STM32配置TMC5160的stallguard堵转检测

本文主要是介绍STM32配置TMC5160的stallguard堵转检测，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

文章目录

- STM32配置
- TMC5160关键寄存器
- - 1.基础寄存器配置：
  - 2.stallguard相关寄存器配置
- Stallguard灵敏度调节
- 相关代码
- 小结

STM32配置

是用STM32CUBEMX配置HAL库

TMC5160可以是用单线UART或者全双工的SPI进行通信，为了便于观察和代码copy，我选择是用spi通信，以下是stm32的配置：
在这里插入图片描述
可以不用选择USART1和USART2，这里配置主要是为了是用单线UART通信，不是本文重点。

关于时钟树的配置可以按照自己的开发版进行配置。
在这里插入图片描述
我是用CLION进行开发，具体配置可以参考稚晖君的教程：https://zhuanlan.zhihu.com/p/145801160

TMC5160关键寄存器

关键：多读数据手册

1.基础寄存器配置：

GCONF寄存器配置基本的运动模式和方向：个人配置0x000000E4
CHOPCONF寄存器斩波器配置，个人配置0x000000E4
IHOLE_IRUN寄存器配置运行电流和保持电流：个人配置0x00060100。此寄存器与stallguard的灵敏度有关。

2.stallguard相关寄存器配置

TCOOLTHRS寄存器，使能CoolStep和StallGuard2功能的下限速度，到达此值电机停止并保持。个人配置0x00000FEC
SW_MODE寄存器的第十位sg_stop启用STALLGUARD 2功能。0x00000400* COOLCONF的16bit-22bit 用于设置灵敏度。
DRV_STATUS寄存器的SG_RESULT：StallGuard2值和用于监测电机所剩的扭力。
速度相关寄存器:RAMPMODE用于选择位置/速度模式，以及速度和加速度相关的寄存器功能如折线图所示。

Stallguard灵敏度调节

要根据自己的电机做改动

相关代码

  tmc5160_writeInt(&tmc5160, TMC5160_GCONF, 0x000000E4);tmc5160_writeInt(&tmc5160, TMC5160_CHOPCONF, 0x000000E4);tmc5160_writeInt(&tmc5160, TMC5160_IHOLD_IRUN, 0x00060100);tmc5160_writeInt(&tmc5160, TMC5160_AMAX, 0x0001FFFF);tmc5160_writeInt(&tmc5160, TMC5160_VMAX, 0x004FF00);tmc5160_writeInt(&tmc5160, TMC5160_SWMODE, 0x00000400);tmc5160_writeInt(&tmc5160, TMC5160_COOLCONF, 0x00900000);tmc5160_writeInt(&tmc5160, TMC5160_TCOOLTHRS, 0x00000FEC);tmc5160_writeInt(&tmc5160, TMC5160_RAMPMODE,0x00000001);while (1){tmc5160_readInt(&tmc5160, TMC5160_TSTEP);HAL_Delay(200);}

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

// Writes (x1 << 24) | (x2 << 16) | (x3 << 8) | x4 to the given address
void tmc5160_writeDatagram(TMC5160TypeDef *tmc5160, uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4)
{uint8_t data[5] = { address | TMC5160_WRITE_BIT, x1, x2, x3, x4 };uint8_t receive[5];tmc5160_readWriteArray(data, receive, 5, 1);int32_t value = ((uint32_t)x1 << 24) | ((uint32_t)x2 << 16) | (x3 << 8) | x4;// Write to the shadow register and mark the register dirtyaddress = TMC_ADDRESS(address);tmc5160->config->shadowRegister[address] = value;tmc5160->registerAccess[address] |= TMC_ACCESS_DIRTY;
}

HAL_StatusTypeDef tmc5160_readWriteArray(uint8_t *transmit, uint8_t *receive, size_t size, uint8_t timeout)
{// Declare the status variableHAL_StatusTypeDef status;// Select the TMC5160 channel (if using multiple devices)// This usually involves setting a GPIO pin to select the correct device.HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_RESET); // Select device// Transmit and receive data via SPIstatus = HAL_SPI_TransmitReceive(&hspi1, transmit, receive, size, timeout);// Deselect the TMC5160 channelHAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, GPIO_PIN_SET); // Deselect devicereturn status;
}