这个中断是TIM2的CC1中断，不论电机是否工作，它都一直是enable的状态。电机在没启动的情况下，也是会发生HALL状态切换的，比如风扇电机顺逆风情况下
从手册上看，这两个外设都在AHB 高速总线上。DCMI 的速度很高，DMA2访问频繁，USB内部DMA再同时访问会可能会造成一定冲突。（DMA从响应到访问完成并不是一两个周期就能完成）。 楼主可否试试建立一定缓存，让传输分时完成试试。
没见过，不过之前看过一个这样的描述，调试器就像一个照相机可以记录一个时刻的CPU运行现场，j-trace好比一个录像可以记录CPU一段时间的运行记录。
先用烧录软件擦除或读写功能，看看连线是否有问题。 再用翻转对应的IO口看看点灯的那部分是否正常，刚开始上手一般都要试试翻转IO口
有专门水下用的：投入式压力变送器。 传感器因为是以大气位背景的“标压”，必须通过电缆中的一根通气管和水面相通就可以测量。 则会中电缆有专门买的，不用定做
不知道你的具体使用环境，我还是告诉你去哪里找参考吧。 ST有一个3D打印机的EVK，叫STEVAL-3DP001V1，里面用的是6个L6470H级联，L6470和L6480的通讯协议和控制部分基本相同，你可以参考这个开源的代码。 源代码地址在http://www.st.com/content/st_com/en/products/embedded-software/evaluation-tool-software/stsw-3dp001.html#get-software 怪事，原来是放在github上的，怎么现在要注册才能下载了。。。工程很大，你自己去下载吧。 在UM2076里面说了，stm32_cube\Drivers\BSP\STM32F4xx-3dPrinter\stm32f4xx_3dprinter_misc.c是步进驱动相关的代码 这个驱动的文件我拷贝在这给你悄悄，不够信息就要你自己去下载完整工程啦。 /** ****************************************************************************** * @file stm32f4xx_3dPrinter_motor.c * @author IPC Rennes * @version V1.0.0 * @date January 29, 2015 * @brief motor functions of 3D Printer BSP driver * (based on L6474) ****************************************************************************** * @attention * * © COPYRIGHT(c) 2015 STMicroelectronics * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "l6474.h" #include "stm32f4xx_3dprinter_motor.h" #include "motorcontrol.h" /** @addtogroup BSP * @{ */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR * @{ */ /* Private constants ---------------------------------------------------------*/ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Private_Constants * @{ */ /// Timer Prescaler #define TIMER_PRESCALER (1024) /// SPI Maximum Timeout values for flags waiting loops #define SPIx_TIMEOUT_MAX ((uint32_t)0x1000) /** * @} */ /* Private variables ---------------------------------------------------------*/ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Board_Private_Variables * @{ */ /// SPI handler declaration static SPI_HandleTypeDef SpiHandle; /// Timer handler for PWMX TIM_HandleTypeDef hTimPwmX; /// Timer handler for PWMY TIM_HandleTypeDef hTimPwmY; /// Timer handler for PWMZ TIM_HandleTypeDef hTimPwmZ; /// Timer handler for PWME1 TIM_HandleTypeDef hTimPwmE1; /// Timer handler for PWME2 TIM_HandleTypeDef hTimPwmE2; /// Timer handler for PWME3 TIM_HandleTypeDef hTimPwmE3; /** * @} */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Board_Private_Function_Prototypes * @{ */ void BSP_MotorControlBoard_Delay(uint32_t delay); //Delay of the requested number of milliseconds void BSP_MotorControlBoard_DisableIrq(void); //Disable Irq void BSP_MotorControlBoard_EnableIrq(void); //Enable Irq void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices); //Initialise GPIOs used for L6474s void BSP_MotorControlBoard_PwmXSetFreq(uint16_t newFreq); //Set PWM_X frequency and start it void BSP_MotorControlBoard_PwmYSetFreq(uint16_t newFreq); //Set PWM_Y frequency and start it void BSP_MotorControlBoard_PwmZSetFreq(uint16_t newFreq); //Set PWM_Z frequency and start it void BSP_MotorControlBoard_PwmE1SetFreq(uint16_t newFreq); //Set PWM_E1 frequency and start it void BSP_MotorControlBoard_PwmE2SetFreq(uint16_t newFreq); //Set PWM_E2 frequency and start it void BSP_MotorControlBoard_PwmE3SetFreq(uint16_t newFreq); //Set PWM_E3 frequency and start it void BSP_MotorControlBoard_PwmE4SetFreq(uint16_t newFreq); //Set PWM_E4 frequency and start it void BSP_MotorControlBoard_PwmInit(uint8_t deviceId); //Init the PWM of the specified device void BSP_MotorControlBoard_PwmStop(uint8_t deviceId); //Stop the PWM of the specified device void BSP_MotorControlBoard_ReleaseReset(void); //Reset the L6474 reset pin void BSP_MotorControlBoard_Reset(void); //Set the L6474 reset pin void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState); //Set direction GPIO uint8_t BSP_MotorControlBoard_SpiInit(void); //Initialise