【STM32】HAL库教程-SPI通信

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本文章介绍了SPI通信的基本概念和HAL库的SPI相关函数，并以MA782这款著名的磁编码器芯片为例，讲解如何编写读取电机角度的SPI例程。

使用工具和依赖

  • 芯片：STM32C011F6U6、MA782（芯片手册）
  • 代码初始化软件：STM32CUBEMX
  • IDE：MDK-ARM Keil5
  • 依赖：stm32c0xx hal库

SPI通信实验

根据MA782芯片手册，实现MCU芯片读/写MA782内部寄存器，并进行SPI通信的功能。

  • ma782_driver.h
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/* Define to prevent recursive inclusion */
#ifndef __MA782_DRIVER_H
#define __MA782_DRIVER_H
/* =================================================================================
File name:       __MA782_DRIVER_H
Author: AdventurerDXC
===================================================================================*/

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/

#include "main.h"

// MA782寄存器地址
#define MA782_REG_ZERO_HIGH           0x0000 // 零位高字节
#define MA782_REG_ZERO_LOW            0x0100 // 零位低字节
#define MA782_REG_BIAS_TRIM           0x0200 // 偏置电流调整
#define MA782_REG_ENABLE_TRIM_X       0x0300 // 启用X轴偏置调整
#define MA782_REG_ENABLE_TRIM_Y       0x0300 // 启用Y轴偏置调整
#define MA782_REG_CYCLE_TIME_LOW      0x0400 // 周期时间低字节
#define MA782_REG_CYCLE_TIME_HIGH     0x0500 // 周期时间高字节
#define MA782_REG_MAGNET_LOW_THRESH   0x0600 // 磁场强度低阈值
#define MA782_REG_MAGNET_HIGH_THRESH  0x0600 // 磁场强度高阈值
#define MA782_REG_MAGNET_ENABLE       0x0700 // 磁场强度检测使能
#define MA782_REG_ND_MODE             0x0700 // ND引脚模式
#define MA782_REG_ND_HYSTERESIS       0x0700 // ND引脚迟滞
#define MA782_REG_ROTATION_DIRECTION  0x0900 // 旋转方向
#define MA782_REG_REFERENCE_ANGLE     0x0A00 // 参考角度 ASC mode
#define MA782_REG_ASC_ENABLE          0x0B00 // 自动采样使能 ASC mode
#define MA782_REG_ASC_REGISTER        0x0B00 // 自动采样寄存器
#define MA782_REG_FILTER_WINDOW       0x0E00 // 滤波窗口大小
#define MA782_REG_ERROR_FLAGS         0x1A00 // 错误标志
#define MA782_REG_MAGNET_FLAGS        0x1B00 // 磁场标志

// MA782寄存器位定义
#define MA782_ENABLE_TRIM_X           (1 << 7) // 启用X轴偏置调整
#define MA782_ENABLE_TRIM_Y           (1 << 6) // 启用Y轴偏置调整
#define MA782_ND_MODE_LOGIC_LEVEL     (1 << 7) // ND引脚逻辑电平模式
#define MA782_ND_HYSTERESIS_MASK       0x3F    // ND引脚迟滞掩码
#define MA782_MAGNET_ENABLE           (1 << 7) // 磁场强度检测使能
#define MA782_ASC_ENABLE              (1 << 7) // 自动采样使能
#define MA782_ASC_REGISTER_ENABLE     (1 << 7) // 自动采样寄存器使能

// MA782命令宏定义
#define MA782_CMD_READ_ANGLE          0x0000 // 读取角度
#define MA782_CMD_CLEAR_ERROR_FLAGS   0x2000 // 清除错误标志
#define MA782_CMD_READ_REGISTER       0x4000 // 读取寄存器
#define MA782_CMD_WRITE_REGISTER      0x8000 // 写入寄存器
#define MA782_CMD_RESTORE_ALL_NVM     0xA000 // 从NVM恢复所有寄存器
#define MA782_CMD_STORE_ALL_NVM       0xC000 // 存储所有寄存器到NVM
#define MA782_CMD_STORE_SINGLE_NVM    0xE000 // 存储单个寄存器到NV

// 齿轮传动比
#define gear_ratio                    7/4

typedef struct MA782_Driver_ MA782_Driver;

struct MA782_Driver_{
	uint8_t dev_id;	          // 磁编码器id

    SPI_HandleTypeDef *hspi;
    GPIO_TypeDef *cs_port;
    uint16_t cs_pin;
	
	HAL_StatusTypeDef status; // 状态
	
	uint16_t rx_buf[2];       // 接收数据 2x16bits
	uint16_t tx_buf[2];       // 发送数据 2x16bits
	
	q15_t origin;             // 零点
	
	q15_t* data;              // 角度数据
};

typedef enum {
    true=1, false=0
}bool;

MA782_Driver* new_MA782_Driver(uint8_t dev_id, SPI_HandleTypeDef *hspi, 
                               GPIO_TypeDef *cs_port, uint16_t cs_pin);

void delete_MA782_Driver(MA782_Driver* hdev);

HAL_StatusTypeDef MA782_Driver_Init(MA782_Driver *hdev, q15_t* data);

HAL_StatusTypeDef MA782_Driver_SetCommand(MA782_Driver *hdev, 
                                          uint16_t pTxData, uint16_t* pRxData);  // 与MCU进行SPI通信

HAL_StatusTypeDef MA782_Driver_ReadAngle(MA782_Driver *hdev);  // 读角度

bool MA782_Driver_CheckMagField(MA782_Driver *hdev);  // 检查磁编码器位置的磁场在阈值范围内

HAL_StatusTypeDef MA782_Driver_SetOrigin(MA782_Driver *hdev, q15_t origin);  // 设置磁编码器零点

