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tmc4420

This commit is contained in:
许晟昊 2024-12-19 01:50:21 +08:00
parent e96c958fb1
commit 5f50ecf0f1
26 changed files with 8116 additions and 1179 deletions
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28
.mxproject
View File

@ -1,31 +1,33 @@
[PreviousLibFiles] [PreviousLibFiles]
LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xb.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h; LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_spi.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_spi.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xb.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
[PreviousUsedKeilFiles] [PreviousUsedKeilFiles]
SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\dma.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;; SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\dma.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;;
HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc;
CDefines=USE_FULL_LL_DRIVER;HSE_VALUE:8000000;HSE_STARTUP_TIMEOUT:100;LSE_STARTUP_TIMEOUT:5000;LSE_VALUE:32768;HSI_VALUE:8000000;LSI_VALUE:40000;VDD_VALUE:3300;PREFETCH_ENABLE:1;STM32F103xB;USE_FULL_LL_DRIVER;HSE_VALUE:8000000;HSE_STARTUP_TIMEOUT:100;LSE_STARTUP_TIMEOUT:5000;LSE_VALUE:32768;HSI_VALUE:8000000;LSI_VALUE:40000;VDD_VALUE:3300;PREFETCH_ENABLE:1; CDefines=USE_FULL_LL_DRIVER;HSE_VALUE:8000000;HSE_STARTUP_TIMEOUT:100;LSE_STARTUP_TIMEOUT:5000;LSE_VALUE:32768;HSI_VALUE:8000000;LSI_VALUE:40000;VDD_VALUE:3300;PREFETCH_ENABLE:1;STM32F103xB;USE_FULL_LL_DRIVER;HSE_VALUE:8000000;HSE_STARTUP_TIMEOUT:100;LSE_STARTUP_TIMEOUT:5000;LSE_VALUE:32768;HSI_VALUE:8000000;LSI_VALUE:40000;VDD_VALUE:3300;PREFETCH_ENABLE:1;
[PreviousGenFiles] [PreviousGenFiles]
AdvancedFolderStructure=true AdvancedFolderStructure=true
HeaderFileListSize=7 HeaderFileListSize=8
HeaderFiles#0=..\Core\Inc\gpio.h HeaderFiles#0=..\Core\Inc\gpio.h
HeaderFiles#1=..\Core\Inc\dma.h HeaderFiles#1=..\Core\Inc\dma.h
HeaderFiles#2=..\Core\Inc\tim.h HeaderFiles#2=..\Core\Inc\spi.h
HeaderFiles#3=..\Core\Inc\usart.h HeaderFiles#3=..\Core\Inc\tim.h
HeaderFiles#4=..\Core\Inc\stm32f1xx_it.h HeaderFiles#4=..\Core\Inc\usart.h
HeaderFiles#5=..\Core\Inc\stm32_assert.h HeaderFiles#5=..\Core\Inc\stm32f1xx_it.h
HeaderFiles#6=..\Core\Inc\main.h HeaderFiles#6=..\Core\Inc\stm32_assert.h
HeaderFiles#7=..\Core\Inc\main.h
HeaderFolderListSize=1 HeaderFolderListSize=1
HeaderPath#0=..\Core\Inc HeaderPath#0=..\Core\Inc
HeaderFiles=; HeaderFiles=;
SourceFileListSize=6 SourceFileListSize=7
SourceFiles#0=..\Core\Src\gpio.c SourceFiles#0=..\Core\Src\gpio.c
SourceFiles#1=..\Core\Src\dma.c SourceFiles#1=..\Core\Src\dma.c
SourceFiles#2=..\Core\Src\tim.c SourceFiles#2=..\Core\Src\spi.c
SourceFiles#3=..\Core\Src\usart.c SourceFiles#3=..\Core\Src\tim.c
SourceFiles#4=..\Core\Src\stm32f1xx_it.c SourceFiles#4=..\Core\Src\usart.c
SourceFiles#5=..\Core\Src\main.c SourceFiles#5=..\Core\Src\stm32f1xx_it.c
SourceFiles#6=..\Core\Src\main.c
SourceFolderListSize=1 SourceFolderListSize=1
SourcePath#0=..\Core\Src SourcePath#0=..\Core\Src
SourceFiles=; SourceFiles=;

11
Core/Inc/main.h
View File

@ -36,6 +36,7 @@ extern "C" {
#include "stm32f1xx_ll_cortex.h" #include "stm32f1xx_ll_cortex.h"
#include "stm32f1xx_ll_utils.h" #include "stm32f1xx_ll_utils.h"
#include "stm32f1xx_ll_pwr.h" #include "stm32f1xx_ll_pwr.h"
#include "stm32f1xx_ll_spi.h"
#include "stm32f1xx_ll_tim.h" #include "stm32f1xx_ll_tim.h"
#include "stm32f1xx_ll_usart.h" #include "stm32f1xx_ll_usart.h"
#include "stm32f1xx_ll_gpio.h" #include "stm32f1xx_ll_gpio.h"
@ -78,6 +79,16 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
#define LED_BLUE_Pin LL_GPIO_PIN_13 #define LED_BLUE_Pin LL_GPIO_PIN_13
#define LED_BLUE_GPIO_Port GPIOC #define LED_BLUE_GPIO_Port GPIOC
#define TMC2240_EN_Pin LL_GPIO_PIN_3
#define TMC2240_EN_GPIO_Port GPIOA
#define TMC2240_CS_Pin LL_GPIO_PIN_4
#define TMC2240_CS_GPIO_Port GPIOA
#define TMC2240_SCK_Pin LL_GPIO_PIN_5
#define TMC2240_SCK_GPIO_Port GPIOA
#define TMC2240_MISO_Pin LL_GPIO_PIN_6
#define TMC2240_MISO_GPIO_Port GPIOA
#define TMC2240_MOSI_Pin LL_GPIO_PIN_7
#define TMC2240_MOSI_GPIO_Port GPIOA
#define OLED_SDA_Pin LL_GPIO_PIN_12 #define OLED_SDA_Pin LL_GPIO_PIN_12
#define OLED_SDA_GPIO_Port GPIOB #define OLED_SDA_GPIO_Port GPIOB
#define OLDE_SCK_Pin LL_GPIO_PIN_13 #define OLDE_SCK_Pin LL_GPIO_PIN_13

