重写驱动

Core/Inc/main.h

@@ -89,6 +89,10 @@ 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/Inc/tim.h

@@ -37,7 +37,6 @@ extern "C" {
 /* USER CODE END Private defines */
 
 void MX_TIM1_Init(void);
-void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 
 /* USER CODE BEGIN Prototypes */

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, OLED_SDA_Pin|OLDE_SCK_Pin);
+  LL_GPIO_ResetOutputPin(GPIOB, TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
 
   /**/
   GPIO_InitStruct.Pin = LED_BLUE_Pin;
@@ -74,8 +74,8 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_8
-                          |LL_GPIO_PIN_12|LL_GPIO_PIN_15;
+                          |LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
@@ -87,10 +87,16 @@ void MX_GPIO_Init(void)
   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
+  GPIO_InitStruct.Pin = TMC2240_DIR_Pin;
-                          |LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
-                          |LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
-                          |LL_GPIO_PIN_8|LL_GPIO_PIN_9;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &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/main.c

@@ -99,7 +99,6 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
-  MX_TIM2_Init();
   MX_USART1_UART_Init();
   MX_TIM1_Init();
   MX_TIM3_Init();

Core/Src/stm32f1xx_it.c

@@ -257,10 +257,6 @@ void TIM3_IRQHandler(void)
 
   /* USER CODE END TIM3_IRQn 0 */
   /* USER CODE BEGIN TIM3_IRQn 1 */
-  if (IS_TIM_IT_FLAG(WORK_TIM))
-  {
-    TIM_IRQ_HANDLER(WORK_TIM);
-  }
   /* USER CODE END TIM3_IRQn 1 */
 }
 

Core/Src/tim.c

@@ -58,55 +58,6 @@ void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 2 */
 
-}
-/* TIM2 init function */
-void MX_TIM2_Init(void)
-{
-
-  /* USER CODE BEGIN TIM2_Init 0 */
-
-  /* USER CODE END TIM2_Init 0 */
-
-  LL_TIM_InitTypeDef TIM_InitStruct = {0};
-  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
-
-  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* Peripheral clock enable */
-  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
-
-  /* USER CODE BEGIN TIM2_Init 1 */
-
-  /* USER CODE END TIM2_Init 1 */
-  TIM_InitStruct.Prescaler = 0;
-  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-  TIM_InitStruct.Autoreload = 7199;
-  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
-  LL_TIM_Init(TIM2, &TIM_InitStruct);
-  LL_TIM_EnableARRPreload(TIM2);
-  LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
-  LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH2);
-  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM2;
-  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
-  TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
-  TIM_OC_InitStruct.CompareValue = 0;
-  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
-  LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
-  LL_TIM_OC_EnableFast(TIM2, LL_TIM_CHANNEL_CH2);
-  LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
-  LL_TIM_DisableMasterSlaveMode(TIM2);
-  /* USER CODE BEGIN TIM2_Init 2 */
-
-  /* USER CODE END TIM2_Init 2 */
-  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
-    /**TIM2 GPIO Configuration
-    PA1     ------> TIM2_CH2
-    */
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
-  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
 }
 /* TIM3 init function */
 void MX_TIM3_Init(void)
@@ -117,7 +68,9 @@ void MX_TIM3_Init(void)
   /* USER CODE END TIM3_Init 0 */
 
   LL_TIM_InitTypeDef TIM_InitStruct = {0};
+  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
 
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
   /* Peripheral clock enable */
   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
 
@@ -128,18 +81,35 @@ void MX_TIM3_Init(void)
   /* USER CODE BEGIN TIM3_Init 1 */
 
