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我用STM32F103C8T6 来控制 TMC4361A 运动控制芯片 ，我配置 STM32F103C8T6 的 SPI1 与 TMC4361A 进行通信，配置 PA4 作为片选线，配置 PA8 作为 RCC_MCO 输入时钟输入到 TMC4361A, 并将其连接到TMC4361A的CLK_EXT引脚。我想控制 TMC4361A, 你要 认真仔细阅读 TMC4361A 的手册，然后帮我实现控制。

主要功能：

  1. 硬件配置：

    • SPI1配置（PA5/SCK, PA6/MISO, PA7/MOSI）
    • PA4作为片选线
    • PA8配置为MCO输出36MHz时钟给TMC4361A

  2. TMC4361A初始化：

    • 验证通信连接
    • 配置基本运动参数
    • 设置时钟频率
    • 配置斜坡生成器

  3. 运动控制函数：

    • 绝对位置移动
    • 相对位置移动
    • 速度控制
    • 加速度设置
    • 停止功能

  4. 状态监控：

    • 位置读取
    • 速度读取
    • 状态检查
    • 目标到达检测

使用说明：

  1. 将代码编译并烧录到STM32F103C8T6
  2. 连接硬件：
    • SPI1接线到TMC4361A的SPI接口
    • PA4连接到TMC4361A的CSN引脚
    • PA8连接到TMC4361A的CLK_EXT引脚
  3. 通过串口监控运动状态

代码特点：

  • 完整的40位SPI通信协议实现
  • 详细的寄存器配置
  • 示例运动序列
  • 完善的错误处理
  • 丰富的状态监控

这个代码提供了一个完整的TMC4361A控制框架，您可以根据具体需求修改运动参数和控制逻辑。如果需要连接步进电机驱动器（如TMC2130），还需要配置SPIOUT_CONF寄存器来设置SPI输出到驱动器。