50
Core/Inc/spi.h Normal file
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@ -0,0 +1,50 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file spi.h
* @brief This file contains all the function prototypes for
* the spi.c file
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __SPI_H__
#define __SPI_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_SPI1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __SPI_H__ */

41
Core/Src/gpio.c
View File

@ -33,14 +33,14 @@
/* USER CODE END 1 */ /* USER CODE END 1 */
/** Configure pins as /** Configure pins as
* Analog * Analog
* Input * Input
* Output * Output
* EVENT_OUT * EVENT_OUT
* EXTI * EXTI
* Free pins are configured automatically as Analog (this feature is enabled through * Free pins are configured automatically as Analog (this feature is enabled through
* the Code Generation settings) * the Code Generation settings)
*/ */
void MX_GPIO_Init(void) void MX_GPIO_Init(void)
{ {
@ -56,7 +56,10 @@ void MX_GPIO_Init(void)
LL_GPIO_ResetOutputPin(LED_BLUE_GPIO_Port, LED_BLUE_Pin); LL_GPIO_ResetOutputPin(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
/**/ /**/
LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin | OLDE_SCK_Pin); LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
/**/
LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
/**/ /**/
GPIO_InitStruct.Pin = LED_BLUE_Pin; GPIO_InitStruct.Pin = LED_BLUE_Pin;
@ -66,27 +69,39 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct); LL_GPIO_Init(LED_BLUE_GPIO_Port, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_14 | LL_GPIO_PIN_15; GPIO_InitStruct.Pin = LL_GPIO_PIN_14|LL_GPIO_PIN_15;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOC, &GPIO_InitStruct); LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_2 | 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_11 | LL_GPIO_PIN_12 | LL_GPIO_PIN_15; GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct); LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0 | LL_GPIO_PIN_1 | 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.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;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|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; GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct); LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = OLED_SDA_Pin | OLDE_SCK_Pin; GPIO_InitStruct.Pin = OLED_SDA_Pin|OLDE_SCK_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
GPIO_InitStruct.Pull = LL_GPIO_PULL_UP; GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct); LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
} }
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */

2
Core/Src/main.c
View File

@ -19,6 +19,7 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
#include "dma.h" #include "dma.h"
#include "spi.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
#include "gpio.h" #include "gpio.h"
@ -102,6 +103,7 @@ int main(void)
MX_USART1_UART_Init(); MX_USART1_UART_Init();
MX_TIM1_Init(); MX_TIM1_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_SPI1_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
my_mem_init(SRAMIN); // Initialize internal memory pool 1 my_mem_init(SRAMIN); // Initialize internal memory pool 1
board_init(); board_init();