   /* USER CODE END TIM3_Init 1 */
-  TIM_InitStruct.Prescaler = 7199;
+  TIM_InitStruct.Prescaler = 71;
   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-  TIM_InitStruct.Autoreload = 99;
+  TIM_InitStruct.Autoreload = 1000;
   TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
   LL_TIM_Init(TIM3, &TIM_InitStruct);
-  LL_TIM_DisableARRPreload(TIM3);
+  LL_TIM_EnableARRPreload(TIM3);
   LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
+  LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
+  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
+  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.CompareValue = 0;
+  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+  LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
+  LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH3);
   LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
   LL_TIM_DisableMasterSlaveMode(TIM3);
   /* USER CODE BEGIN TIM3_Init 2 */
 
   /* USER CODE END TIM3_Init 2 */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+    /**TIM3 GPIO Configuration
+    PB0     ------> TIM3_CH3
+    */
+  GPIO_InitStruct.Pin = TMC2240_STEP_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(TMC2240_STEP_GPIO_Port, &GPIO_InitStruct);
 
 }
 

MDK-ARM/motor.uvoptx

@@ -153,32 +153,37 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>_tmc2240,0x10</ItemText>
+          <ItemText>_tmc2240,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rdata</ItemText>
+          <ItemText>tmc</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>data</ItemText>
+          <ItemText>wdata</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>wdata</ItemText>
+          <ItemText>rdata</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rdata</ItemText>
+          <ItemText>TMC2240_B_CURRENT</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tx_data</ItemText>
+          <ItemText>rdata</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>vel,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow1>

User/application/app.c

@@ -13,8 +13,6 @@ static uint8_t business_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
-        tmc2240_config(TMC2240_1);
-        tmc2240_position_read(TMC2240_1);
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
     FL_TAIL(fl);
@@ -35,10 +33,11 @@ static uint8_t idle_inspection(struct flow *fl)
     for (;;)
     {
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
+        tmc2240_test(TMC2240_1);
         ssd1306_f6x8_string(0, 2, " tick:");
         ssd1306_f6x8_number(40, 2, tick++, 0);
         ssd1306_f6x8_string(0, 4, " cfg:");
-        ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->data.gconf, 0);
+        ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->config.gconf.data, 0);
         ssd1306_update_screen();
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
@@ -78,7 +77,6 @@ void app_init(void)
     FL_INIT(&idle_fw);     // 空闲任务
 
     ENABLE_TIM(TASK_TIM);
-    ENABLE_TIM(WORK_TIM);
 
     ssd1306_clear();
 }

User/board/board.c

@@ -43,7 +43,6 @@ void board_init(void)
 
     {
         GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
-        delay_ms(100);
         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);

User/board/board.h

@@ -7,9 +7,6 @@
 #define UART_TXSIZE (240u) // 发送240个字节
 
 #define TASK_TIM TIM1
-#define PWM_TIM TIM2
-#define PWM_CHANNEL LL_TIM_CHANNEL_CH2
-#define WORK_TIM TIM3
 
 typedef struct
 {

User/lib/driver/tmc2240.c

@@ -6,6 +6,9 @@ static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+    DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
     tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
     for (uint16_t i = 0; i < 5; i++)
     {
@@ -18,6 +21,8 @@ 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];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+    DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
 
     tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
     for (uint16_t i = 0; i < 5; i++)
@@ -38,6 +43,65 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
     tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
 }
 