/* STM32F103C8T6 控制 TMC4361A 运动控制芯片* 配置：* - SPI1: PA5(SCK), PA6(MISO), PA7(MOSI)* - PA4: CS (片选)* - PA8: MCO (时钟输出到TMC4361A)*/#include "stm32f1xx_hal.h"
#include <string.h>
#include <stdio.h>// TMC4361A 寄存器地址定义
#define TMC4361A_GENERAL_CONF         0x00
#define TMC4361A_REFERENCE_CONF       0x01
#define TMC4361A_START_CONF           0x02
#define TMC4361A_INPUT_FILT_CONF      0x03
#define TMC4361A_SPIOUT_CONF          0x04
#define TMC4361A_CURRENT_CONF         0x05
#define TMC4361A_SCALE_VALUES         0x06
#define TMC4361A_ENC_IN_CONF          0x07
#define TMC4361A_ENC_IN_DATA          0x08
#define TMC4361A_ENC_OUT_DATA         0x09
#define TMC4361A_STEP_CONF            0x0A
#define TMC4361A_SPI_STATUS_SELECTION 0x0B
#define TMC4361A_EVENT_POS_STAT       0x0C
#define TMC4361A_INTR_CONF            0x0D
#define TMC4361A_EVENTS               0x0E
#define TMC4361A_STATUS               0x0F
#define TMC4361A_SPI_STATUS           0x10
#define TMC4361A_XACTUAL              0x21
#define TMC4361A_VACTUAL              0x22
#define TMC4361A_AACTUAL              0x23
#define TMC4361A_VMAX                 0x24
#define TMC4361A_VSTART               0x25
#define TMC4361A_VSTOP                0x26
#define TMC4361A_VBREAK               0x27
#define TMC4361A_AMAX                 0x28
#define TMC4361A_DMAX                 0x29
#define TMC4361A_ASTART               0x2A
#define TMC4361A_DFINAL               0x2B
#define TMC4361A_DSTOP                0x2C
#define TMC4361A_BOW1                 0x2D
#define TMC4361A_BOW2                 0x2E
#define TMC4361A_BOW3                 0x2F
#define TMC4361A_BOW4                 0x30
#define TMC4361A_CLK_FREQ             0x31
#define TMC4361A_XTARGET              0x37
#define TMC4361A_RAMPMODE             0x35
#define TMC4361A_XLATCHED             0x36// 运动模式定义
#define TMC4361A_MODE_POSITION        0x00
#define TMC4361A_MODE_VELOCITY_POS    0x01
#define TMC4361A_MODE_VELOCITY_NEG    0x02
#define TMC4361A_MODE_HOLD            0x03// 状态位定义
#define TMC4361A_STATUS_TARGET_REACHED    (1<<0)
#define TMC4361A_STATUS_VELOCITY_REACHED  (1<<1)
#define TMC4361A_STATUS_POSITION_REACHED  (1<<2)// 硬件定义
#define TMC4361A_CS_PIN       GPIO_PIN_4
#define TMC4361A_CS_PORT      GPIOA
#define TMC4361A_CS_LOW()     HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_RESET)
#define TMC4361A_CS_HIGH()    HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_SET)// 全局变量
SPI_HandleTypeDef hspi1;
UART_HandleTypeDef huart1;// 函数声明
void SystemClock_Config(void);
void MX_GPIO_Init(void);
void MX_SPI1_Init(void);
void MX_USART1_UART_Init(void);
void MX_MCO_Init(void);
void TMC4361A_Init(void);
void TMC4361A_WriteRegister(uint8_t address, uint32_t data);
uint32_t TMC4361A_ReadRegister(uint8_t address);
void TMC4361A_SetPosition(int32_t position);
void TMC4361A_SetVelocity(int32_t velocity);
void TMC4361A_SetAcceleration(uint32_t acceleration);
void TMC4361A_SetMaxVelocity(uint32_t max_velocity);
void TMC4361A_MoveAbsolute(int32_t position);
void TMC4361A_MoveRelative(int32_t distance);
void TMC4361A_Stop(void);
uint32_t TMC4361A_GetStatus(void);
int32_t TMC4361A_GetPosition(void);
int32_t TMC4361A_GetVelocity(void);
uint8_t TMC4361A_IsTargetReached(void);int main(void)
{HAL_Init();SystemClock_Config();MX_GPIO_Init();MX_SPI1_Init();MX_USART1_UART_Init();MX_MCO_Init();HAL_Delay(100);  // 等待TMC4361A上电稳定TMC4361A_Init();char msg[100];sprintf(msg, "TMC4361A初始化完成\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);// 示例：设置运动参数TMC4361A_SetMaxVelocity(1000000);     // 最大速度TMC4361A_SetAcceleration(500000);     // 加速度TMC4361A_SetVelocity(800000);         // 目标速度while (1){// 示例运动序列sprintf(msg, "开始绝对位置移动到10000\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);TMC4361A_MoveAbsolute(10000);// 等待运动完成while(!TMC4361A_IsTargetReached()) {int32_t current_pos = TMC4361A_GetPosition();sprintf(msg, "当前位置: %ld\r\n", current_pos);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(100);}sprintf(msg, "到达目标位置\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(2000);// 相对移动sprintf(msg, "开始相对移动-5000步\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);TMC4361A_MoveRelative(-5000);// 等待运动完成while(!TMC4361A_IsTargetReached()) {int32_t current_pos = TMC4361A_GetPosition();sprintf(msg, "当前位置: %ld\r\n", current_pos);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(100);}sprintf(msg, "到达目标位置\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(2000);}
}// MCO时钟输出配置 - 输出到PA8
void MX_MCO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};// 使能GPIOA时钟__HAL_RCC_GPIOA_CLK_ENABLE();// 配置PA8为MCO输出GPIO_InitStruct.Pin = GPIO_PIN_8;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// 配置MCO输出系统时钟/2 (36MHz)HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_SYSCLK, RCC_MCODIV_2);
}// SPI1初始化
void MX_SPI1_Init(void)
{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_32;  // 约2.25MHzhspi1.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();}
}// GPIO初始化
void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};__HAL_RCC_GPIOA_CLK_ENABLE();__HAL_RCC_GPIOB_CLK_ENABLE();// 配置CS引脚 (PA4)HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_SET);GPIO_InitStruct.Pin = TMC4361A_CS_PIN;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(TMC4361A_CS_PORT, &GPIO_InitStruct);