80
Core/Src/spi.c Normal file
View File

@ -0,0 +1,80 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file spi.c
* @brief This file provides code for the configuration
* of the SPI instances.
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "spi.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* SPI1 init function */
void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
LL_SPI_InitTypeDef SPI_InitStruct = {0};
LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SPI1);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
/**SPI1 GPIO Configuration
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
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.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = TMC2240_MISO_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_FLOATING;
LL_GPIO_Init(TMC2240_MISO_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
SPI_InitStruct.TransferDirection = LL_SPI_FULL_DUPLEX;
SPI_InitStruct.Mode = LL_SPI_MODE_MASTER;
SPI_InitStruct.DataWidth = LL_SPI_DATAWIDTH_8BIT;
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_DIV32;
SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
SPI_InitStruct.CRCPoly = 10;
LL_SPI_Init(SPI1, &SPI_InitStruct);
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/**
******************************************************************************
* @file stm32f1xx_ll_spi.c
* @author MCD Application Team
* @brief SPI LL module driver.
******************************************************************************
* @attention
*
* Copyright (c) 2016 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
#if defined(USE_FULL_LL_DRIVER)
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_ll_spi.h"
#include "stm32f1xx_ll_bus.h"
#include "stm32f1xx_ll_rcc.h"
#ifdef USE_FULL_ASSERT
#include "stm32_assert.h"
#else
#define assert_param(expr) ((void)0U)
#endif /* USE_FULL_ASSERT */
/** @addtogroup STM32F1xx_LL_Driver
* @{
*/
#if defined (SPI1) || defined (SPI2) || defined (SPI3)
/** @addtogroup SPI_LL
* @{
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup SPI_LL_Private_Constants SPI Private Constants
* @{
*/
/* SPI registers Masks */
#define SPI_CR1_CLEAR_MASK (SPI_CR1_CPHA | SPI_CR1_CPOL | SPI_CR1_MSTR | \
SPI_CR1_BR | SPI_CR1_LSBFIRST | SPI_CR1_SSI | \
SPI_CR1_SSM | SPI_CR1_RXONLY | SPI_CR1_DFF | \
SPI_CR1_CRCNEXT | SPI_CR1_CRCEN | SPI_CR1_BIDIOE | \
SPI_CR1_BIDIMODE)
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup SPI_LL_Private_Macros SPI Private Macros
* @{
*/
#define IS_LL_SPI_TRANSFER_DIRECTION(__VALUE__) (((__VALUE__) == LL_SPI_FULL_DUPLEX) \
|| ((__VALUE__) == LL_SPI_SIMPLEX_RX) \
|| ((__VALUE__) == LL_SPI_HALF_DUPLEX_RX) \
|| ((__VALUE__) == LL_SPI_HALF_DUPLEX_TX))
#define IS_LL_SPI_MODE(__VALUE__) (((__VALUE__) == LL_SPI_MODE_MASTER) \
|| ((__VALUE__) == LL_SPI_MODE_SLAVE))
#define IS_LL_SPI_DATAWIDTH(__VALUE__) (((__VALUE__) == LL_SPI_DATAWIDTH_8BIT) \
|| ((__VALUE__) == LL_SPI_DATAWIDTH_16BIT))
#define IS_LL_SPI_POLARITY(__VALUE__) (((__VALUE__) == LL_SPI_POLARITY_LOW) \
|| ((__VALUE__) == LL_SPI_POLARITY_HIGH))
#define IS_LL_SPI_PHASE(__VALUE__) (((__VALUE__) == LL_SPI_PHASE_1EDGE) \
|| ((__VALUE__) == LL_SPI_PHASE_2EDGE))
#define IS_LL_SPI_NSS(__VALUE__) (((__VALUE__) == LL_SPI_NSS_SOFT) \
|| ((__VALUE__) == LL_SPI_NSS_HARD_INPUT) \
|| ((__VALUE__) == LL_SPI_NSS_HARD_OUTPUT))
#define IS_LL_SPI_BAUDRATE(__VALUE__) (((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV2) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV4) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV8) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV16) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV32) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV64) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV128) \
|| ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV256))
#define IS_LL_SPI_BITORDER(__VALUE__) (((__VALUE__) == LL_SPI_LSB_FIRST) \
|| ((__VALUE__) == LL_SPI_MSB_FIRST))
#define IS_LL_SPI_CRCCALCULATION(__VALUE__) (((__VALUE__) == LL_SPI_CRCCALCULATION_ENABLE) \
|| ((__VALUE__) == LL_SPI_CRCCALCULATION_DISABLE))
#define IS_LL_SPI_CRC_POLYNOMIAL(__VALUE__) ((__VALUE__) >= 0x1U)
/**
* @}
*/
/* Private function prototypes -----------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup SPI_LL_Exported_Functions
* @{
*/
/** @addtogroup SPI_LL_EF_Init
* @{
*/
/**
* @brief De-initialize the SPI registers to their default reset values.
* @param SPIx SPI Instance
* @retval An ErrorStatus enumeration value:
* - SUCCESS: SPI registers are de-initialized
* - ERROR: SPI registers are not de-initialized
*/
ErrorStatus LL_SPI_DeInit(SPI_TypeDef *SPIx)
{
ErrorStatus status = ERROR;
/* Check the parameters */
assert_param(IS_SPI_ALL_INSTANCE(SPIx));
#if defined(SPI1)
if (SPIx == SPI1)
{
/* Force reset of SPI clock */
LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_SPI1);
/* Release reset of SPI clock */
LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_SPI1);
status = SUCCESS;
}
#endif /* SPI1 */
#if defined(SPI2)
if (SPIx == SPI2)
{
/* Force reset of SPI clock */
LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_SPI2);
/* Release reset of SPI clock */
LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_SPI2);
status = SUCCESS;
}
#endif /* SPI2 */
#if defined(SPI3)
if (SPIx == SPI3)
{
/* Force reset of SPI clock */
LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_SPI3);
/* Release reset of SPI clock */
LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_SPI3);
status = SUCCESS;
}
#endif /* SPI3 */
return status;
}
/**
* @brief Initialize the SPI registers according to the specified parameters in SPI_InitStruct.
* @note As some bits in SPI configuration registers can only be written when the SPI is disabled (SPI_CR1_SPE bit =0),