+static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+    DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
+    uint8_t wdata[5] = {0};
+    wdata[0] = TMC2240_HIGHT_BIT | reg;
+    wdata[1] = (data >> 24) & 0xFF;
+    wdata[2] = (data >> 16) & 0xFF;
+    wdata[3] = (data >> 8) & 0xFF;
+    wdata[4] = data & 0xFF;
+    tmc2240_write(index, wdata);
+}
+
+static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+    DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
+    uint8_t wdata[5] = {0};
+    uint8_t rdata[5] = {0};
+    wdata[0] = reg;
+    tmc2240_read(index, wdata, rdata);
+    return (rdata[1] << 24) | (rdata[2] << 16) | (rdata[3] << 8) | rdata[4];
+}
+
+/**
+ * @brief 配置TMC2240步进电机驱动器
+ *
+ * 该函数用于配置TMC2240步进电机驱动器的各种参数，包括步进电机的工作模式、加减速曲线等。
+ *
+ * @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
+ */
+static void tmc2240_config(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    tmc->config.gconf.data = 0x00000000;
+    tmc->config.chopconf.data = 0x00410153;
+    tmc->config.drvconf.data = 0x00000021;
+    tmc->config.global_scaler.data = 0x00000000;
+    tmc->config.ihold_irun.data = 0x00071f1f;
+    tmc->config.pwmconf.data = 0xC44C261E;
+    tmc->config.gstat.data = 0x00000007;
+    tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
+    tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
+    tmc2240_reg_write(index, TMC2240_DRV_CONF, tmc->config.drvconf.data);
+    tmc2240_reg_write(index, TMC2240_GLOBAL_SCALER, tmc->config.global_scaler.data);
+    tmc2240_reg_write(index, TMC2240_IHOLD_IRUN, tmc->config.ihold_irun.data);
+    tmc2240_reg_write(index, TMC2240_PWMCONF, tmc->config.pwmconf.data);
+    tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
+}
+
 void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
@@ -45,7 +109,10 @@ 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);
+    osel_memset((uint8_t *)&tmc->config, 0, sizeof(tmc2240_config_t));
+    osel_memset((uint8_t *)&tmc->read_config, 0, sizeof(tmc2240_config_t));
     tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
+    tmc2240_config(index);
 }
 
 tmc2240_t *tmc2240_get(tmc2240_index_e index)
@@ -54,41 +121,26 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
     return &_tmc2240[index];
 }
 
-void tmc2240_config(tmc2240_index_e index)
+void tmc2240_velocity(tmc2240_index_e index, int32_t vel)
-{
-    uint8_t wdata[5];
-    wdata[0] = TMC2240_HIGHT_BIT | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
-    wdata[1] = 0x00;
-    wdata[2] = 0x00;
-    wdata[3] = 0x00;
-    wdata[4] = 0xE4;
-    tmc2240_write(index, wdata);
-
-    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];
-}
-
-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};
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
-    uint8_t rdata[5] = {0};
+}
-
+
-    wdata[0] = TMC2240_REG_XACTUAL; // XACTUAL register address
+void tmc2240_test(tmc2240_index_e index)
-    tmc2240_read(index, wdata, rdata);
+{
-
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
-    int32_t response = 0;
+    tmc2240_t *tmc = &_tmc2240[index];
-    response |= (rdata[1]);
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
-    response <<= 8;
+
-    response |= (rdata[2]);
+    tmc->read_config.gconf.data = tmc2240_reg_read(index, TMC2240_GCONF);
-    response <<= 8;
+    tmc->read_config.chopconf.data = tmc2240_reg_read(index, TMC2240_CHOPCONF);
-    response |= (rdata[3]);
+    tmc->read_config.drvconf.data = tmc2240_reg_read(index, TMC2240_DRV_CONF);
-    response <<= 8;
+    tmc->read_config.global_scaler.data = tmc2240_reg_read(index, TMC2240_GLOBAL_SCALER);
-    response |= (rdata[4]);
+    tmc->read_config.ihold_irun.data = tmc2240_reg_read(index, TMC2240_IHOLD_IRUN);
-    tmc->data.position = response;
+    tmc->read_config.pwmconf.data = tmc2240_reg_read(index, TMC2240_PWMCONF);
-    return response;
+    tmc->read_config.gstat.data = tmc2240_reg_read(index, TMC2240_GSTAT);
+    tmc->adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
+    tmc->temperature = (float32)(tmc->adc_temp - 2038) / 7.7;
 }

User/lib/driver/tmc2240.h

@@ -12,9 +12,90 @@
 #include "main.h"
 #include "spis.h"
 
+/*
+0x00 	= 	0x00002108 		;; writing GCONF @ address 0=0x00 with 0x00002108=8456=0.0
+0x03 	= 	0x00000000 		;; writing SLAVECONF @ address 1=0x03 with 0x00000000=0=0.0
+0x04 	= 	0x4001682C 		;; writing IOIN @ address 2=0x04 with 0x4001682C=1073834028=0.0
+0x0A 	= 	0x00000021 		;; writing DRV_CONF @ address 3=0x0A with 0x00000021=33=0.0
+0x0B 	= 	0x00000000 		;; writing GLOBAL_SCALER @ address 4=0x0B with 0x00000000=0=0.0
+0x10 	= 	0x00001208 		;; writing IHOLD_IRUN @ address 5=0x10 with 0x00001208=4616=0.0
+0x11 	= 	0x00000000 		;; writing TPOWERDOWN @ address 6=0x11 with 0x00000000=0=0.0
+0x13 	= 	0x00000000 		;; writing TPWMTHRS @ address 7=0x13 with 0x00000000=0=0.0
+0x14 	= 	0x000003BE 		;; writing TCOOLTHRS @ address 8=0x14 with 0x000003BE=958=0.0
+0x15 	= 	0x00000000 		;; writing THIGH @ address 9=0x15 with 0x00000000=0=0.0
+0x2D 	= 	0x00000000 		;; writing DIRECT_MODE @ address 10=0x2D with 0x00000000=0=0.0
+0x38 	= 	0x00000000 		;; writing ENCMODE @ address 11=0x38 with 0x00000000=0=0.0
+0x39 	= 	0x00000000 		;; writing X_ENC @ address 12=0x39 with 0x00000000=0=0.0
+0x3A 	= 	0x00010000 		;; writing ENC_CONST @ address 13=0x3A with 0x00010000=65536=0.0
+0x52 	= 	0x0B920F25 		;; writing OTW_OV_VTH @ address 14=0x52 with 0x0B920F25=194121509=0.0
+0x60 	= 	0xAAAAB554 		;; writing MSLUT[0] @ address 15=0x60 with 0xAAAAB554=0=0.0
+0x61 	= 	0x4A9554AA 		;; writing MSLUT[1] @ address 16=0x61 with 0x4A9554AA=1251300522=0.0
+0x62 	= 	0x24492929 		;; writing MSLUT[2] @ address 17=0x62 with 0x24492929=608774441=0.0
+0x63 	= 	0x10104222 		;; writing MSLUT[3] @ address 18=0x63 with 0x10104222=269500962=0.0
+0x64 	= 	0xFBFFFFFF 		;; writing MSLUT[4] @ address 19=0x64 with 0xFBFFFFFF=0=0.0
+0x65 	= 	0xB5BB777D 		;; writing MSLUT[5] @ address 20=0x65 with 0xB5BB777D=0=0.0
+0x66 	= 	0x49295556 		;; writing MSLUT[6] @ address 21=0x66 with 0x49295556=1227445590=0.0
+0x67 	= 	0x00404222 		;; writing MSLUT[7] @ address 22=0x67 with 0x00404222=4211234=0.0
+0x68 	= 	0xFFFF8056 		;; writing MSLUTSEL @ address 23=0x68 with 0xFFFF8056=0=0.0
+0x69 	= 	0x00F70000 		;; writing MSLUTSTART @ address 24=0x69 with 0x00F70000=16187392=0.0
+0x6C 	= 	0x00410153 		;; writing CHOPCONF @ address 25=0x6C with 0x00410153=4260179=0.0
+0x6D 	= 	0x00040000 		;; writing COOLCONF @ address 26=0x6D with 0x00040000=262144=0.0
+0x70 	= 	0xC44C001E 		;; writing PWMCONF @ address 27=0x70 with 0xC44C001E=0=0.0
+0x74 	= 	0x00000000 		;; writing SG4_THRS @ address 28=0x74 with 0x00000000=0=0.0
+*/
+
+#define TMC2240_GCONF 0x00
+#define TMC2240_GSTAT 0x01
+#define TMC2240_IFCNT 0x02
+#define TMC2240_SLAVECONF 0x03
+#define TMC2240_IOIN 0x04
+#define TMC2240_DRV_CONF 0x0A
+#define TMC2240_GLOBAL_SCALER 0x0B
+
+#define TMC2240_IHOLD_IRUN 0x10
+#define TMC2240_TPOWERDOWN 0x11
+#define TMC2240_TSTEP 0x12
+#define TMC2240_TPWMTHRS 0x13
+#define TMC2240_TCOOLTHRS 0x14
+#define TMC2240_THIGH 0x15
+
+#define TMC2240_DIRECT_MODE 0x2D
+
+#define TMC2240_ENCMODE 0x38
+#define TMC2240_XENC 0x39
+#define TMC2240_ENC_CONST 0x3A
+#define TMC2240_ENC_STATUS 0x3B
+#define TMC2240_ENC_LATCH 0x3C
+
+#define TMC2240_ADC_VSUPPLY_AIN 0x50
+#define TMC2240_ADC_TEMP 0x51
+#define TMC2240_OTW_OV_VTH 0x52
+
+#define TMC2240_MSLUT0 0x60
+#define TMC2240_MSLUT1 0x61
+#define TMC2240_MSLUT2 0x62
+#define TMC2240_MSLUT3 0x63
+#define TMC2240_MSLUT4 0x64
+#define TMC2240_MSLUT5 0x65
+#define TMC2240_MSLUT6 0x66
+#define TMC2240_MSLUT7 0x67
+#define TMC2240_MSLUTSEL 0x68
+#define TMC2240_MSLUTSTART 0x69
+#define TMC2240_MSCNT 0x6A
+#define TMC2240_MSCURACT 0x6B
+#define TMC2240_CHOPCONF 0x6C
+#define TMC2240_COOLCONF 0x6D
+#define TMC2240_DCCTRL 0x6E
+#define TMC2240_DRVSTATUS 0x6F
+
+#define TMC2240_PWMCONF 0x70
+#define TMC2240_PWMSCALE 0x71
+#define TMC2240_PWM_AUTO 0x72
+#define TMC2240_SG4_THRS 0x74
+#define TMC2240_SG4_RESULT 0x75
+#define TMC2240_SG4_IND 0x76
+
 #define TMC2240_HIGHT_BIT 0x80
-#define TMC2240_REG_GCONF 0x00
-#define TMC2240_REG_XACTUAL 0x21
 
 typedef enum
 {
@@ -22,19 +103,262 @@ typedef enum
     TMC2240_MAX,
 } tmc2240_index_e;
 
+// 0x00 GCONF
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+
+        uint32_t reserved1 : 1;
+        /**
+         *  停止之前的步骤执行超时检测。
+         *  0x0：正常时间：2^20个时钟
+         *  0x1：短时间：2^18个时钟
+         */
+        uint32_t fast_standstill : 1;
+        /**
+         * 启用StealthChop2模式。
+         * 0x0：无StealthChop2
+         * 0x1：StealthChop2电压PWM模式使能(取决于速度阈值)。从关闭状态切换
+            在静止状态下和在lHOLD = 时为开状态 仅限额定电流。
+        */
+        uint32_t en_pwm_mode : 1;
+        /**
+        * 启用StealthChop2的步进输入筛选
+        * 0x0：无StealthChop2
+        * 0x1：StealthChop2电压PWM模式使能
+        (取决于速度阈值)。从关闭状态切换
+        在静止状态下和在lHOLD=时为开状态
+        仅限额定电流。
+        */
+        uint32_t multistep_filt : 1;
+        /**
+         * 更改电机方向/方向标志
+         * 0x0：默认电机方向
+         * 0x1：电机方向相反
+         */
+        uint32_t shaft : 1;
+        uint32_t diag0_error : 1;
+        uint32_t diag0_otpw : 1;
+        uint32_t diag0_stall : 1;
+        uint32_t diag1_stall : 1;
+        uint32_t diag1_index : 1;
+        uint32_t diag1_onstate : 1;
+        uint32_t reserved2 : 1;
+        uint32_t diag0_pushpull : 1;
+        uint32_t diag1_pushpull : 1;
+        uint32_t small_hysteresis : 1;
+        /**
+         * 电机硬停止功能启用。
+         * 0x0：正常运行
+        *  0x1：紧急停止：ENCA停止定序器
+            当绑得很高时(不执行任何步骤
+            定序器、电机进入停顿状态)。
+         */
+        uint32_t stop_enable : 1;
+        /**
+         * 通过以下方式启用直接motpr相电流控制
+         * 0x0：正常运行
+         *  0x1：电机线圈电流和极性直接
+            通过串口编程：寄存器
+            直接模式(0x2D)指定带符号线圈A
+            电流(位8..0)和线圈B电流(位24..16)。在……里面
+            在此模式下，电流按lHOLD设置进行定标。
+            基于速度的StealthChop2电流调节
+            在此模式下不可用。自动的
+            StealthChop2电流调节仅适用于
+            步进电机速度低。
+         */
+        uint32_t direct_mode : 1;
+    } bits;
+} gconf_u;
+
+// 0x01 GSTAT
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t reset : 1;
+        uint32_t drv_err : 1;
+        uint32_t uv_cp : 1;
+        uint32_t register_reset : 1;
+        uint32_t vm_uvlo : 1;
+    } bits;
+} gstat_u;
+
+// 0x04 IOIN
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t step : 1;
+        uint32_t dir : 1;
+    } bits;
+} ioin_u;
+
+// 0x0A DRVCONF
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t current_range : 2; // 0-1
+        uint32_t reserved1 : 2;     // 2-3
+        uint32_t slope_control : 2; // 4-5
+    } bits;
+} drvconf_u;
+
+// 0x0B GLOBAL_SCALER
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t global_scale : 8; // 0-7
+    } bits;
+} global_scaler_u;
+
+// 0x10 IHOLD_IRUN
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t ihold : 5;      // 0-4
+        uint32_t reserved1 : 3;  // 5-7
+        uint32_t irun : 5;       // 8-12
+        uint32_t reserved2 : 3;  // 13-15
+        uint32_t iholddelay : 4; // 16-19
+        uint32_t reserved3 : 4;  // 20-23
+        uint32_t irundelay : 4;  // 24-27
+    } bits;
+} ihold_irun_u;
+
+// 0x11 TPOWERDOWN
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        /**
+         * TPOWERDOW将电机停顿后的延迟时间(STST)设置为
+            电机电流断电。时间范围约为0至4秒。
+            注意：至少需要设置2才能自动调整
+            SteaIhChop2脉宽调制自动关闭。
+            重置默认设置=10
+            0...((2^8)-1)x 2^18 tCLK
+         */
+        uint32_t tpow : 8; // 0-9
+        uint32_t reserved1 : 24;
+    } bits;
+} tpowerdown_u;
+
+// 0x13 TPWMTHRS
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t tpwmthrs : 20;  // 0-19
+        uint32_t reserved1 : 12; // 20-31
+    } bits;
+} tpwmthrs_u;
+
+// 0x2D DIRECT_MODE
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t direct_coil_a : 9; // 0-8
+        uint32_t reserved1 : 7;     // 9-15
+        uint32_t direct_coil_b : 9; // 16-24
+        uint32_t reserved2 : 7;     // 25-31
+    } bits;
+} direct_mode_u;
+
+// 0x6C CHOPCONF
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        uint32_t toff : 4;    // 0-3
+        uint32_t hstrt : 3;   // 4-6
+        uint32_t hend : 4;    // 7-10
+        uint32_t fd3 : 1;     // 11
+        uint32_t disfdcc : 1; // 12
+        uint32_t reserved1 : 1;
+        uint32_t chm : 1; // 14
+        uint32_t tbl : 2; // 15-16
+        uint32_t reserved2 : 1;
+        uint32_t vhighfs : 1;  // 18
+        uint32_t vhighchm : 1; // 19
+        uint32_t tpfd : 4;     // 20-23
+        uint32_t mres : 4;     // 24-27
+        uint32_t intpol : 1;   // 28
+        uint32_t dedge : 1;    // 29
+        uint32_t diss2g : 1;   // 30
+        uint32_t diss2vs : 1;  // 31
+    } bits;
+} chopconf_u;
+
+// 0x70 PWMCONF
+typedef union
+{
+    uint32_t data;
+    struct
+    {
+        /**
+         * 用户定义的 PWM 幅度偏移（0-255）与静止状态下的全电机电流（CS_ACTUAL=31）相关。 （重置默认值=30） 使用 PWM_OFS 作为自动缩放的初始值，
+         * 以加快自动调谐过程。为此，请将 PWM_OFS 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
+         * 完成后启用 StealthChop2。 PWM_OFS = 0 将禁用将电机电流缩放到低于电机特定的较低测量阈值。此设置应仅在某些条件下使用，
+         * 例如当电源电压可以上下变化两倍或更多时。它可以防止电机超出调节范围，但也会防止电流降到调节限制以下。 PWM_OFS > 0 允许自动缩放到低 PWM 占空比，
+         * 甚至低于较低的调节阈值。这允许基于实际（保持）电流比例（寄存器 IHOLD_IRUN）的低（静止）电流设置。
+         */
+        uint32_t pwm_ofs : 8;
+        /**
+         * PWM 幅度的速度依赖梯度： PWM_GRAD x 256 / TSTEP 此值加到 PWM_OFS 以补偿速度依赖的电机反电动势。 使用 PWM_GRAD 作为自动缩放的初始值，
+         * 以加快自动调谐过程。为此，请将 PWM_GRAD 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
+         * 完成后启用 StealthChop2。 提示： 初始调谐后，可以从 PWM_GRAD_AUTO 中读取所需的初始值。
+         */
+        uint32_t pwm_grad : 8;
+        uint32_t pwm_freq : 2;
+        uint32_t pwm_autoscale : 1;
+        uint32_t pwm_autograd : 1;
+    } bits;
+} pwmconf_u;
+
+typedef struct
+{
+    gconf_u gconf;                 // 0x00 GCONF
+    gstat_u gstat;                 // 0x01 GSTAT
+    ioin_u ioin;                   // 0x04 IOIN
+    drvconf_u drvconf;             // 0x0A DRVCONF
+    global_scaler_u global_scaler; // 0x0B GLOBAL_SCALER
+    ihold_irun_u ihold_irun;       // 0x10 IHOLD_IRUN
+    tpowerdown_u tpowerdown;       // 0x11 TPOWERDOWN
+    direct_mode_u direct_mode;     // 0x2D DIRECT_MODE
+    chopconf_u chopconf;           // 0x6C CHOPCONF
+    pwmconf_u pwmconf;             // 0x70 PWMCONF
+} tmc2240_config_t;
+
 typedef struct
 {
     spi_t *spi;
-    struct
+    tmc2240_config_t config;
-    {
+    tmc2240_config_t read_config;
-        int32_t gconf;
+
-        int32_t position;
+    uint16_t adc_temp;
-    } data;
+    float32 temperature;
 } tmc2240_t;
 