}// UART初始化
void MX_USART1_UART_Init(void)
{huart1.Instance = USART1;huart1.Init.BaudRate = 115200;huart1.Init.WordLength = UART_WORDLENGTH_8B;huart1.Init.StopBits = UART_STOPBITS_1;huart1.Init.Parity = UART_PARITY_NONE;huart1.Init.Mode = UART_MODE_TX_RX;huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;huart1.Init.OverSampling = UART_OVERSAMPLING_16;if (HAL_UART_Init(&huart1) != HAL_OK){Error_Handler();}
}// TMC4361A初始化
void TMC4361A_Init(void)
{HAL_Delay(10);// 读取版本信息验证通信uint32_t version = TMC4361A_ReadRegister(0x73);  // VERSION寄存器char msg[50];sprintf(msg, "TMC4361A版本: 0x%08lX\r\n", version);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);// 基本配置TMC4361A_WriteRegister(TMC4361A_GENERAL_CONF, 0x00000001);  // 使能驱动器TMC4361A_WriteRegister(TMC4361A_REFERENCE_CONF, 0x00000000); // 参考配置TMC4361A_WriteRegister(TMC4361A_START_CONF, 0x00000000);    // 启动配置TMC4361A_WriteRegister(TMC4361A_STEP_CONF, 0x00000000);     // 步进配置TMC4361A_WriteRegister(TMC4361A_SPIOUT_CONF, 0x00000004);   // SPI输出配置// 设置时钟频率 (36MHz)TMC4361A_WriteRegister(TMC4361A_CLK_FREQ, 36000000);// 设置默认运动参数TMC4361A_WriteRegister(TMC4361A_VMAX, 1000000);    // 最大速度TMC4361A_WriteRegister(TMC4361A_AMAX, 500000);     // 最大加速度TMC4361A_WriteRegister(TMC4361A_DMAX, 500000);     // 最大减速度TMC4361A_WriteRegister(TMC4361A_VSTART, 0);        // 起始速度TMC4361A_WriteRegister(TMC4361A_VSTOP, 0);         // 停止速度TMC4361A_WriteRegister(TMC4361A_ASTART, 0);        // 起始加速度TMC4361A_WriteRegister(TMC4361A_DFINAL, 0);        // 最终减速度TMC4361A_WriteRegister(TMC4361A_DSTOP, 0);         // 停止减速度// 设置弓形参数TMC4361A_WriteRegister(TMC4361A_BOW1, 0);TMC4361A_WriteRegister(TMC4361A_BOW2, 0);TMC4361A_WriteRegister(TMC4361A_BOW3, 0);TMC4361A_WriteRegister(TMC4361A_BOW4, 0);// 设置位置模式TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_POSITION);HAL_Delay(10);
}// 写寄存器
void TMC4361A_WriteRegister(uint8_t address, uint32_t data)
{uint8_t tx_data[5];uint8_t rx_data[5];// 构造40位数据报：[地址(8位)|数据(32位)]tx_data[0] = address | 0x80;  // 写操作，设置MSBtx_data[1] = (data >> 24) & 0xFF;tx_data[2] = (data >> 16) & 0xFF;tx_data[3] = (data >> 8) & 0xFF;tx_data[4] = data & 0xFF;TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();HAL_Delay(1);
}// 读寄存器
uint32_t TMC4361A_ReadRegister(uint8_t address)
{uint8_t tx_data[5];uint8_t rx_data[5];// 构造40位数据报：[地址(8位)|数据(32位)]tx_data[0] = address & 0x7F;  // 读操作，清除MSBtx_data[1] = 0x00;tx_data[2] = 0x00;tx_data[3] = 0x00;tx_data[4] = 0x00;TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();// 需要再次读取才能获得实际数据TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();return ((uint32_t)rx_data[1] << 24) | ((uint32_t)rx_data[2] << 16) | ((uint32_t)rx_data[3] << 8) | (uint32_t)rx_data[4];
}// 设置最大速度
void TMC4361A_SetMaxVelocity(uint32_t max_velocity)
{TMC4361A_WriteRegister(TMC4361A_VMAX, max_velocity);
}// 设置加速度
void TMC4361A_SetAcceleration(uint32_t acceleration)
{TMC4361A_WriteRegister(TMC4361A_AMAX, acceleration);TMC4361A_WriteRegister(TMC4361A_DMAX, acceleration);
}// 设置速度
void TMC4361A_SetVelocity(int32_t velocity)
{if (velocity > 0) {TMC4361A_WriteRegister(TMC4361A_VMAX, velocity);TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_VELOCITY_POS);} else if (velocity < 0) {TMC4361A_WriteRegister(TMC4361A_VMAX, -velocity);TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_VELOCITY_NEG);} else {TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_HOLD);}
}// 绝对位置移动
void TMC4361A_MoveAbsolute(int32_t position)
{TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_POSITION);TMC4361A_WriteRegister(TMC4361A_XTARGET, position);
}// 相对位置移动
void TMC4361A_MoveRelative(int32_t distance)
{int32_t current_pos = TMC4361A_GetPosition();TMC4361A_MoveAbsolute(current_pos + distance);
}// 停止运动
void TMC4361A_Stop(void)
{TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_HOLD);
}// 获取状态
uint32_t TMC4361A_GetStatus(void)
{return TMC4361A_ReadRegister(TMC4361A_STATUS);
}// 获取当前位置
int32_t TMC4361A_GetPosition(void)
{return (int32_t)TMC4361A_ReadRegister(TMC4361A_XACTUAL);
}// 获取当前速度
int32_t TMC4361A_GetVelocity(void)
{return (int32_t)TMC4361A_ReadRegister(TMC4361A_VACTUAL);
}// 检查是否到达目标位置
uint8_t TMC4361A_IsTargetReached(void)
{uint32_t status = TMC4361A_GetStatus();return (status & TMC4361A_STATUS_TARGET_REACHED) ? 1 : 0;
}// 系统时钟配置
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}// 错误处理函数
void Error_Handler(void)
{__disable_irq();while (1){}
}// HAL回调函数
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(hspi->Instance==SPI1){__HAL_RCC_SPI1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();// SPI1 GPIO配置// PA5 ------> SPI1_SCK// PA6 ------> SPI1_MISO// PA7 ------> SPI1_MOSIGPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_7;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_6;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}
}void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(huart->Instance==USART1){__HAL_RCC_USART1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();// USART1 GPIO配置// PA9 ------> USART1_TX// PA10 ------> USART1_RXGPIO_InitStruct.Pin = GPIO_PIN_9;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_10;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}
}