* SPI peripheral should be in disabled state prior calling this function. Otherwise, ERROR result will be returned.
* @param SPIx SPI Instance
* @param SPI_InitStruct pointer to a @ref LL_SPI_InitTypeDef structure
* @retval An ErrorStatus enumeration value. (Return always SUCCESS)
*/
ErrorStatus LL_SPI_Init(SPI_TypeDef *SPIx, LL_SPI_InitTypeDef *SPI_InitStruct)
{
ErrorStatus status = ERROR;
/* Check the SPI Instance SPIx*/
assert_param(IS_SPI_ALL_INSTANCE(SPIx));
/* Check the SPI parameters from SPI_InitStruct*/
assert_param(IS_LL_SPI_TRANSFER_DIRECTION(SPI_InitStruct->TransferDirection));
assert_param(IS_LL_SPI_MODE(SPI_InitStruct->Mode));
assert_param(IS_LL_SPI_DATAWIDTH(SPI_InitStruct->DataWidth));
assert_param(IS_LL_SPI_POLARITY(SPI_InitStruct->ClockPolarity));
assert_param(IS_LL_SPI_PHASE(SPI_InitStruct->ClockPhase));
assert_param(IS_LL_SPI_NSS(SPI_InitStruct->NSS));
assert_param(IS_LL_SPI_BAUDRATE(SPI_InitStruct->BaudRate));
assert_param(IS_LL_SPI_BITORDER(SPI_InitStruct->BitOrder));
assert_param(IS_LL_SPI_CRCCALCULATION(SPI_InitStruct->CRCCalculation));
if (LL_SPI_IsEnabled(SPIx) == 0x00000000U)
{
/*---------------------------- SPIx CR1 Configuration ------------------------
* Configure SPIx CR1 with parameters:
* - TransferDirection: SPI_CR1_BIDIMODE, SPI_CR1_BIDIOE and SPI_CR1_RXONLY bits
* - Master/Slave Mode: SPI_CR1_MSTR bit
* - DataWidth: SPI_CR1_DFF bit
* - ClockPolarity: SPI_CR1_CPOL bit
* - ClockPhase: SPI_CR1_CPHA bit
* - NSS management: SPI_CR1_SSM bit
* - BaudRate prescaler: SPI_CR1_BR[2:0] bits
* - BitOrder: SPI_CR1_LSBFIRST bit
* - CRCCalculation: SPI_CR1_CRCEN bit
*/
MODIFY_REG(SPIx->CR1,
SPI_CR1_CLEAR_MASK,
SPI_InitStruct->TransferDirection | SPI_InitStruct->Mode | SPI_InitStruct->DataWidth |
SPI_InitStruct->ClockPolarity | SPI_InitStruct->ClockPhase |
SPI_InitStruct->NSS | SPI_InitStruct->BaudRate |
SPI_InitStruct->BitOrder | SPI_InitStruct->CRCCalculation);
/*---------------------------- SPIx CR2 Configuration ------------------------
* Configure SPIx CR2 with parameters:
* - NSS management: SSOE bit
*/
MODIFY_REG(SPIx->CR2, SPI_CR2_SSOE, (SPI_InitStruct->NSS >> 16U));
/*---------------------------- SPIx CRCPR Configuration ----------------------
* Configure SPIx CRCPR with parameters:
* - CRCPoly: CRCPOLY[15:0] bits
*/
if (SPI_InitStruct->CRCCalculation == LL_SPI_CRCCALCULATION_ENABLE)
{
assert_param(IS_LL_SPI_CRC_POLYNOMIAL(SPI_InitStruct->CRCPoly));
LL_SPI_SetCRCPolynomial(SPIx, SPI_InitStruct->CRCPoly);
}
status = SUCCESS;
}
#if defined (SPI_I2S_SUPPORT)
/* Activate the SPI mode (Reset I2SMOD bit in I2SCFGR register) */
CLEAR_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SMOD);
#endif /* SPI_I2S_SUPPORT */
return status;
}
/**
* @brief Set each @ref LL_SPI_InitTypeDef field to default value.
* @param SPI_InitStruct pointer to a @ref LL_SPI_InitTypeDef structure
* whose fields will be set to default values.
* @retval None
*/
void LL_SPI_StructInit(LL_SPI_InitTypeDef *SPI_InitStruct)
{
/* Set SPI_InitStruct fields to default values */
SPI_InitStruct->TransferDirection = LL_SPI_FULL_DUPLEX;
SPI_InitStruct->Mode = LL_SPI_MODE_SLAVE;
SPI_InitStruct->DataWidth = LL_SPI_DATAWIDTH_8BIT;
SPI_InitStruct->ClockPolarity = LL_SPI_POLARITY_LOW;
SPI_InitStruct->ClockPhase = LL_SPI_PHASE_1EDGE;
SPI_InitStruct->NSS = LL_SPI_NSS_HARD_INPUT;
SPI_InitStruct->BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV2;
SPI_InitStruct->BitOrder = LL_SPI_MSB_FIRST;
SPI_InitStruct->CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
SPI_InitStruct->CRCPoly = 7U;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#if defined(SPI_I2S_SUPPORT)
/** @addtogroup I2S_LL
* @{
*/
/* Private types -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private constants ---------------------------------------------------------*/
/** @defgroup I2S_LL_Private_Constants I2S Private Constants
* @{
*/
/* I2S registers Masks */
#define I2S_I2SCFGR_CLEAR_MASK (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN | \
SPI_I2SCFGR_CKPOL | SPI_I2SCFGR_I2SSTD | \
SPI_I2SCFGR_I2SCFG | SPI_I2SCFGR_I2SMOD )
#define I2S_I2SPR_CLEAR_MASK 0x0002U
/**
* @}
*/
/* Private macros ------------------------------------------------------------*/
/** @defgroup I2S_LL_Private_Macros I2S Private Macros
* @{
*/
#define IS_LL_I2S_DATAFORMAT(__VALUE__) (((__VALUE__) == LL_I2S_DATAFORMAT_16B) \
|| ((__VALUE__) == LL_I2S_DATAFORMAT_16B_EXTENDED) \
|| ((__VALUE__) == LL_I2S_DATAFORMAT_24B) \
|| ((__VALUE__) == LL_I2S_DATAFORMAT_32B))
#define IS_LL_I2S_CPOL(__VALUE__) (((__VALUE__) == LL_I2S_POLARITY_LOW) \
|| ((__VALUE__) == LL_I2S_POLARITY_HIGH))
#define IS_LL_I2S_STANDARD(__VALUE__) (((__VALUE__) == LL_I2S_STANDARD_PHILIPS) \
|| ((__VALUE__) == LL_I2S_STANDARD_MSB) \
|| ((__VALUE__) == LL_I2S_STANDARD_LSB) \
|| ((__VALUE__) == LL_I2S_STANDARD_PCM_SHORT) \
|| ((__VALUE__) == LL_I2S_STANDARD_PCM_LONG))
#define IS_LL_I2S_MODE(__VALUE__) (((__VALUE__) == LL_I2S_MODE_SLAVE_TX) \
|| ((__VALUE__) == LL_I2S_MODE_SLAVE_RX) \
|| ((__VALUE__) == LL_I2S_MODE_MASTER_TX) \
|| ((__VALUE__) == LL_I2S_MODE_MASTER_RX))
#define IS_LL_I2S_MCLK_OUTPUT(__VALUE__) (((__VALUE__) == LL_I2S_MCLK_OUTPUT_ENABLE) \
|| ((__VALUE__) == LL_I2S_MCLK_OUTPUT_DISABLE))
#define IS_LL_I2S_AUDIO_FREQ(__VALUE__) ((((__VALUE__) >= LL_I2S_AUDIOFREQ_8K) \
&& ((__VALUE__) <= LL_I2S_AUDIOFREQ_192K)) \
|| ((__VALUE__) == LL_I2S_AUDIOFREQ_DEFAULT))
#define IS_LL_I2S_PRESCALER_LINEAR(__VALUE__) ((__VALUE__) >= 0x2U)
#define IS_LL_I2S_PRESCALER_PARITY(__VALUE__) (((__VALUE__) == LL_I2S_PRESCALER_PARITY_EVEN) \
|| ((__VALUE__) == LL_I2S_PRESCALER_PARITY_ODD))
/**
* @}
*/
/* Private function prototypes -----------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/** @addtogroup I2S_LL_Exported_Functions
* @{
*/
/** @addtogroup I2S_LL_EF_Init
* @{
*/
/**
