STM32电机培训online,大佬带你玩电机
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& z$ T7 D' B e$ m3 T4 x- U* O因为硬件上连接到了普通的GPIO脚,不得不写软件模拟SPI,代码经过验证。如下:- #ifndef __SPI_H
# x. t/ c0 w" m5 z9 b, u - #define __SPI_H9 K( \8 [: d% [$ {3 \
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- /* Includes ------------------------------------------------------------------*/ g5 M [' I+ C1 l
- #include "stm32l0xx_hal.h"$ z% A0 ~8 ^% I9 A2 D
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- #define SPI_SCK_PIN GPIO_PIN_4( T7 [$ ]& O: d7 J" x. m3 \3 S6 }
- #define SPI_SCK_GPIO_PORT GPIOC
N& @! K7 ]) x& _' I% R% z - #define SPI_MOSI_PIN GPIO_PIN_7
: S( [( ^( l9 T5 ?. j3 N - #define SPI_MOSI_GPIO_PORT GPIOC0 t# K( _ ?3 Q7 e
- #define SPI_MISO_PIN GPIO_PIN_8
$ S. q4 y8 D( ?& v8 {0 K - #define SPI_MISO_GPIO_PORT GPIOC( b: k |% ^, I% [: V6 n, z
- #define SPI_NSS_PIN GPIO_PIN_6* ~6 H% K( Z7 x5 O0 m4 S1 @2 ~
- #define SPI_NSS_GPIO_PORT GPIOC1 s: }; |4 Y* e3 K
- #define SPI_RESET_PIN GPIO_PIN_5: j$ \% D9 x. E! u( {
- #define SPI_RESET_GPIO_PORT GPIOC. n; D3 D6 J2 A( A' \
- " |. J& y9 H- h- J( ]
- #define SPI_SCK_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()
, k: r# T4 _* _) p6 @$ T$ O - #define SPI_MISO_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()
5 C# v# o6 i0 N - #define SPI_MOSI_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()% f6 D" f. E: N9 I [2 h1 O$ R% E, O& H
- #define SPI_NSS_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()- U1 B/ i- |2 Q9 N: {
- #define SPI_RESET_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()# y5 @! @! h3 P0 }3 j
5 I! h' X- D* e6 L q* p- #define MOSI_H HAL_GPIO_WritePin(SPI_MOSI_GPIO_PORT, SPI_MOSI_PIN, GPIO_PIN_SET)
! B$ B: S5 f; Z9 {$ V' y+ l) n/ ] - #define MOSI_L HAL_GPIO_WritePin(SPI_MOSI_GPIO_PORT, SPI_MOSI_PIN, GPIO_PIN_RESET)
0 q; \% i# v+ P) k7 l. I. O( R. M - #define SCK_H HAL_GPIO_WritePin(SPI_SCK_GPIO_PORT, SPI_SCK_PIN, GPIO_PIN_SET) + i9 Q3 W: Z! e2 s% } W
- #define SCK_L HAL_GPIO_WritePin(SPI_SCK_GPIO_PORT, SPI_SCK_PIN, GPIO_PIN_RESET)
* R2 J4 A1 e1 Z, r. ] - #define MISO HAL_GPIO_ReadPin(SPI_MISO_GPIO_PORT, SPI_MISO_PIN)
u$ N; t$ Z" } - #define NSS_H HAL_GPIO_WritePin(SPI_NSS_GPIO_PORT, SPI_NSS_PIN, GPIO_PIN_SET)
/ ~3 F: k0 Z) T! W0 Y0 q$ W - #define NSS_L HAL_GPIO_WritePin(SPI_NSS_GPIO_PORT, SPI_NSS_PIN, GPIO_PIN_RESET) 4 a" ?, L- S1 ]
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- #define EEPROM_DAC_START_ADDR DATA_EEPROM_BASE+6 /* Start @ of user EEPROM area */
6 p& P' A' c8 ?. c0 O j5 k - #define EEPROM_DAC_END_ADDR (EEPROM_BIAS_START_ADDR + 16) /* End @ of user EEPROM area */1 m2 u' t5 Z. _) o) Y
- #define IS_DAC_DATA_ADDRESS(__ADDRESS__) (((__ADDRESS__) >= EEPROM_DAC_START_ADDR) && ((__ADDRESS__) <= EEPROM_DAC_END_ADDR))' c3 B. @. C# W0 p+ O9 J* x; y; R2 ?