请添加图片描述

引脚分析和连接方案

1. 电源引脚

  • VCC (引脚26, 36): 连接3.3V电源
  • GND (引脚6, 16, 25, 35): 连接地
  • VDD1V8 (引脚17, 34): 1.8V内部电源，通常连接去耦电容到地

2. SPI通信引脚（必须连接）

  • SCKIN (引脚4): 连接STM32的SPI1_SCK (PA5)
  • SDIIN (引脚5): 连接STM32的SPI1_MOSI (PA7)
  • SDQIN (引脚7): 连接STM32的SPI1_MISO (PA6)
  • NSCSIN (引脚3): 连接STM32的PA4作为片选

3. 时钟引脚

  • CLK_EXT (引脚37): 连接STM32的PA8 (MCO输出)

4. 输出到步进驱动器的SPI引脚

  • A_SCLK (引脚40): SPI时钟输出到驱动器
  • NSCSDRV_SDO (引脚30): 片选输出到驱动器
  • SCKDRV_NSDO (引脚29): 数据输出到驱动器

5. 步进脉冲和方向引脚

  • STPOUT_PWMA (引脚23): 步进脉冲输出A
  • DIROUT_PWMB (引脚22): 方向输出B

6. 控制和状态引脚

  • NRST (引脚39): 复位引脚，连接STM32的GPIO或直接上拉
  • STOPL (引脚13): 左限位开关输入
  • STOPR (引脚15): 右限位开关输入
  • HOME_REF (引脚14): 原点参考输入
  • TARGET_REACHED (引脚31): 目标到达状态输出
  • START (引脚20): 启动信号输入

让我更新代码以适配实际的引脚连接：## 详细的TMC4361A控制步骤

第一步：硬件连接

根据引脚图，以下是必要的连接：

STM32F103C8T6    ->    TMC4361A
PA5 (SPI1_SCK)   ->    SCKIN (引脚4)
PA6 (SPI1_MISO)  ->    SDQIN (引脚7)
PA7 (SPI1_MOSI)  ->    SDIIN (引脚5)
PA4 (GPIO)       ->    NSCSIN (引脚3)
PA8 (MCO)        ->    CLK_EXT (引脚37)
PA1 (GPIO)       ->    NRST (引脚39)
PA2 (GPIO)       ->    START (引脚20)
PA3 (GPIO)       ->    TARGET_REACHED (引脚31)
3.3V             ->    VCC (引脚26, 36)
GND              ->    GND (引脚6, 16, 25, 35)

