STM8控制TMC2660驱动步进电机 电机不正常
大家好，小弟最近在用STM8+TMC2660驱动步进电机，采用SPI通讯，脉冲控制方式测试下来，一开始脉冲能控制，但是过了几分钟，电机就不转了，重新上电电机也无法锁住，是我配置还是硬件问题呢，大侠帮我看看吧，搞的头都大了
#define INTPOL 0
#define DEDGE 0
ulong DRVCTRL;
#define TBL 0
#define CHM 0
#define RNDTF 0
#define HDEC 0
#define HEND 0
#define HSTRT 0
#define TOFF 0
ulong CHOPCONF;
#define SEIMIN 0
#define SEDN 0
#define SEMAX 0
#define SEUP 0
#define SEMIN 0
ulong SMARTEN;
#define SFILT 0
#define SGT 0
ulong SGCSCONF;
#define TST 0
#define SLPH 0
#define SLPL 0
#define DISS2G 0
#define TS2G 0
#define SDOFF 0 //0:enable step and dir 1:disable step and dir
#define VSENSE 0
#define RDSEL 0
ulong DRVCONF;
//*************************************
#define read_address_key() (( PD_IDR&0X0C)>>1)|(( PC_IDR&0X80)>>7) //地址开关PD3 PD2 PC7
#define read_encoded_key() (( PC_IDR&0X30)>>2)|(( PC_IDR&0X40)>>5)|(( PC_IDR&0X08)>>3) //编码开关PC5 PC4 PC6 PC3
//*************************************
_Bool PD4 @PD_IDR:4;
_Bool PD5 @PD_ODR:5;
_Bool PD6 @PD_ODR:6;
_Bool PA3 @PA_ODR:3;
_Bool PB4 @PB_IDR:4;
//*************************************
#define SPI_MISO PD4
#define SPI_MOSI PD5
#define SPI_CLK PD6
#define SPI_CS PA3
#define SG_TST PB4
//*************************************
uchar bit_1ms;
uchar bit_encoded_key;
uchar bit_address_key;
uchar count_5ms;
uchar address_key_state;
uchar encoded_key_state;
uchar address_key_count;
uchar encoded_key_count;
uchar reg_mres;
uchar reg_cs;
uchar new_encoded_key;
uchar new_address_key;
ulong read_data;
ulong test_tmp;
//*************************************
const uchar current_code={2,4,6,8,10,12,14,16,18,20,22,24,26,28,30,32};
//*************************************
void port_init(void)
{
PA_DDR = 0B00001000;
PA_CR1 = 0B00001000;
PA_CR2 = 0B00000000;
PB_DDR = 0B00000000;
PB_CR1 = 0B00010000;
PB_CR2 = 0B00000000;
PC_DDR = 0B00000000;
PC_CR1 = 0B11111000;
PC_CR2 = 0B00000000;
PD_DDR = 0B01100000; //PD4 MISO 输入无上拉
PD_CR1 = 0B01101100;
PD_CR2 = 0B00000000;
}
//*************************************
void clk_init(void)
{
CLK_SWR = 0xE1; // 选择芯片内部的16MHZ的RC振荡器为主时钟
CLK_CKDIVR= 0X08; // 16M,2分频8M
CLK_PCKENR1 = 0X10; // 开TIM4 其他关闭
CLK_PCKENR2 = 0X08; // 开ADC其他关闭
}
//*************************************
void time4_init(void)
{
TIM4_PSCR = 0X05; // 32分频
TIM4_IER= 0X01; // 更新中断使能
TIM4_ARR= 5; // 自动重装载，向上计数，250*8/32us = 1ms
TIM4_CNTR = 0; // 计数值
TIM4_CR1= 0x01; // b0 = 1,允许计数器工作
// b1 = 0,允许更新
// 设置控制器，启动定时器
}
//*************************************
void iwdg_init(void)
{
IWDG_KR= 0xCC; //启动IWDG
IWDG_KR= 0x55; //解除 PR 及 RLR 的写保护
IWDG_RLR = 0xff; //看门狗计数器重装载数值
IWDG_PR= 0x06; //分频系数为256 1.02s
IWDG_KR= 0xAA; //刷新IDDG，避免产生看门狗复位，同时恢复 PR 及 RLR 的写保护状态
}
//*************************************
void delay_nus(uchar dat)
{
for(;dat>0;dat--);
}
//*************************************
ulong read_write_spi(ulong dat)
{
uchar i;
ulong tmp=0;
test_tmp = dat;
SPI_CS = 0;
for(i=0;i<20;i++)
{
SPI_CLK = 0;
if((dat&0x80000)==0x80000)
SPI_MOSI=1;
else
SPI_MOSI=0;
dat <<= 1;
tmp <<= 1;
SPI_CLK = 1;
if(SPI_MISO==1)
tmp |= 0x00000001;
else
tmp &= ~0x00000001;
}
SPI_CS = 1;
return tmp;
}