- #define IS_DAC_CH_ADDRESS(__ADDRESS__) (((__ADDRESS__) >= 1) && ((__ADDRESS__) <= 4))# y# r# r9 D% x/ S$ {
8 X$ z4 X% G- @2 z; h% ]- void SPI_Init(void);' d O# t J+ @! [& @
- uint16_t SPI_ReadWrite_Byte(uint8_t cmd_addr, uint16_t data);
9 I6 e" C/ d% \; w4 a; X2 P - #endif
复制代码 ; T+ q# o I* }; v
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- #include "spi.h"
& N. t: H- U0 V6 [ - #include "main.h"
4 {; B4 C* L" E1 [* e - #include "stm32l0xx_hal.h"
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& P k2 s4 E- F- @' h- void SPI_Init(void)
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- W9 z- [0 k8 S9 C - /*##-1- Enable peripherals and GPIO Clocks #################################*/
v- v; e5 }1 P: A - /* Enable GPIO TX/RX clock */
* `* G! k/ `9 o* q - SPI_SCK_GPIO_CLK_ENABLE();: L/ d4 V0 I, l
- SPI_MISO_GPIO_CLK_ENABLE();
$ x& d$ e' D& W( W8 G' r, ?3 |) W0 O - SPI_MOSI_GPIO_CLK_ENABLE();; E" b4 `2 r! y. C
- SPI_NSS_GPIO_CLK_ENABLE();
^6 P( O/ \. M0 @6 v - SPI_RESET_GPIO_CLK_ENABLE();8 |' o0 q2 b- U/ \4 b( q# L' `
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- /*##-2- Configure peripheral GPIO ##########################################*/$ D+ Y( i' U. k4 ]8 B. L
- /* SPI SCK GPIO pin configuration */4 g% T+ e$ r( z1 a
- GPIO_InitTypeDef GPIO_InitStruct;* r+ `" Z6 j! }" E
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- GPIO_InitStruct.Pin = SPI_SCK_PIN;0 h g5 }2 P r
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;: J* R) i9 n+ \; O
- //GPIO_InitStruct.Pull = GPIO_PULLDOWN;
: Z- E; [0 N; x5 J2 ]9 | - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;* x: M& v% ]* L) k: G/ d G
- HAL_GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStruct);
9 l8 y* B+ u% U$ [( \ - HAL_GPIO_WritePin(SPI_SCK_GPIO_PORT, SPI_SCK_PIN, GPIO_PIN_SET);- m0 ^3 e$ g/ y6 w1 P) z
, W! S# T& p* X; j+ i' g- /* SPI MISO GPIO pin configuration */
" |# U( W& b8 l( d( J" u) O' w' G4 D - GPIO_InitStruct.Pin = SPI_MISO_PIN;. T, |3 h0 J4 ^7 ]! c) Q3 t
- GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
# J8 C$ f0 t$ b1 n# @ - HAL_GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStruct);
/ _5 T5 j& D. ]" C3 f0 Y; h - 4 O5 K2 h2 ]% A* B
- /* SPI MOSI GPIO pin configuration */
) X1 [$ ^& n6 {( f9 ?( k" u - GPIO_InitStruct.Pin = SPI_MOSI_PIN;
5 `# v% n3 }$ ^ - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;2 _# ]# p/ Q; I( `/ c) {: _) d
- HAL_GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStruct);
7 x# @/ h6 @* l - HAL_GPIO_WritePin(SPI_MOSI_GPIO_PORT, SPI_MOSI_PIN, GPIO_PIN_SET);
3 g' p4 a: ~ T8 O$ ?/ P; k$ s - 0 V7 k1 M; Q& b5 _# r4 t! k) k" E
- GPIO_InitStruct.Pin = SPI_NSS_PIN;
3 u* P' ?$ b, V5 H K' |6 J7 ? - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ M' H* v$ r" m7 h) [9 Z* k4 o - HAL_GPIO_Init(SPI_NSS_GPIO_PORT, &GPIO_InitStruct);! C* C. O4 F- W8 M