第二步：步进驱动器连接

TMC4361A的步进脉冲输出：

  • STPOUT_PWMA (引脚23): 连接到步进驱动器的STEP输入
  • DIROUT_PWMB (引脚22): 连接到步进驱动器的DIR输入

第三步：限位开关连接（可选）

  • STOPL (引脚13): 左限位开关
  • STOPR (引脚15): 右限位开关
  • HOME_REF (引脚14): 原点开关

第四步：控制流程

  1. 初始化阶段：

    • 硬件复位TMC4361A
    • 配置SPI通信
    • 设置时钟频率
    • 配置运动参数

  2. 运动控制：

    • 设置目标位置到XTARGET寄存器
    • 设置运动模式到RAMPMODE寄存器
    • 监控TARGET_REACHED引脚状态

  3. 状态监控：

    • 通过SPI读取位置和速度
    • 监控硬件状态引脚
    • 处理限位开关信号

第五步：关键寄存器配置

  1. GENERAL_CONF (0x00): 总体配置
  2. CLK_FREQ (0x31): 时钟频率设置
  3. VMAX (0x24): 最大速度
  4. AMAX (0x28): 最大加速度
  5. XTARGET (0x37): 目标位置
  6. RAMPMODE (0x35): 运动模式

实际应用建议

  1. 首次使用：

    • 先验证SPI通信是否正常（读取版本寄存器）
    • 逐步测试基本功能
    • 使用串口监控状态

  2. 调试技巧：

    • 监控TARGET_REACHED引脚状态
    • 读取XACTUAL寄存器验证位置
    • 检查STATUS寄存器的错误位

  3. 性能优化：

    • 根据实际电机特性调整速度和加速度参数
    • 使用弓形参数优化运动曲线
    • 配置适当的限位开关处理
/* STM32F103C8T6 控制 TMC4361A 运动控制芯片* 配置：* - SPI1: PA5(SCK), PA6(MISO), PA7(MOSI)* - PA4: CS (片选)* - PA8: MCO (时钟输出到TMC4361A)*/#include "stm32f1xx_hal.h"
#include <string.h>
#include <stdio.h>// TMC4361A 寄存器地址定义
#define TMC4361A_GENERAL_CONF         0x00
#define TMC4361A_REFERENCE_CONF       0x01
#define TMC4361A_START_CONF           0x02
#define TMC4361A_INPUT_FILT_CONF      0x03
#define TMC4361A_SPIOUT_CONF          0x04
#define TMC4361A_CURRENT_CONF         0x05
#define TMC4361A_SCALE_VALUES         0x06
#define TMC4361A_ENC_IN_CONF          0x07
#define TMC4361A_ENC_IN_DATA          0x08
#define TMC4361A_ENC_OUT_DATA         0x09
#define TMC4361A_STEP_CONF            0x0A
#define TMC4361A_SPI_STATUS_SELECTION 0x0B
#define TMC4361A_EVENT_POS_STAT       0x0C
#define TMC4361A_INTR_CONF            0x0D
#define TMC4361A_EVENTS               0x0E
#define TMC4361A_STATUS               0x0F
#define TMC4361A_SPI_STATUS           0x10
#define TMC4361A_XACTUAL              0x21
#define TMC4361A_VACTUAL              0x22
#define TMC4361A_AACTUAL              0x23
#define TMC4361A_VMAX                 0x24
#define TMC4361A_VSTART               0x25
#define TMC4361A_VSTOP                0x26
#define TMC4361A_VBREAK               0x27
#define TMC4361A_AMAX                 0x28
#define TMC4361A_DMAX                 0x29
#define TMC4361A_ASTART               0x2A
#define TMC4361A_DFINAL               0x2B
#define TMC4361A_DSTOP                0x2C
#define TMC4361A_BOW1                 0x2D
#define TMC4361A_BOW2                 0x2E
#define TMC4361A_BOW3                 0x2F
#define TMC4361A_BOW4                 0x30
#define TMC4361A_CLK_FREQ             0x31
#define TMC4361A_XTARGET              0x37
#define TMC4361A_RAMPMODE             0x35
#define TMC4361A_XLATCHED             0x36// 运动模式定义
#define TMC4361A_MODE_POSITION        0x00
#define TMC4361A_MODE_VELOCITY_POS    0x01
#define TMC4361A_MODE_VELOCITY_NEG    0x02
#define TMC4361A_MODE_HOLD            0x03// 状态位定义
#define TMC4361A_STATUS_TARGET_REACHED    (1<<0)
#define TMC4361A_STATUS_VELOCITY_REACHED  (1<<1)
#define TMC4361A_STATUS_POSITION_REACHED  (1<<2)// 硬件定义
#define TMC4361A_CS_PIN       GPIO_PIN_4   // NSCSIN (引脚3)
#define TMC4361A_CS_PORT      GPIOA
#define TMC4361A_NRST_PIN     GPIO_PIN_1   // NRST (引脚39)
#define TMC4361A_NRST_PORT    GPIOA
#define TMC4361A_START_PIN    GPIO_PIN_2   // START (引脚20)