* @brief De-initialize the SPI/I2S registers to their default reset values.
* @param SPIx SPI Instance
* @retval An ErrorStatus enumeration value:
* - SUCCESS: SPI registers are de-initialized
* - ERROR: SPI registers are not de-initialized
*/
ErrorStatus LL_I2S_DeInit(SPI_TypeDef *SPIx)
{
return LL_SPI_DeInit(SPIx);
}
/**
* @brief Initializes the SPI/I2S registers according to the specified parameters in I2S_InitStruct.
* @note As some bits in SPI configuration registers can only be written when the SPI is disabled (SPI_CR1_SPE bit =0),
* SPI peripheral should be in disabled state prior calling this function. Otherwise, ERROR result will be returned.
* @param SPIx SPI Instance
* @param I2S_InitStruct pointer to a @ref LL_I2S_InitTypeDef structure
* @retval An ErrorStatus enumeration value:
* - SUCCESS: SPI registers are Initialized
* - ERROR: SPI registers are not Initialized
*/
ErrorStatus LL_I2S_Init(SPI_TypeDef *SPIx, LL_I2S_InitTypeDef *I2S_InitStruct)
{
uint32_t i2sdiv = 2U;
uint32_t i2sodd = 0U;
uint32_t packetlength = 1U;
uint32_t tmp;
LL_RCC_ClocksTypeDef rcc_clocks;
uint32_t sourceclock;
ErrorStatus status = ERROR;
/* Check the I2S parameters */
assert_param(IS_I2S_ALL_INSTANCE(SPIx));
assert_param(IS_LL_I2S_MODE(I2S_InitStruct->Mode));
assert_param(IS_LL_I2S_STANDARD(I2S_InitStruct->Standard));
assert_param(IS_LL_I2S_DATAFORMAT(I2S_InitStruct->DataFormat));
assert_param(IS_LL_I2S_MCLK_OUTPUT(I2S_InitStruct->MCLKOutput));
assert_param(IS_LL_I2S_AUDIO_FREQ(I2S_InitStruct->AudioFreq));
assert_param(IS_LL_I2S_CPOL(I2S_InitStruct->ClockPolarity));
if (LL_I2S_IsEnabled(SPIx) == 0x00000000U)
{
/*---------------------------- SPIx I2SCFGR Configuration --------------------
* Configure SPIx I2SCFGR with parameters:
* - Mode: SPI_I2SCFGR_I2SCFG[1:0] bit
* - Standard: SPI_I2SCFGR_I2SSTD[1:0] and SPI_I2SCFGR_PCMSYNC bits
* - DataFormat: SPI_I2SCFGR_CHLEN and SPI_I2SCFGR_DATLEN bits
* - ClockPolarity: SPI_I2SCFGR_CKPOL bit
*/
/* Write to SPIx I2SCFGR */
MODIFY_REG(SPIx->I2SCFGR,
I2S_I2SCFGR_CLEAR_MASK,
I2S_InitStruct->Mode | I2S_InitStruct->Standard |
I2S_InitStruct->DataFormat | I2S_InitStruct->ClockPolarity |
SPI_I2SCFGR_I2SMOD);
/*---------------------------- SPIx I2SPR Configuration ----------------------
* Configure SPIx I2SPR with parameters:
* - MCLKOutput: SPI_I2SPR_MCKOE bit
* - AudioFreq: SPI_I2SPR_I2SDIV[7:0] and SPI_I2SPR_ODD bits
*/
/* If the requested audio frequency is not the default, compute the prescaler (i2sodd, i2sdiv)
* else, default values are used: i2sodd = 0U, i2sdiv = 2U.
*/
if (I2S_InitStruct->AudioFreq != LL_I2S_AUDIOFREQ_DEFAULT)
{
/* Check the frame length (For the Prescaler computing)
* Default value: LL_I2S_DATAFORMAT_16B (packetlength = 1U).
*/
if (I2S_InitStruct->DataFormat != LL_I2S_DATAFORMAT_16B)
{
/* Packet length is 32 bits */
packetlength = 2U;
}
/* I2S Clock source is System clock: Get System Clock frequency */
LL_RCC_GetSystemClocksFreq(&rcc_clocks);
/* Get the source clock value: based on System Clock value */
sourceclock = rcc_clocks.SYSCLK_Frequency;
/* Compute the Real divider depending on the MCLK output state with a floating point */
if (I2S_InitStruct->MCLKOutput == LL_I2S_MCLK_OUTPUT_ENABLE)
{
/* MCLK output is enabled */
tmp = (((((sourceclock / 256U) * 10U) / I2S_InitStruct->AudioFreq)) + 5U);
}
else
{
/* MCLK output is disabled */
tmp = (((((sourceclock / (32U * packetlength)) * 10U) / I2S_InitStruct->AudioFreq)) + 5U);
}
/* Remove the floating point */
tmp = tmp / 10U;
/* Check the parity of the divider */
i2sodd = (tmp & (uint16_t)0x0001U);
/* Compute the i2sdiv prescaler */
i2sdiv = ((tmp - i2sodd) / 2U);
/* Get the Mask for the Odd bit (SPI_I2SPR[8]) register */
i2sodd = (i2sodd << 8U);
}
/* Test if the divider is 1 or 0 or greater than 0xFF */
if ((i2sdiv < 2U) || (i2sdiv > 0xFFU))
{
/* Set the default values */
i2sdiv = 2U;
i2sodd = 0U;
}
/* Write to SPIx I2SPR register the computed value */
WRITE_REG(SPIx->I2SPR, i2sdiv | i2sodd | I2S_InitStruct->MCLKOutput);
status = SUCCESS;
}
return status;
}
/**
* @brief Set each @ref LL_I2S_InitTypeDef field to default value.
* @param I2S_InitStruct pointer to a @ref LL_I2S_InitTypeDef structure
* whose fields will be set to default values.
* @retval None
*/
void LL_I2S_StructInit(LL_I2S_InitTypeDef *I2S_InitStruct)
{
/*--------------- Reset I2S init structure parameters values -----------------*/
I2S_InitStruct->Mode = LL_I2S_MODE_SLAVE_TX;
I2S_InitStruct->Standard = LL_I2S_STANDARD_PHILIPS;
I2S_InitStruct->DataFormat = LL_I2S_DATAFORMAT_16B;
I2S_InitStruct->MCLKOutput = LL_I2S_MCLK_OUTPUT_DISABLE;
I2S_InitStruct->AudioFreq = LL_I2S_AUDIOFREQ_DEFAULT;
I2S_InitStruct->ClockPolarity = LL_I2S_POLARITY_LOW;
}
/**
* @brief Set linear and parity prescaler.
* @note To calculate value of PrescalerLinear(I2SDIV[7:0] bits) and PrescalerParity(ODD bit)\n
* Check Audio frequency table and formulas inside Reference Manual (SPI/I2S).
* @param SPIx SPI Instance
* @param PrescalerLinear value Min_Data=0x02 and Max_Data=0xFF.
* @param PrescalerParity This parameter can be one of the following values:
* @arg @ref LL_I2S_PRESCALER_PARITY_EVEN
* @arg @ref LL_I2S_PRESCALER_PARITY_ODD
* @retval None
*/
void LL_I2S_ConfigPrescaler(SPI_TypeDef *SPIx, uint32_t PrescalerLinear, uint32_t PrescalerParity)
{
/* Check the I2S parameters */
assert_param(IS_I2S_ALL_INSTANCE(SPIx));
assert_param(IS_LL_I2S_PRESCALER_LINEAR(PrescalerLinear));
assert_param(IS_LL_I2S_PRESCALER_PARITY(PrescalerParity));
/* Write to SPIx I2SPR */
MODIFY_REG(SPIx->I2SPR, SPI_I2SPR_I2SDIV | SPI_I2SPR_ODD, PrescalerLinear | (PrescalerParity << 8U));
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#endif /* SPI_I2S_SUPPORT */
#endif /* defined (SPI1) || defined (SPI2) || defined (SPI3) */
/**
* @}
*/
#endif /* USE_FULL_LL_DRIVER */

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@ -190,7 +190,30 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>x,0x0A</ItemText> <ItemText>x,0x0A</ItemText>
</Ww> </Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>_tmc2240</ItemText>
</Ww>
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<count>9</count>
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<ItemText>wdata</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>rdata</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>0x20003440</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -305,6 +328,18 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Core/Src/spi.c</PathWithFileName>
<FilenameWithoutPath>spi.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
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<FileType>1</FileType>
<tvExp>0</tvExp>
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<bDave2>0</bDave2>
<PathWithFileName>../Core/Src/tim.c</PathWithFileName> <PathWithFileName>../Core/Src/tim.c</PathWithFileName>
<FilenameWithoutPath>tim.c</FilenameWithoutPath> <FilenameWithoutPath>tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -312,7 +347,7 @@
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350
MDK-ARM/motor.uvprojx
View File

@ -459,6 +459,62 @@
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<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32f1xx_ll_exti.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_exti.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32f1xx_ll_tim.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_tim.c</FilePath>
<FileOption> <FileOption>
<CommonProperty> <CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler> <UseCPPCompiler>2</UseCPPCompiler>
@ -1187,6 +1136,174 @@
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
</File> </File>
<File>
<FileName>stm32f1xx_ll_exti.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_exti.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32f1xx_ll_pwr.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_pwr.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File>
<FileName>stm32f1xx_ll_tim.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_tim.c</FilePath>
<FileOption>
<CommonProperty>
<UseCPPCompiler>2</UseCPPCompiler>
<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
<ModuleSelection>0</ModuleSelection>
<IncludeInBuild>1</IncludeInBuild>
<AlwaysBuild>2</AlwaysBuild>
<GenerateAssemblyFile>2</GenerateAssemblyFile>
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
<Cads>
<interw>2</interw>
<Optim>0</Optim>
<oTime>2</oTime>
<SplitLS>2</SplitLS>
<OneElfS>2</OneElfS>
<Strict>2</Strict>
<EnumInt>2</EnumInt>
<PlainCh>2</PlainCh>
<Ropi>2</Ropi>
<Rwpi>2</Rwpi>
<wLevel>0</wLevel>
<uThumb>2</uThumb>
<uSurpInc>2</uSurpInc>
<uC99>2</uC99>
<uGnu>2</uGnu>
<useXO>2</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
<vShortEn>2</vShortEn>
<vShortWch>2</vShortWch>
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
<File> <File>
<FileName>stm32f1xx_ll_usart.c</FileName> <FileName>stm32f1xx_ll_usart.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@ -1258,6 +1375,11 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\User\lib\driver\ssd1306_oled.c</FilePath> <FilePath>..\User\lib\driver\ssd1306_oled.c</FilePath>
</File> </File>
<File>
<FileName>tmc2240.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\lib\driver\tmc2240.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

2180
MDK-ARM/motor/motor.hex
View File

File diff suppressed because it is too large Load Diff

BIN
Public/STM32_PID_电机.pdf
View File

Binary file not shown.

BIN
Public/TMC2240_datasheet_rev1_20231.pdf Normal file
View File

Binary file not shown.

