TMC2240_DIR
-PB1.Locked=true
-PB1.Signal=GPIO_Output
 PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PB12.GPIO_Label=OLED_SDA
 PB12.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
@@ -205,10 +197,10 @@ RealThread.RT-Thread.3.1.5.RT_USING_DEVICE=1
 RealThread.RT-Thread.3.1.5_SwParameter=RTOSJjkernel\:true;RTOSJjshell\:true;RTOSJjdevice\:true;
 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
 SH.S_TIM2_CH2.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
 SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH
-SPI1.CalculateBaudRate=281.25 KBits/s
+SPI1.CalculateBaudRate=4.5 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER