STM32F407驱动并控制四个TMC26x驱动芯片的代码

#include "Driver_Init.h" //#include "IIC.h" //#include "Oled.h" void Drivers_EnAndCsn_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_InitTypeDef EN2A1_InitStructure; //EN_2A1 EN2A1_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; //CSN_2A1 EN_2A1 EN2A1_InitStructure.GPIO_Mode = GPIO_Mode_OUT; EN2A1_InitStructure.GPIO_OType = GPIO_OType_PP; EN2A1_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; EN2A1_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB, &EN2A1_InitStructure); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitTypeDef EN4A_InitStructure; EN4A_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_12 //EN_2A2 CSN_2A2 | GPIO_Pin_7 | GPIO_Pin_6 //EN_4A1 CSN_4A1 | GPIO_Pin_15; //EN_4A2 EN4A_InitStructure.GPIO_Mode = GPIO_Mode_OUT; EN4A_InitStructure.GPIO_OType = GPIO_OType_PP; EN4A_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; EN4A_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOD, &EN4A_InitStructure); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); GPIO_InitTypeDef CSN_InitStructure; CSN_InitStructure.GPIO_Pin = GPIO_Pin_6; CSN_InitStructure.GPIO_Mode = GPIO_Mode_OUT; CSN_InitStructure.GPIO_OType = GPIO_OType_PP; CSN_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; CSN_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOC, &CSN_InitStructure); CSN_2A1 = 1; CSN_2A2 = 1; CSN_4A1 = 1; CSN_4A2 = 1; } void Drivers_ENABLE(u8 D2AorD4A) { if(D2AorD4A == 1) { EN_2A1 = 0; EN_2A2 = 1; EN_4A1 = 1; EN_4A2 = 1; } else if(D2AorD4A == 2) { EN_2A1 = 1; EN_2A2 = 0; EN_4A1 = 1; EN_4A2 = 1; } else if(D2AorD4A == 4) { EN_2A1 = 1; EN_2A2 = 1; EN_4A1 = 0; EN_4A2 = 0; } else { EN_2A1 = 1; EN_2A2 = 1; EN_4A1 = 1; EN_4A2 = 1; } } void Driver_SPI1_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); GPIO_InitTypeDef SPI_InitStructure; SPI_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_12; //TMC_SCK TMC_SDI SPI_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; SPI_InitStructure.GPIO_Mode = GPIO_Mode_OUT; SPI_InitStructure.GPIO_OType = GPIO_OType_PP; SPI_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOC,&SPI_InitStructure); SPI_InitStructure.GPIO_Pin = GPIO_Pin_11; //TMC_SDO SPI_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; SPI_InitStructure.GPIO_Mode = GPIO_Mode_IN; SPI_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; GPIO_Init(GPIOC,&SPI_InitStructure); SCK1 = 1; //SCK初始化为高 } void Driver_SPI2_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_InitTypeDef SPI_InitStructure; SPI_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_15; //TMC_SCK TMC_SDI SPI_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; SPI_InitStructure.GPIO_Mode = GPIO_Mode_OUT; SPI_InitStructure.GPIO_OType = GPIO_OType_PP; SPI_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB,&SPI_InitStructure); SPI_InitStructure.GPIO_Pin = GPIO_Pin_14; //TMC_SDO SPI_InitStructure.GPIO_Speed = GPIO_Speed_25MHz; SPI_InitStructure.GPIO_Mode = GPIO_Mode_IN; SPI_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; GPIO_Init(GPIOB,&SPI_InitStructure); SCK2 = 1; //SCK初始化为高 } uint32_t Driver_Config1(u8 D2AorD4A, uint32_t write_data) { unsigned char i; u32 data_temp,recv_data= 0; SCK1 = 1; Delay_us(1); if(D2AorD4A == 2)CSN_2A1 = 0; else if(D2AorD4A == 4)CSN_4A1 = 0; else return 1; __nop(); Delay_us(1); for(i = 20; i > 0; i--) { recv_data = recv_data << 1; data_temp = write_data & 0x80000; data_temp = data_temp >> 19; if(data_temp == 1) SDI1 = 1; //SDI else SDI1 = 0; SCK1 = 0; //SCK Delay_us(2); SCK1 = 1; //SCK Delay_us(1); if(SDO1) //SDO recv_data |= 0x01; write_data = write_data << 1; Delay_us(2); } // OLED_ShowNum(0,2,recv_data,7); if(D2AorD4A == 2) CSN_2A1 = 1; else if(D2AorD4A == 4)CSN_4A1 = 1; __nop(); return recv_data; } uint32_t Driver_Config2(u8 D2AorD4A, uint32_t write_data) { unsigned char i; u32 data_temp,recv_data= 0; SCK2 = 1; Delay_us(1); if(D2AorD4A == 2)CSN_2A2 = 0; else if(D2AorD4A == 4)CSN_4A2 = 0; else return 1; __nop(); Delay_us(1); for(i = 20; i > 0; i--) { recv_data = recv_data << 1; data_temp = write_data & 0x80000; data_temp = data_temp >> 19; if(data_temp == 1) { SDI2 = 1; //SDI } else SDI2 = 0; SCK2 = 0; //SCK Delay_us(2); SCK2 = 1; //SCK Delay_us(1); if(SDO2) //SDO recv_data |= 0x01; write_data = write_data << 1; Delay_us(2); } // OLED_ShowNum(0,2,recv_data,7); if(D2AorD4A == 2) CSN_2A2 = 1; else if(D2AorD4A == 4)CSN_4A2 = 1; __nop(); return recv_data; } void Driver_2A1_Control_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitTypeDef Step_Dir; Step_Dir.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2; Step_Dir.GPIO_Speed = GPIO_Speed_50MHz; Step_Dir.GPIO_Mode = GPIO_Mode_OUT; Step_Dir.GPIO_OType = GPIO_OType_PP; Step_Dir.GPIO_PuPd = GPIO_PuPd_UP; //核心板只能上拉 GPIO_Init(GPIOD,&Step_Dir); STEP_2A1 = 1; DIR_2A1 = 1; } void Driver_2A2_Control_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitTypeDef Step_Dir; Step_Dir.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; Step_Dir.GPIO_Speed = GPIO_Speed_50MHz; Step_Dir.GPIO_Mode = GPIO_Mode_OUT; Step_Dir.GPIO_OType = GPIO_OType_PP; Step_Dir.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOD,&Step_Dir); STEP_2A2 = 1; DIR_2A2 = 1; } void Driver_4A1_Control_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); GPIO_InitTypeDef Step_Dir; Step_Dir.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4; Step_Dir.GPIO_Speed = GPIO_Speed_50MHz; Step_Dir.GPIO_Mode = GPIO_Mode_OUT; Step_Dir.GPIO_OType = GPIO_OType_PP; Step_Dir.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOD,&Step_Dir); STEP_4A1 = 1; DIR_4A1 = 1; } void Driver_4A2_Control_Init(void) { RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); GPIO_InitTypeDef Step_Dir; Step_Dir.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; Step_Dir.GPIO_Speed = GPIO_Speed_50MHz; Step_Dir.GPIO_Mode = GPIO_Mode_OUT; Step_Dir.GPIO_OType = GPIO_OType_PP; Step_Dir.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOC,&Step_Dir); STEP_4A2 = 1; DIR_4A2 = 1; } void Driver_2A1_Init(void) { Drivers_ENABLE(Driver2A1); Driver_SPI1_Init(); Driver_2A1_Control_Init(); Driver_Config1(2,0x00004); //DRVCTRL Driver_Config1(2,0x901B4); //CHOPCONF Driver_Config1(2,0xA8202); //SMARTEN Driver_Config1(2,0xD0008); //SGCSCONF 0xD001F 电流加倍 Driver_Config1(2,0xE0050); //CRVCONF 0xE0050 电流减半 } void Driver_2A2_Init(void) { Drivers_ENABLE(Driver2A2); Driver_SPI2_Init(); Driver_2A2_Control_Init(); Driver_Config2(2,0x00004); //DRVCTRL Driver_Config2(2,0x901B4); //CHOPCONF Driver_Config2(2,0xA8202); //SMARTEN Driver_Config2(2,0xD0008); //SGCSCONF 0xD001F 电流加倍 Driver_Config2(2,0xE0050); //CRVCONF 0xE0050 电流减半 } void Driver_4A_Init(void) { Drivers_ENABLE(Driver4A); Driver_SPI1_Init(); Driver_4A1_Control_Init(); Driver_Config1(4,0x00004); //DRVCTRL Driver_Config1(4,0x901B4); //CHOPCONF Driver_Config1(4,0xA8202); //SMARTEN Driver_Config1(4,0xD0010); //SGCSCONF 0xD001F 电流加倍 Driver_Config1(4,0xE0050); //CRVCONF 0xE0010 0xE0050(电流减半) Driver_SPI2_Init(); Driver_4A2_Control_Init(); Driver_Config2(4,0x00004); //DRVCTRL Driver_Config2(4,0x901B4); //CHOPCONF Driver_Config2(4,0xA8202); //SMARTEN Driver_Config2(4,0xD0010); //SGCSCONF 0xD001F 电流加倍 Driver_Config2(4,0xE0050); //CRVCONF 0xE0010