HAL_StatusTypeDef MA782_Driver_SetRotDirection(MA782_Driver *hdev, bool dir);  // 设置磁编码器旋转正向

float32_t MA782_Driver_Q15_to_angle(MA782_Driver *hdev);  // 角度q15_t->float

#ifdef __cplusplus
}
#endif

#endif

  • ma782_driver.c
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/* =================================================================================
File name:       __MA782_Driver_DRIVER_C
Author: AdventurerDXC
===================================================================================*/
#include "ma782_driver.h"

MA782_Driver* new_MA782_Driver(uint8_t dev_id, SPI_HandleTypeDef *hspi, 
                               GPIO_TypeDef *cs_port, uint16_t cs_pin) 
{
	MA782_Driver* hdev = NULL;
	hdev = (MA782_Driver*)malloc(sizeof(MA782_Driver));
	if (hdev == NULL)
	{
		//printf("WARN: MA782_Driver_Driver[%d] initialization failed.\r\n", dev_id);
		return NULL;
	}
	//printf("\t");

	hdev->dev_id = dev_id;
	
    hdev->hspi = hspi;
    hdev->cs_port = cs_port;
    hdev->cs_pin = cs_pin;

	return hdev;
}

void delete_MA782_Driver(MA782_Driver* hdev)
{
    free(hdev->hspi);
    free(hdev->cs_port);
    free(hdev->data);
    free(hdev);
}

HAL_StatusTypeDef MA782_Driver_Init(MA782_Driver *hdev, q15_t* data)
{
	if(hdev->data != NULL)
		free(hdev->data);
	
	if(data == NULL)
		hdev->data = (q15_t*)malloc(sizeof(q15_t));
	else
		hdev->data = data;
	
    HAL_GPIO_WritePin(hdev->cs_port, hdev->cs_pin, GPIO_PIN_SET);
	return HAL_OK;
}

HAL_StatusTypeDef MA782_Driver_SetCommand(MA782_Driver *hdev, 
                                          uint16_t pTxData, uint16_t* pRxData)
{
    hdev->status = HAL_OK;
	HAL_GPIO_WritePin(hdev->cs_port, hdev->cs_pin, GPIO_PIN_RESET);
	
	hdev->tx_buf[0] = pTxData;
	hdev->tx_buf[1] = 0;
    
	hdev->status = HAL_SPI_TransmitReceive(hdev->hspi, (uint8_t*)hdev->tx_buf, (uint8_t*)hdev->rx_buf, 2, HAL_MAX_DELAY);
    
	if((hdev->rx_buf[0] & 0xF0) != (hdev->rx_buf[1] & 0xF0))
		hdev->status = HAL_ERROR;
	else
		*pRxData = hdev->rx_buf[1] & 0x0F;
		
	HAL_GPIO_WritePin(hdev->cs_port, hdev->cs_pin, GPIO_PIN_SET);
	
	return hdev->status;
}

HAL_StatusTypeDef MA782_Driver_ReadAngle(MA782_Driver *hdev)
{
    HAL_GPIO_WritePin(hdev->cs_port, hdev->cs_pin, GPIO_PIN_RESET);
    
    hdev->tx_buf[0] = 0;
	hdev->tx_buf[1] = 0;
    
    hdev->status = HAL_SPI_TransmitReceive(hdev->hspi, (uint8_t*)hdev->tx_buf, (uint8_t*)hdev->rx_buf, 1, HAL_MAX_DELAY);
    if (hdev->status == HAL_OK)
        *hdev->data = (q15_t)(hdev->rx_buf[0] << 1) - hdev->origin;
    
    HAL_GPIO_WritePin(hdev->cs_port, hdev->cs_pin, GPIO_PIN_SET);
    
    return hdev->status;
}

bool MA782_Driver_CheckMagField(MA782_Driver *hdev)
{
    uint16_t cmd = MA782_CMD_READ_REGISTER | MA782_REG_MAGNET_FLAGS;
    uint8_t* rxdata;
    MA782_Driver_SetCommand(hdev, cmd, (uint16_t*)rxdata);
    
    if(*rxdata & 0xC0) return false;
    else return true;
}

HAL_StatusTypeDef MA782_Driver_SetOrigin(MA782_Driver *hdev, q15_t origin)
{
    hdev->origin = origin;
    uint16_t cmd = MA782_CMD_WRITE_REGISTER | MA782_REG_ZERO_HIGH | (hdev->origin >> 8);
    uint8_t* rxdata;
    hdev->status = MA782_Driver_SetCommand(hdev, cmd, (uint16_t*)rxdata);
    if(*rxdata != (hdev->origin >> 8))  hdev->status = HAL_ERROR;
    
    cmd = MA782_CMD_WRITE_REGISTER | MA782_REG_ZERO_LOW | (hdev->origin & 0x00FF);
    hdev->status = MA782_Driver_SetCommand(hdev, cmd, (uint16_t*)rxdata);
    if(*rxdata != (hdev->origin & 0x00FF))  hdev->status = HAL_ERROR;
    
    return hdev->status;
}

HAL_StatusTypeDef MA782_Driver_SetRotDirection(MA782_Driver *hdev, bool dir)
{
    uint16_t cmd = MA782_CMD_WRITE_REGISTER | MA782_REG_ROTATION_DIRECTION | (dir << 7);
    uint8_t* rxdata;
    hdev->status = MA782_Driver_SetCommand(hdev, cmd, (uint16_t*)rxdata);
    if(*rxdata != (dir << 7))  hdev->status = HAL_ERROR;
    
    return hdev->status;
}

float32_t MA782_Driver_Q15_to_angle(MA782_Driver *hdev)
{
    return ((*hdev->data) >> 15)*360*gear_ratio;
}