TMC2226的STM32 寄存器驱动代码

以下是TMC2226的STM32寄存器驱动代码示例：

#include "stm32f1xx_hal.h"

#define TMC2226_SPI_TIMEOUT 1000 // SPI通信超时时间

// TMC2226寄存器地址定义
#define TMC2226_GCONF_REG_ADDR 0x00
#define TMC2226_CHOPCONF_REG_ADDR 0x0C
#define TMC2226_SMARTEN_REG_ADDR 0x14
#define TMC2226_SGCSCONF_REG_ADDR 0x1C

// TMC2226 SPI通信指令定义
#define TMC2226_WRITE_MASK 0x80
#define TMC2226_READ_MASK 0x7F

// TMC2226 GCONF寄存器位定义
#define TMC2226_GCONF_EN_PWM_MODE_BIT 0
#define TMC2226_GCONF_SHAFT_BIT 1
#define TMC2226_GCONF_DIAG0_ERROR_BIT 2
#define TMC2226_GCONF_DIAG0_OTPW_BIT 3
#define TMC2226_GCONF_DIAG1_STALL_BIT 4
#define TMC2226_GCONF_DIAG1_STALL_FORCE_BIT 5
#define TMC2226_GCONF_DIAG1_OT_BIT 6
#define TMC2226_GCONF_DIAG1_STEP_LOSS_A_BIT 7
#define TMC2226_GCONF_DIAG1_STEP_LOSS_B_BIT 8
#define TMC2226_GCONF_PDN_DISABLE_BIT 16
#define TMC2226_GCONF_MSTEP_REG_SELECT_BIT 17
#define TMC2226_GCONF_MULTISTEP_FILT_BIT 20
#define TMC2226_GCONF_TEST_MODE_BIT 21
#define TMC2226_GCONF_RESET_BIT 22

// TMC2226 CHOPCONF寄存器位定义
#define TMC2226_CHOPCONF_TOFF_BIT 0
#define TMC2226_CHOPCONF_HSTRT_BIT 4
#define TMC2226_CHOPCONF_HEND_BIT 7
#define TMC2226_CHOPCONF_TBL_BIT 8
#define TMC2226_CHOPCONF_VSENSE_BIT 17
#define TMC2226_CHOPCONF_MRES_BIT 28

// TMC2226 SMARTEN寄存器位定义
#define TMC2226_SMARTEN_SDOFF_BIT 0
#define TMC2226_SMARTEN_SDN_BIT 1
#define TMC2226_SMARTEN_SEIMIN_BIT 2
#define TMC2226_SMARTEN_SEDN_BIT 3
#define TMC2226_SMARTEN_SEMAX_BIT 4
#define TMC2226_SMARTEN_SEUP_BIT 5

// TMC2226 SGCSCONF寄存器位定义
#define TMC2226_SGCSCONF_CS_BIT 0
#define TMC2226_SGCSCONF_SFILT_BIT 8
#define TMC2226_SGCSCONF_SGT_BIT 16
#define TMC2226_SGCSCONF_SCURRENT_BIT 24

SPI_HandleTypeDef hspi1; // SPI句柄定义

/**
 * @brief TMC2226写寄存器函数
 * @param regAddr 寄存器地址
 * @param data 写入的数据
 * @return 返回SPI通信结果
 */
HAL_StatusTypeDef TMC2226_WriteReg(uint8_t regAddr, uint32_t data)
{
    HAL_StatusTypeDef status;
    uint8_t txData[5];
    uint8_t rxData[5];

    txData[0] = regAddr | TMC2226_WRITE_MASK;
    txData[1] = (data >> 24) & 0xFF;
    txData[2] = (data >> 16) & 0xFF;
    txData[3] = (data >> 8) & 0xFF;
    txData[4] = data & 0xFF;

    status = HAL_SPI_TransmitReceive(&hspi1, txData, rxData, 5, TMC2226_SPI_TIMEOUT);

    return status;
}

/**
 * @brief TMC2226读寄存器函数
 * @param regAddr 寄存器地址
 * @param pData 存放读取到的数据指针
 * @return 返回SPI通信结果
 */
HAL_StatusTypeDef TMC2226_ReadReg(uint8_t regAddr, uint32_t *pData)
{
    HAL_StatusTypeDef status;
    uint8_t txData[5];
    uint8_t rxData[5];

    txData[0] = regAddr & TMC2226_READ_MASK;
    txData[1] = 0;
    txData[2] = 0;
    txData[3] = 0;
    txData[4] = 0;

    status = HAL_SPI_TransmitReceive(&hspi1, txData, rxData, 5, TMC2226_SPI_TIMEOUT);

    *pData = (rxData[1] << 24) | (rxData[2] << 16) | (rxData[3] << 8) | rxData[4];

    return status;
}

/**
 * @brief TMC2226初始化函数
 * @return 返回初始化结果
 */
HAL_StatusTypeDef TMC2226_Init(void)
{
    HAL_StatusTypeDef status;
    uint32_t regVal;

    // GCONF寄存器配置
    regVal = 0;
    regVal |= (1 << TMC2226_GCONF_EN_PWM_MODE_BIT); // 使能PWM模式
    status = TMC2226_WriteReg(TMC2226_GCONF_REG_ADDR, regVal);
    if (status != HAL_OK)
    {
        return status;
    }

    // CHOPCONF寄存器配置
    regVal = 0;
    regVal |= (0x4 << TMC2226_CHOPCONF_TOFF_BIT); // TOFF = 4
    regVal |= (0x2 << TMC2226_CHOPCONF_HSTRT_BIT); // HSTRT = 2
    regVal |= (0x8 << TMC2226_CHOPCONF_HEND_BIT); // HEND = 8
    regVal |= (1 << TMC2226_CHOPCONF_TBL_BIT); // TBL = 1
    regVal |= (0x5 << TMC2226_CHOPCONF_MRES_BIT); // MRES = 5
    status = TMC2226_WriteReg(TMC2226_CHOPCONF_REG_ADDR, regVal);
    if (status != HAL_OK)
    {
        return status;
    }

    // SMARTEN寄存器配置
    regVal = 0;
    regVal |= (1 << TMC2226_SMARTEN_SDN_BIT); // SDN = 1
    status = TMC2226_WriteReg(TMC2226_SMARTEN_REG_ADDR, regVal);
    if (status != HAL_OK)
    {
        return status;
    }

    // SGCSCONF寄存器配置
    regVal = 0;
    regVal |= (0x3 << TMC2226_SGCSCONF_CS_BIT); // CS = 3
    regVal |= (0x3 << TMC2226_SGCSCONF_SFILT_BIT); // SFILT = 3
    regVal |= (0x5 << TMC2226_SGCSCONF_SGT_BIT); // SGT = 5
    regVal |= (0x6 << TMC2226_SGCSCONF_SCURRENT_BIT); // SCURRENT = 6
    status = TMC2226_WriteReg(TMC2226_SGCSCONF_REG_ADDR, regVal);
    if (status != HAL_OK)
    {
        return status;
    }

    return HAL_OK;
}

注意，上述代码中的寄存器配置仅作为示例，具体的寄存器配置应根据实际需求进行调整。