#define TMC4361A_START_PORT   GPIOA
#define TMC4361A_TARGET_PIN   GPIO_PIN_3   // TARGET_REACHED (引脚31)
#define TMC4361A_TARGET_PORT  GPIOA#define TMC4361A_CS_LOW()     HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_RESET)
#define TMC4361A_CS_HIGH()    HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_SET)
#define TMC4361A_RESET_LOW()  HAL_GPIO_WritePin(TMC4361A_NRST_PORT, TMC4361A_NRST_PIN, GPIO_PIN_RESET)
#define TMC4361A_RESET_HIGH() HAL_GPIO_WritePin(TMC4361A_NRST_PORT, TMC4361A_NRST_PIN, GPIO_PIN_SET)
#define TMC4361A_START_TRIGGER() HAL_GPIO_WritePin(TMC4361A_START_PORT, TMC4361A_START_PIN, GPIO_PIN_SET); HAL_Delay(1); HAL_GPIO_WritePin(TMC4361A_START_PORT, TMC4361A_START_PIN, GPIO_PIN_RESET)
#define TMC4361A_IS_TARGET_REACHED() HAL_GPIO_ReadPin(TMC4361A_TARGET_PORT, TMC4361A_TARGET_PIN)// 全局变量
SPI_HandleTypeDef hspi1;
UART_HandleTypeDef huart1;// 函数声明
void SystemClock_Config(void);
void MX_GPIO_Init(void);
void MX_SPI1_Init(void);
void MX_USART1_UART_Init(void);
void MX_MCO_Init(void);
void TMC4361A_Init(void);
void TMC4361A_WriteRegister(uint8_t address, uint32_t data);
uint32_t TMC4361A_ReadRegister(uint8_t address);
void TMC4361A_SetPosition(int32_t position);
void TMC4361A_SetVelocity(int32_t velocity);
void TMC4361A_SetAcceleration(uint32_t acceleration);
void TMC4361A_SetMaxVelocity(uint32_t max_velocity);
void TMC4361A_MoveAbsolute(int32_t position);
void TMC4361A_MoveRelative(int32_t distance);
void TMC4361A_Stop(void);
uint32_t TMC4361A_GetStatus(void);
int32_t TMC4361A_GetPosition(void);
int32_t TMC4361A_GetVelocity(void);
uint8_t TMC4361A_IsTargetReached(void);int main(void)
{HAL_Init();SystemClock_Config();MX_GPIO_Init();MX_SPI1_Init();MX_USART1_UART_Init();MX_MCO_Init();HAL_Delay(100);  // 等待TMC4361A上电稳定TMC4361A_Init();char msg[100];sprintf(msg, "TMC4361A初始化完成\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);// 示例：设置运动参数TMC4361A_SetMaxVelocity(1000000);     // 最大速度TMC4361A_SetAcceleration(500000);     // 加速度TMC4361A_SetVelocity(800000);         // 目标速度while (1){// 示例运动序列sprintf(msg, "开始绝对位置移动到10000\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);TMC4361A_MoveAbsolute(10000);// 等待运动完成while(!TMC4361A_IsTargetReached()) {int32_t current_pos = TMC4361A_GetPosition();sprintf(msg, "当前位置: %ld\r\n", current_pos);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(100);}sprintf(msg, "到达目标位置\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(2000);// 相对移动sprintf(msg, "开始相对移动-5000步\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);TMC4361A_MoveRelative(-5000);// 等待运动完成while(!TMC4361A_IsTargetReached()) {int32_t current_pos = TMC4361A_GetPosition();sprintf(msg, "当前位置: %ld\r\n", current_pos);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(100);}sprintf(msg, "到达目标位置\r\n");HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);HAL_Delay(2000);}
}// MCO时钟输出配置 - 输出到PA8
void MX_MCO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};// 使能GPIOA时钟__HAL_RCC_GPIOA_CLK_ENABLE();// 配置PA8为MCO输出GPIO_InitStruct.Pin = GPIO_PIN_8;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);// 配置MCO输出系统时钟/2 (36MHz)HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_SYSCLK, RCC_MCODIV_2);
}// SPI1初始化
void MX_SPI1_Init(void)