- HAL_GPIO_WritePin(SPI_NSS_GPIO_PORT, SPI_NSS_PIN, GPIO_PIN_SET);. M6 w' o/ f3 S
-
/ Q# ~! j2 r1 X, C' i5 g1 k) ] - GPIO_InitStruct.Pin = SPI_RESET_PIN;1 I7 t9 ?- @2 q/ B7 z
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;1 _! l, q, n u6 ]3 m; l5 Y, y. W4 R _
- HAL_GPIO_Init(SPI_RESET_GPIO_PORT, &GPIO_InitStruct);9 X7 T, x9 N7 [6 x: R* b) x6 r( Z
- HAL_GPIO_WritePin(SPI_RESET_GPIO_PORT, SPI_RESET_PIN, GPIO_PIN_SET);- `0 b; d' ^5 o, i+ j$ s* j
- }
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- uint16_t SPI_ReadWrite_Byte(uint8_t cmd_addr, uint16_t data)
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- uint16_t temp=0;5 J; X/ A- m" d9 P! h6 n
- SPI_Init();, Q/ r$ N3 j8 l. L$ i
- NSS_L; ' @3 o' Z2 [2 V, E, A; s% H% M
- SCK_H; * l- s% @/ g# p- A0 p
- __NOP(); /*读取第一bit数据 等待数据稳定 根据实际时钟调整*/' v" o# I$ x6 P8 c3 |
- for(uint8_t i=0;i<8;i++)+ R* W# O t& H" g/ r
- {
1 A; n& w% O/ s# D# ~8 X5 F - if(cmd_addr&0x80)
% d' Q3 \& f3 |( v0 ? S - {8 H3 n7 O$ v9 J/ d1 c. Y* N
- MOSI_H; /*若最高位为高,则输出高*/
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- else
7 H) L: K% g5 Y* U) E) V/ K - {
; i/ ^4 D& X; X* t, c% k$ s$ K - MOSI_L; /*若最高位为低,则输出低*/
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- __NOP();
0 C4 Q7 W9 O! ~+ s2 C7 ? - cmd_addr <<= 1;2 b+ f- L1 P; P: [
- SCK_L;
; O+ Y$ I0 H* G$ \( B - temp <<= 1; /*数据左移*/
4 l4 M* l- d0 g; ` - if(MISO)8 I' |! y8 e6 [. K
- {
7 m+ e7 b, |8 D2 I# A/ j# L - temp++; /*若从从机接收到高电平,数据自加一*/
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" @3 L# V: f, O- Y8 Y - SCK_H;
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3 z0 p2 N" C- q4 `8 J7 m6 y, u - data <<= 6;
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- for(uint8_t i=0;i<16;i++)
- u) _8 Z* k6 z8 S/ j - {
0 v) C+ L5 {* ~ - if(data&0x8000) : _) P6 N( r' M, g8 n
- {
& [8 h& r' k: ]3 p3 b- u - MOSI_H; /*若最高位为高,则输出高*/, e8 ?4 k" q I" i
- }
: w9 z8 f8 z. ^1 E1 f - else
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m+ A2 Y8 X# J: Z - MOSI_L; /*若最高位为低,则输出低*/
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- __NOP();
" ? I+ T% C0 \1 b* N4 A* \ - data <<= 1;
$ w; H, O$ @4 u6 |* J( v6 y% [ - SCK_L;
0 E F8 u6 n4 M/ U! o - temp <<= 1; /*数据左移*/% m) @" I8 X# \2 F2 C
- if(MISO)4 }3 ^. ^# ~1 h/ D. H. N
- {5 z) T! w0 `) \; x
- temp++; /*若从从机接收到高电平,数据自加一*/* }+ W9 |8 y. J& z2 n @( ^( h- @
- }
) N2 }0 {* H0 H8 z$ U - SCK_H;
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. f; B; \+ ? D0 I9 u - NSS_H;* L; T8 M8 n/ z! y! o8 X2 r
- MOSI_H;
2 k, z. H6 M1 c" _9 D9 I K - return temp;! \0 [9 `; V" W: W! {1 ^5 j: m
- }
复制代码
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在MCU STM32L073RZ上。移植的话,需要简单修改下SPI_ReadWrite_Byte函数,例子里面是按32bit为一个数据包发送的。