8
User/application/app.c
View File

@ -13,14 +13,8 @@ static uint8_t business_inspection(struct flow *fl)
FL_HEAD(fl); FL_HEAD(fl);
for (;;) for (;;)
{ {
tmc2240_position_read(TMC2240_1);
FL_LOCK_DELAY(fl, FL_CLOCK_SEC); FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
// ssd1306_clear_buffer();
// ssd1306_f8x16_string(0, 0, " PERCENT:");
// ssd1306_f8x16_number(88, 0, 100, 0);
// ssd1306_f8x16_string(0, 2, " CUR:");
// ssd1306_f8x16_number(48, 2, 0, 0);
// ssd1306_update_screen();
} }
FL_TAIL(fl); FL_TAIL(fl);
} }

2
User/application/app.h
View File

@ -11,8 +11,6 @@
typedef struct typedef struct
{ {
float32 pwm_percent;
uint32_t pwm_feq;
} app_t; } app_t;
extern app_t app; extern app_t app;

15
User/board/board.c
View File

@ -1,4 +1,5 @@
#include "board.h" #include "board.h"
uart_t *uart = NULL; uart_t *uart = NULL;
static void uart_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len) static void uart_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len)
@ -39,4 +40,18 @@ void board_init(void)
{ {
uart_init(); uart_init();
ssd1306_init(); ssd1306_init();
{
GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
spi_gpio_group_t gpios;
gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin);
gpios.sck = gpio_create(TMC2240_SCK_GPIO_Port, TMC2240_SCK_Pin);
gpios.miso = gpio_create(TMC2240_MISO_GPIO_Port, TMC2240_MISO_Pin);
gpios.rst = gpio_create(NULL, 0);
gpios.rdy = gpio_create(NULL, 0);
tmc2240_init(TMC2240_1, &gpios);
tmc2240_get(TMC2240_1)->spi->interface.hardware_enable(tmc2240_get(TMC2240_1)->spi, SPI1);
tmc2240_config(TMC2240_1);
}
} }

7
User/board/board.h
View File

@ -2,7 +2,7 @@
#define __BOARD_H__ #define __BOARD_H__
#include "lib.h" #include "lib.h"
#include "ssd1306_oled.h" #include "ssd1306_oled.h"
#include "tmc2240.h"
#define UART_RXSIZE (240u) // 接收240个字节 #define UART_RXSIZE (240u) // 接收240个字节
#define UART_TXSIZE (240u) // 发送240个字节 #define UART_TXSIZE (240u) // 发送240个字节
@ -11,6 +11,11 @@
#define PWM_CHANNEL LL_TIM_CHANNEL_CH2 #define PWM_CHANNEL LL_TIM_CHANNEL_CH2
#define WORK_TIM TIM3 #define WORK_TIM TIM3
typedef struct
{
/* data */
} motor_t;
extern uart_t *uart; extern uart_t *uart;
void board_init(void); void board_init(void);

96
User/lib/driver/tmc2240.c Normal file
View File

@ -0,0 +1,96 @@
#include "tmc2240.h"
tmc2240_t _tmc2240[TMC2240_MAX];
static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
{
tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
}
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
}
static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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
{
rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
}
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
__NOP();
__NOP();
__NOP();
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++) // 循环读取数据
{
rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
}
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
}
void tmc2240_config(tmc2240_index_e index)
{
uint8_t wdata[5];
wdata[0] = 0x80 | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
wdata[1] = 0x00;
wdata[2] = 0x00;
wdata[3] = 0x00;
wdata[4] = 0x01;
tmc2240_write(index, wdata);
// 读取 GCONF 寄存器
uint8_t rdata[5] = {0};
wdata[0] = TMC2240_REG_GCONF;
tmc2240_read(index, wdata, rdata);
_tmc2240[index].data.gconf = rdata[4];
}
void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
}
tmc2240_t *tmc2240_get(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
return &_tmc2240[index];
}
int32_t tmc2240_position_read(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
uint8_t wdata[5] = {0};
uint8_t rdata[5] = {0};
wdata[0] = 0x21; // XACTUAL register address
tmc2240_read(index, wdata, rdata);
int32_t response = 0;
response |= (rdata[1]);
response <<= 8;
response |= (rdata[2]);
response <<= 8;
response |= (rdata[3]);
response <<= 8;
response |= (rdata[4]);
tmc->data.position = response;
return response;
}

28
User/lib/driver/tmc2240.h Normal file
View File

@ -0,0 +1,28 @@
#ifndef __TMC2240_H
#define __TMC2240_H
#include "main.h"
#include "spis.h"
#define TMC2240_REG_GCONF 0x00
typedef enum
{
TMC2240_1,
TMC2240_MAX,
} tmc2240_index_e;
typedef struct
{
spi_t *spi;
struct
{
int32_t gconf;
int32_t position;
} data;
} tmc2240_t;
void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios);
void tmc2240_config(tmc2240_index_e index);
tmc2240_t *tmc2240_get(tmc2240_index_e index);
int32_t tmc2240_position_read(tmc2240_index_e index);
#endif // __TMC2240_H

5
User/system/bsp/bsp.h
View File

@ -19,10 +19,9 @@
#include "tims.h" #include "tims.h"
#include "pwms.h" #include "pwms.h"
#include "uarts.h" #include "uarts.h"
// #include "eeprom.h" #include "spis.h"
// #include "spis.h"
#include "i2cs.h" #include "i2cs.h"
// #include "eeprom.h"
///< 定义回调函数类型 ///< 定义回调函数类型
typedef void (*pvd_irq_handle_cb)(void); typedef void (*pvd_irq_handle_cb)(void);

1
User/system/bsp/gpios.h
View File

@ -14,6 +14,7 @@
#define __GPIOS_H__ #define __GPIOS_H__
#include "lib.h" #include "lib.h"
#include "main.h" #include "main.h"
/** /**
* @brief Set the GPIO pin to high. * @brief Set the GPIO pin to high.
* *

2
User/system/bsp/i2cs.h
View File

@ -20,7 +20,7 @@
* @file i2cs.h * @file i2cs.h
* @brief Header file containing the definition of the I2C slave (I2CS) structure and related functions. * @brief Header file containing the definition of the I2C slave (I2CS) structure and related functions.
*/ */
typedef struct GPIO gpio_t;
typedef struct I2CS i2c_t; typedef struct I2CS i2c_t;
typedef void i2cs_dma_callback(i2c_t *handle); typedef void i2cs_dma_callback(i2c_t *handle);