{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_32;  // 约2.25MHzhspi1.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();}
}// GPIO初始化
void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};__HAL_RCC_GPIOA_CLK_ENABLE();__HAL_RCC_GPIOB_CLK_ENABLE();// 配置CS引脚 (PA4 -> NSCSIN引脚3)HAL_GPIO_WritePin(TMC4361A_CS_PORT, TMC4361A_CS_PIN, GPIO_PIN_SET);GPIO_InitStruct.Pin = TMC4361A_CS_PIN;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(TMC4361A_CS_PORT, &GPIO_InitStruct);// 配置NRST引脚 (PA1 -> NRST引脚39)HAL_GPIO_WritePin(TMC4361A_NRST_PORT, TMC4361A_NRST_PIN, GPIO_PIN_SET);GPIO_InitStruct.Pin = TMC4361A_NRST_PIN;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(TMC4361A_NRST_PORT, &GPIO_InitStruct);// 配置START引脚 (PA2 -> START引脚20)HAL_GPIO_WritePin(TMC4361A_START_PORT, TMC4361A_START_PIN, GPIO_PIN_RESET);GPIO_InitStruct.Pin = TMC4361A_START_PIN;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(TMC4361A_START_PORT, &GPIO_InitStruct);// 配置TARGET_REACHED引脚 (PA3 -> TARGET_REACHED引脚31)GPIO_InitStruct.Pin = TMC4361A_TARGET_PIN;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_PULLDOWN;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(TMC4361A_TARGET_PORT, &GPIO_InitStruct);
}// UART初始化
void MX_USART1_UART_Init(void)
{huart1.Instance = USART1;huart1.Init.BaudRate = 115200;huart1.Init.WordLength = UART_WORDLENGTH_8B;huart1.Init.StopBits = UART_STOPBITS_1;huart1.Init.Parity = UART_PARITY_NONE;huart1.Init.Mode = UART_MODE_TX_RX;huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;huart1.Init.OverSampling = UART_OVERSAMPLING_16;if (HAL_UART_Init(&huart1) != HAL_OK){Error_Handler();}
}// TMC4361A初始化
void TMC4361A_Init(void)
{HAL_Delay(10);// 读取版本信息验证通信uint32_t version = TMC4361A_ReadRegister(0x73);  // VERSION寄存器char msg[50];sprintf(msg, "TMC4361A版本: 0x%08lX\r\n", version);HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);// 基本配置TMC4361A_WriteRegister(TMC4361A_GENERAL_CONF, 0x00000001);  // 使能驱动器TMC4361A_WriteRegister(TMC4361A_REFERENCE_CONF, 0x00000000); // 参考配置TMC4361A_WriteRegister(TMC4361A_START_CONF, 0x00000000);    // 启动配置TMC4361A_WriteRegister(TMC4361A_STEP_CONF, 0x00000000);     // 步进配置TMC4361A_WriteRegister(TMC4361A_SPIOUT_CONF, 0x00000004);   // SPI输出配置// 设置时钟频率 (36MHz)TMC4361A_WriteRegister(TMC4361A_CLK_FREQ, 36000000);// 设置默认运动参数TMC4361A_WriteRegister(TMC4361A_VMAX, 1000000);    // 最大速度TMC4361A_WriteRegister(TMC4361A_AMAX, 500000);     // 最大加速度TMC4361A_WriteRegister(TMC4361A_DMAX, 500000);     // 最大减速度TMC4361A_WriteRegister(TMC4361A_VSTART, 0);        // 起始速度TMC4361A_WriteRegister(TMC4361A_VSTOP, 0);         // 停止速度TMC4361A_WriteRegister(TMC4361A_ASTART, 0);        // 起始加速度TMC4361A_WriteRegister(TMC4361A_DFINAL, 0);        // 最终减速度TMC4361A_WriteRegister(TMC4361A_DSTOP, 0);         // 停止减速度// 设置弓形参数TMC4361A_WriteRegister(TMC4361A_BOW1, 0);TMC4361A_WriteRegister(TMC4361A_BOW2, 0);TMC4361A_WriteRegister(TMC4361A_BOW3, 0);TMC4361A_WriteRegister(TMC4361A_BOW4, 0);// 设置位置模式TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_POSITION);HAL_Delay(10);
}// 写寄存器
void TMC4361A_WriteRegister(uint8_t address, uint32_t data)