 void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, 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);
+void tmc2240_velocity(tmc2240_index_e index, int32_t vel);
+void tmc2240_test(tmc2240_index_e index);
 #endif // __TMC2240_H

motor.ioc

@@ -34,31 +34,30 @@ Mcu.IP2=RCC
 Mcu.IP3=SPI1
 Mcu.IP4=SYS
 Mcu.IP5=TIM1
-Mcu.IP6=TIM2
+Mcu.IP6=TIM3
-Mcu.IP7=TIM3
+Mcu.IP7=USART1
-Mcu.IP8=USART1
+Mcu.IPNb=8
-Mcu.IPNb=9
 Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PD0-OSC_IN
-Mcu.Pin10=PB13
+Mcu.Pin10=PB12
-Mcu.Pin11=PA9
+Mcu.Pin11=PB13
-Mcu.Pin12=PA10
+Mcu.Pin12=PA9
-Mcu.Pin13=PA13
+Mcu.Pin13=PA10
-Mcu.Pin14=PA14
+Mcu.Pin14=PA13
-Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin15=PA14
-Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin16=VP_SYS_VS_Systick
-Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin17=VP_TIM1_VS_ClockSourceINT
 Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin2=PD1-OSC_OUT
-Mcu.Pin3=PA1
+Mcu.Pin3=PA3
-Mcu.Pin4=PA3
+Mcu.Pin4=PA4
-Mcu.Pin5=PA4
+Mcu.Pin5=PA5
-Mcu.Pin6=PA5
+Mcu.Pin6=PA6
-Mcu.Pin7=PA6
+Mcu.Pin7=PA7
-Mcu.Pin8=PA7
+Mcu.Pin8=PB0
-Mcu.Pin9=PB12
+Mcu.Pin9=PB1
 Mcu.PinsNb=19
 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
 Mcu.ThirdPartyNb=1
@@ -82,7 +81,6 @@ NVIC.TIM1_UP_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM3_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-PA1.Signal=S_TIM2_CH2
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
 PA13.Mode=Serial_Wire
@@ -113,6 +111,12 @@ 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.Signal=S_TIM3_CH3
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=TMC2240_DIR
+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
@@ -165,7 +169,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 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,8-MX_SPI1_Init-SPI1-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_USART1_UART_Init-USART1-false-LL-true,5-MX_TIM1_Init-TIM1-false-LL-true,6-MX_TIM3_Init-TIM3-false-LL-true,7-MX_SPI1_Init-SPI1-false-LL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -195,8 +199,8 @@ RealThread.RT-Thread.3.1.5.RT_USING_COMPONENTS_INIT=1
 RealThread.RT-Thread.3.1.5.RT_USING_CONSOLE=0
 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_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
-SH.S_TIM2_CH2.ConfNb=1
+SH.S_TIM3_CH3.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
 SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH
@@ -208,27 +212,17 @@ SPI1.VirtualType=VM_MASTER
 TIM1.IPParameters=Prescaler,Period
 TIM1.Period=99
 TIM1.Prescaler=7199
-TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
-TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM2.CounterMode=TIM_COUNTERMODE_UP
+TIM3.IPParameters=Prescaler,Period,Channel-PWM Generation3 CH3,AutoReloadPreload
-TIM2.IPParameters=Prescaler,Period,CounterMode,AutoReloadPreload,OCPolarity_2,TIM_MasterOutputTrigger,Channel-PWM Generation2 CH2,OCFastMode_PWM-PWM Generation2 CH2,OCMode_PWM-PWM Generation2 CH2
+TIM3.Period=1000
-TIM2.OCFastMode_PWM-PWM\ Generation2\ CH2=TIM_OCFAST_ENABLE
+TIM3.Prescaler=71
-TIM2.OCMode_PWM-PWM\ Generation2\ CH2=TIM_OCMODE_PWM2
-TIM2.OCPolarity_2=TIM_OCPOLARITY_LOW
-TIM2.Period=7199
-TIM2.Prescaler=0
-TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET
-TIM3.IPParameters=Prescaler,Period
-TIM3.Period=99
-TIM3.Prescaler=7199
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM2_VS_ClockSourceINT.Mode=Internal
-VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal
 VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=custom