6
User/system/bsp/spis.c
View File

@ -673,7 +673,7 @@ static BOOL spi_read(spi_t *handle, uint32_t read_addr, uint8_t *data, uint16_t
return FALSE; return FALSE;
} }
} }
else else if (handle->cfg.address_bytes == 3)
{ {
cnt = handle->interface.u.normal.spi_send(handle, read_addr >> 16); cnt = handle->interface.u.normal.spi_send(handle, read_addr >> 16);
if (cnt == 0) if (cnt == 0)
@ -691,6 +691,10 @@ static BOOL spi_read(spi_t *handle, uint32_t read_addr, uint8_t *data, uint16_t
return FALSE; return FALSE;
} }
} }
else
{
DBG_ASSERT(FALSE __DBG_LINE);
}
for (uint16_t i = 0; i < length; i++) // 循环读取数据 for (uint16_t i = 0; i < length; i++) // 循环读取数据
{ {
data[i] = handle->interface.u.normal.spi_send(handle, handle->cfg.dummy_byte); // 发送空字节，读取实际数据 data[i] = handle->interface.u.normal.spi_send(handle, handle->cfg.dummy_byte); // 发送空字节，读取实际数据

1
User/system/bsp/spis.h
View File

@ -19,6 +19,7 @@
#define SPI_ENABLE(SPIX) LL_SPI_Enable(SPIX) #define SPI_ENABLE(SPIX) LL_SPI_Enable(SPIX)
typedef struct GPIO gpio_t;
typedef struct SPIS spi_t; typedef struct SPIS spi_t;
typedef void spis_dma_callback(spi_t *handle); typedef void spis_dma_callback(spi_t *handle);

68
motor.ioc
View File

@ -31,29 +31,35 @@ Mcu.Family=STM32F1
Mcu.IP0=DMA Mcu.IP0=DMA
Mcu.IP1=NVIC Mcu.IP1=NVIC
Mcu.IP2=RCC Mcu.IP2=RCC
Mcu.IP3=SYS Mcu.IP3=SPI1
Mcu.IP4=TIM1 Mcu.IP4=SYS
Mcu.IP5=TIM2 Mcu.IP5=TIM1
Mcu.IP6=TIM3 Mcu.IP6=TIM2
Mcu.IP7=USART1 Mcu.IP7=TIM3
Mcu.IPNb=8 Mcu.IP8=USART1
Mcu.IPNb=9
Mcu.Name=STM32F103C(8-B)Tx Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48 Mcu.Package=LQFP48
Mcu.Pin0=PC13-TAMPER-RTC Mcu.Pin0=PC13-TAMPER-RTC
Mcu.Pin1=PD0-OSC_IN Mcu.Pin1=PD0-OSC_IN
Mcu.Pin10=VP_SYS_VS_Systick Mcu.Pin10=PB13
Mcu.Pin11=VP_TIM1_VS_ClockSourceINT Mcu.Pin11=PA9
Mcu.Pin12=VP_TIM2_VS_ClockSourceINT Mcu.Pin12=PA10
Mcu.Pin13=VP_TIM3_VS_ClockSourceINT Mcu.Pin13=PA13
Mcu.Pin14=PA14
Mcu.Pin15=VP_SYS_VS_Systick
Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
Mcu.Pin2=PD1-OSC_OUT Mcu.Pin2=PD1-OSC_OUT
Mcu.Pin3=PA1 Mcu.Pin3=PA1
Mcu.Pin4=PB12 Mcu.Pin4=PA3
Mcu.Pin5=PB13 Mcu.Pin5=PA4
Mcu.Pin6=PA9 Mcu.Pin6=PA5
Mcu.Pin7=PA10 Mcu.Pin7=PA6
Mcu.Pin8=PA13 Mcu.Pin8=PA7
Mcu.Pin9=PA14 Mcu.Pin9=PB12
Mcu.PinsNb=14 Mcu.PinsNb=19
Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
Mcu.ThirdPartyNb=1 Mcu.ThirdPartyNb=1
Mcu.UserConstants= Mcu.UserConstants=
@ -83,6 +89,24 @@ PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK PA14.Signal=SYS_JTCK-SWCLK
PA3.GPIOParameters=GPIO_Label
PA3.GPIO_Label=TMC2240_EN
PA3.Signal=GPIO_Output
PA4.GPIOParameters=GPIO_Label
PA4.GPIO_Label=TMC2240_CS
PA4.Signal=GPIO_Output
PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=TMC2240_SCK
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.GPIO_Label=TMC2240_MOSI
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA9.Mode=Asynchronous PA9.Mode=Asynchronous
PA9.Signal=USART1_TX PA9.Signal=USART1_TX
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
@ -137,7 +161,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-LL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_DMA_Init-DMA-false-LL-true,4-MX_TIM2_Init-TIM2-false-LL-true,5-MX_USART1_UART_Init-USART1-false-LL-true,6-MX_TIM1_Init-TIM1-false-LL-true,7-MX_TIM3_Init-TIM3-false-LL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-LL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_DMA_Init-DMA-false-LL-true,4-MX_TIM2_Init-TIM2-false-LL-true,5-MX_USART1_UART_Init-USART1-false-LL-true,6-MX_TIM1_Init-TIM1-false-LL-true,7-MX_TIM3_Init-TIM3-false-LL-true,8-MX_SPI1_Init-SPI1-false-LL-true
RCC.ADCFreqValue=36000000 RCC.ADCFreqValue=36000000
RCC.AHBFreq_Value=72000000 RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@ -169,6 +193,14 @@ RealThread.RT-Thread.3.1.5.RT_USING_DEVICE=1
RealThread.RT-Thread.3.1.5_SwParameter=RTOSJjkernel\:true;RTOSJjshell\:true;RTOSJjdevice\:true; 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_CH2.0=TIM2_CH2,PWM Generation2 CH2
SH.S_TIM2_CH2.ConfNb=1 SH.S_TIM2_CH2.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=2.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
TIM1.IPParameters=Prescaler,Period TIM1.IPParameters=Prescaler,Period
TIM1.Period=99 TIM1.Period=99
TIM1.Prescaler=7199 TIM1.Prescaler=7199