//*************************************
void feed_iwdg(void)
{
IWDG_KR = 0xAA;//刷新IDDG
}
//*************************************
void main_init(void)
{
_asm("sim"); //关总中断
clk_init();
port_init();
time4_init();
iwdg_init();
SPI_CLK = 1; //CLK上电先拉高
SPI_CS= 1; //失能TMC2660
reg_mres = 7;
reg_cs = current_code;
DRVCTRL = 0X00;
DRVCTRL <<= 8;
DRVCTRL|=(INTPOL<<1)|DEDGE;
DRVCTRL <<= 8;
DRVCTRL|= reg_mres;
CHOPCONF = 0X04;
CHOPCONF <<= 2;
CHOPCONF|= TBL;
CHOPCONF <<= 8;
CHOPCONF|= (CHM<<7)|(RNDTF<<6)|(HDEC<<4)|(HEND);
CHOPCONF <<= 7;
CHOPCONF|= (HSTRT<<4)|(TOFF);
SMARTEN = 0X0A;
SMARTEN <<= 8;
SMARTEN|= (SEIMIN<<7)|(SEDN<<5)|(SEMAX);
SMARTEN <<= 8;
SMARTEN|= (SEUP<<5)|(SEMIN);
SGCSCONF = 0X06;
SGCSCONF <<= 1;
SGCSCONF|= SFILT;
SGCSCONF <<= 8;
SGCSCONF|= SGT;
SGCSCONF <<= 8;
SGCSCONF|= reg_cs;
DRVCONF = 0X07;
DRVCONF <<= 1;
DRVCONF|= TST;
DRVCONF <<= 8;
DRVCONF|=(SLPH<<6)|(SLPL<<4)|(DISS2G<<2)|(TS2G);
DRVCONF <<= 8;
DRVCONF|= (SDOFF<<7)|(VSENSE<<6)|(RDSEL<<4);
address_key_state = 0x07;
encoded_key_state = 0x0f;
// read_data = read_write_spi(DRVCTRL);
// read_data = read_write_spi(CHOPCONF);
// read_data = read_write_spi(SMARTEN);
// read_data = read_write_spi(SGCSCONF);
// read_data = read_write_spi(DRVCONF);
read_data = read_write_spi(0x901b4);
read_data = read_write_spi(0xd001f);
read_data = read_write_spi(0xe0010);
read_data = read_write_spi(0x00000);
read_data = read_write_spi(0xa8202);
_asm("rim"); //开总中断
}
//*************************************
char function_getline(int x0,int x,int x1,char y0,chary1)
{
char y;
y = (x - x0)*(y1 - y0)/(x1 - x0) + y0;
return y;
}
//*************************************
void time_mainloop(void)
{
if(bit_1ms == 0)return;
bit_1ms = 0;
count_5ms++;
if(count_5ms == 5)
{
bit_address_key = 1;
}
else if(count_5ms >= 10)
{
count_5ms = 0;
bit_encoded_key = 1;
}
}
//*************************************
void addresskey_mainloop(void) //设置细分系数
{
if(bit_address_key == 0)return;
bit_address_key = 0;
new_address_key = read_address_key();
if(new_address_key != address_key_state)
{
if(++address_key_count >= 10)
{
address_key_count = 0;
address_key_state = new_address_key;
reg_mres = new_address_key;
DRVCTRL= 0X00;
DRVCTRL <<= 8;
DRVCTRL |=(INTPOL<<1)|DEDGE;
DRVCTRL <<= 8;
DRVCTRL |= reg_mres;
read_write_spi(DRVCTRL);
}
}
}
//*************************************
void encodedkey_mainloop(void) //设置电流大小
{
if(bit_encoded_key == 0)return;
bit_encoded_key = 0;
new_encoded_key = read_encoded_key();
if(new_encoded_key != encoded_key_state)
{
if(++encoded_key_count >= 10)
{
encoded_key_count = 0;
encoded_key_state = new_encoded_key;
reg_cs = current_code;
SGCSCONF = 0X06;
SGCSCONF <<= 1;
SGCSCONF |= SFILT;
SGCSCONF <<= 8;
SGCSCONF |= SGT;
SGCSCONF <<= 8;
SGCSCONF |= reg_cs;
read_write_spi(SGCSCONF);
}
}
}
//*************************************
void main()
{
main_init();
while(1)
{
time_mainloop();
addresskey_mainloop();
encodedkey_mainloop();
feed_iwdg();
}
}
//*************************************
@far @interrupt time4_IRQ(void)
{
TIM4_SR = 0X00;
bit_1ms = 1;
}
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