tmc4361A的程序例程

TMC4361A是一款高精度、高性能的步进电机驱动芯片，具有许多先进的功能，例如步进电机的微步控制、电流控制、失速检测等。以下是TMC4361A的程序例程。

1. 初始化TMC4361A

//初始化TMC4361A
void TMC4361A_Init(void)
{
    // 1. 复位芯片
    TMC4361A_WriteRegister(TMC4361A_REG_GCONF, 0x80000000); //复位
    // 2. 配置IO口
    TMC4361A_WriteRegister(TMC4361A_REG_IOIN_CONFIG, 0x00000000); //配置IO口
    // 3. 配置电机参数
    TMC4361A_WriteRegister(TMC4361A_REG_CHOPCONF, 0x000100C3); //配置CHOP
    TMC4361A_WriteRegister(TMC4361A_REG_COOLCONF, 0x00000000); //配置COOL
    TMC4361A_WriteRegister(TMC4361A_REG_DRV_CONF, 0x000C0014); //配置DRV
    TMC4361A_WriteRegister(TMC4361A_REG_PWMCONF, 0x00050480); //配置PWM
    TMC4361A_WriteRegister(TMC4361A_REG_GCONF, 0x00000000); //配置GCONF
}

2. TMC4361A的步进电机控制

//控制步进电机运动
void TMC4361A_StepControl(int32_t steps, uint32_t dir)
{
    // 1. 配置运动方向
    if (dir == TMC4361A_DIR_FORWARD) {
        TMC4361A_WriteRegister(TMC4361A_REG_RAMPMODE, 0x00000000); //正向运动
    } else {
        TMC4361A_WriteRegister(TMC4361A_REG_RAMPMODE, 0x00000010); //反向运动
    }
    // 2. 设置运动步数
    TMC4361A_WriteRegister(TMC4361A_REG_XTARGET, steps);
    // 3. 开始运动
    TMC4361A_WriteRegister(TMC4361A_REG_RAMPMODE, 0x00000002); //启动运动
}

3. TMC4361A的失速检测控制

//配置失速检测参数
void TMC4361A_SetStallGuard(uint8_t threshold, uint8_t filter)
{
    // 1. 配置失速检测阈值和滤波器
    uint32_t stallguard = threshold;
    stallguard |= ((uint32_t)filter << 16);
    TMC4361A_WriteRegister(TMC4361A_REG_SGTHRS, stallguard);
    // 2. 配置失速检测模式
    TMC4361A_WriteRegister(TMC4361A_REG_RAMPMODE, 0x00000014); //失速检测模式
}

以上是TMC4361A的三个程序例程，可以根据实际需求进行修改和扩展。