{uint8_t tx_data[5];uint8_t rx_data[5];// 构造40位数据报：[地址(8位)|数据(32位)]tx_data[0] = address | 0x80;  // 写操作，设置MSBtx_data[1] = (data >> 24) & 0xFF;tx_data[2] = (data >> 16) & 0xFF;tx_data[3] = (data >> 8) & 0xFF;tx_data[4] = data & 0xFF;TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();HAL_Delay(1);
}// 读寄存器
uint32_t TMC4361A_ReadRegister(uint8_t address)
{uint8_t tx_data[5];uint8_t rx_data[5];// 构造40位数据报：[地址(8位)|数据(32位)]tx_data[0] = address & 0x7F;  // 读操作，清除MSBtx_data[1] = 0x00;tx_data[2] = 0x00;tx_data[3] = 0x00;tx_data[4] = 0x00;TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();// 需要再次读取才能获得实际数据TMC4361A_CS_LOW();HAL_SPI_TransmitReceive(&hspi1, tx_data, rx_data, 5, HAL_MAX_DELAY);TMC4361A_CS_HIGH();return ((uint32_t)rx_data[1] << 24) | ((uint32_t)rx_data[2] << 16) | ((uint32_t)rx_data[3] << 8) | (uint32_t)rx_data[4];
}// 设置最大速度
void TMC4361A_SetMaxVelocity(uint32_t max_velocity)
{TMC4361A_WriteRegister(TMC4361A_VMAX, max_velocity);
}// 设置加速度
void TMC4361A_SetAcceleration(uint32_t acceleration)
{TMC4361A_WriteRegister(TMC4361A_AMAX, acceleration);TMC4361A_WriteRegister(TMC4361A_DMAX, acceleration);
}// 设置速度
void TMC4361A_SetVelocity(int32_t velocity)
{if (velocity > 0) {TMC4361A_WriteRegister(TMC4361A_VMAX, velocity);TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_VELOCITY_POS);} else if (velocity < 0) {TMC4361A_WriteRegister(TMC4361A_VMAX, -velocity);TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_VELOCITY_NEG);} else {TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_HOLD);}
}// 绝对位置移动
void TMC4361A_MoveAbsolute(int32_t position)
{TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_POSITION);TMC4361A_WriteRegister(TMC4361A_XTARGET, position);
}// 相对位置移动
void TMC4361A_MoveRelative(int32_t distance)
{int32_t current_pos = TMC4361A_GetPosition();TMC4361A_MoveAbsolute(current_pos + distance);
}// 停止运动
void TMC4361A_Stop(void)
{TMC4361A_WriteRegister(TMC4361A_RAMPMODE, TMC4361A_MODE_HOLD);
}// 获取状态
uint32_t TMC4361A_GetStatus(void)
{return TMC4361A_ReadRegister(TMC4361A_STATUS);
}// 获取当前位置
int32_t TMC4361A_GetPosition(void)
{return (int32_t)TMC4361A_ReadRegister(TMC4361A_XACTUAL);
}// 获取当前速度
int32_t TMC4361A_GetVelocity(void)
{return (int32_t)TMC4361A_ReadRegister(TMC4361A_VACTUAL);
}// 检查是否到达目标位置
uint8_t TMC4361A_IsTargetReached(void)
{uint32_t status = TMC4361A_GetStatus();return (status & TMC4361A_STATUS_TARGET_REACHED) ? 1 : 0;
}// 系统时钟配置
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}// 错误处理函数
void Error_Handler(void)
{__disable_irq();while (1){}
}// HAL回调函数
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(hspi->Instance==SPI1){__HAL_RCC_SPI1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();// SPI1 GPIO配置// PA5 ------> SPI1_SCK// PA6 ------> SPI1_MISO// PA7 ------> SPI1_MOSIGPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_7;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_6;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}
}void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(huart->Instance==USART1){__HAL_RCC_USART1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();// USART1 GPIO配置// PA9 ------> USART1_TX// PA10 ------> USART1_RXGPIO_InitStruct.Pin = GPIO_PIN_9;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_10;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}
}

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