STM32 TMC5031驱动代码

以下是一个简单的STM32驱动TMC5031步进电机控制器的示例代码：

#include "stm32f1xx_hal.h"
#include "tmc5031.h"

// 定义SPI句柄
SPI_HandleTypeDef hspi1;

// 初始化函数
void TMC5031_Init(void)
{
  // 配置SPI
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 10;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }

  // 初始化TMC5031
  TMC5031_Reset();
  TMC5031_Setup();
}

// 重置函数
void TMC5031_Reset(void)
{
  // 将RESET引脚拉低
  HAL_GPIO_WritePin(TMC5031_RESET_GPIO_Port, TMC5031_RESET_Pin, GPIO_PIN_RESET);
  HAL_Delay(1);
  // 将RESET引脚拉高
  HAL_GPIO_WritePin(TMC5031_RESET_GPIO_Port, TMC5031_RESET_Pin, GPIO_PIN_SET);
  HAL_Delay(1);
}

// 设置函数
void TMC5031_Setup(void)
{
  // 配置寄存器，详见TMC5031手册
  TMC5031_WriteRegister(TMC5031_GCONF, 0x00000001);
  TMC5031_WriteRegister(TMC5031_IHOLD_IRUN, 0x00011F00);
  TMC5031_WriteRegister(TMC5031_TPOWERDOWN, 0x0000000A);
}

// 读取寄存器函数
uint32_t TMC5031_ReadRegister(uint8_t address)
{
  uint8_t txData[4];
  uint8_t rxData[4];
  uint32_t result;

  // 构造发送数据
  txData[0] = address | 0x80;
  txData[1] = 0x00;
  txData[2] = 0x00;
  txData[3] = 0x00;

  // 发送SPI数据
  HAL_GPIO_WritePin(TMC5031_CS_GPIO_Port, TMC5031_CS_Pin, GPIO_PIN_RESET);
  HAL_SPI_TransmitReceive(&hspi1, txData, rxData, 4, 1000);
  HAL_GPIO_WritePin(TMC5031_CS_GPIO_Port, TMC5031_CS_Pin, GPIO_PIN_SET);

  // 解析返回数据
  result = (rxData[0] << 24) | (rxData[1] << 16) | (rxData[2] << 8) | rxData[3];

  return result;
}

// 写入寄存器函数
void TMC5031_WriteRegister(uint8_t address, uint32_t value)
{
  uint8_t txData[4];

  // 构造发送数据
  txData[0] = address;
  txData[1] = (value >> 24) & 0xFF;
  txData[2] = (value >> 16) & 0xFF;
  txData[3] = (value >> 8) & 0xFF;

  // 发送SPI数据
  HAL_GPIO_WritePin(TMC5031_CS_GPIO_Port, TMC5031_CS_Pin, GPIO_PIN_RESET);
  HAL_SPI_Transmit(&hspi1, txData, 4, 1000);
  HAL_GPIO_WritePin(TMC5031_CS_GPIO_Port, TMC5031_CS_Pin, GPIO_PIN_SET);
}

// 步进电机控制函数
void TMC5031_Move(int32_t steps, uint32_t speed)
{
  uint32_t status;
  uint32_t velocity;
  uint32_t acceleration;

  // 读取当前状态
  status = TMC5031_ReadRegister(TMC5031_DRV_STATUS);

  // 获取速度和加速度
  velocity = (speed * 256) / 200;
  acceleration = (velocity * 256) / 500;

  // 配置运动参数
  TMC5031_WriteRegister(TMC5031_VSTART, velocity / 2);
  TMC5031_WriteRegister(TMC5031_A1, acceleration);
  TMC5031_WriteRegister(TMC5031_V1, velocity);
  TMC5031_WriteRegister(TMC5031_AMAX, acceleration * 2);
  TMC5031_WriteRegister(TMC5031_VMAX, velocity * 2);
  TMC5031_WriteRegister(TMC5031_DMAX, acceleration * 2);
  TMC5031_WriteRegister(TMC5031_D1, acceleration);
  TMC5031_WriteRegister(TMC5031_VSTOP, velocity / 2);

  // 启动运动
  TMC5031_WriteRegister(TMC5031_RAMPMODE, 0x00000001);
  TMC5031_WriteRegister(TMC5031_XTARGET, status + steps);

  // 等待运动完成
  while ((TMC5031_ReadRegister(TMC5031_DRV_STATUS) & 0x00000080) == 0)
  {
    HAL_Delay(1);
  }
}

需要根据具体的硬件电路进行修改，包括SPI接口和步进电机控制器的引脚等。同时，还需要根据TMC5031的手册进行寄存器配置和参数设置。