the SPI used for L6474s uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices); //Write bytes to the L6474s via SPI /** * @} */ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Board_Private_Functions * @{ */ /******************************************************//** * @brief This function provides an accurate delay in milliseconds * @param delay time length in milliseconds * @retval None **********************************************************/ void BSP_MotorControlBoard_Delay(uint32_t delay) { HAL_Delay(delay); } /******************************************************//** * @brief This function disable the interruptions * @param None * @retval None **********************************************************/ void BSP_MotorControlBoard_DisableIrq(void) { __disable_irq(); } /******************************************************//** * @brief This function enable the interruptions * @param None * @retval None **********************************************************/ void BSP_MotorControlBoard_EnableIrq(void) { __enable_irq(); } /******************************************************//** * @brief Initiliases the GPIOs used by the L6474s * @param nbDevices number of L6474 devices * @retval None **********************************************************/ void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices) { GPIO_InitTypeDef GPIO_InitStruct; /* GPIO Ports Clock Enable */ __GPIOA_CLK_ENABLE(); __GPIOB_CLK_ENABLE(); __GPIOC_CLK_ENABLE(); __GPIOD_CLK_ENABLE(); __GPIOE_CLK_ENABLE(); /* Configure L6474 - DIR pin for device 0 -------------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_X_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_X_PORT, &GPIO_InitStruct); /* Configure L6474 - Flag pin -------------------------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_FLAG_PIN; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_FLAG_PORT, &GPIO_InitStruct); /* Set Priority of External Line Interrupt used for the Flag interrupt*/ HAL_NVIC_SetPriority(BSP_MOTOR_CONTROL_BOARD_FLAG_IRQn, 7, 0); /* Enable the External Line Interrupt used for the Flag interrupt*/ HAL_NVIC_EnableIRQ(BSP_MOTOR_CONTROL_BOARD_FLAG_IRQn); /* Configure L6474 - CS pin ---------------------------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_CS_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_CS_PORT, &GPIO_InitStruct); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET); /* Configure L6474 - STBY/RESET pin -------------------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_X_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT, &GPIO_InitStruct); BSP_MotorControlBoard_Reset(); if (nbDevices > 1) { /* Configure L6474 - DIR pin for device 1 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_Y_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_Y_PORT, &GPIO_InitStruct); } if (nbDevices > 2) { /* Configure L6474 - DIR pin for device 2 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_Z_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_Z_PORT, &GPIO_InitStruct); } if (nbDevices > 3) { /* Configure L6474 - DIR pin for device 3 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E1_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_E1_PORT, &GPIO_InitStruct); } if (nbDevices > 4) { /* Configure L6474 - DIR pin for device 4 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E2_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_E2_PORT, &GPIO_InitStruct); } if (nbDevices > 5) { /* Configure L6474 - DIR pin for device 5 ----------------------------*/ GPIO_InitStruct.Pin = BSP_MOTOR_CONTROL_BOARD_DIR_E3_PIN; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_MEDIUM; HAL_GPIO_Init(BSP_MOTOR_CONTROL_BOARD_DIR_E3_PORT, &GPIO_InitStruct); } } /******************************************************//** * @brief Sets the frequency of PWM_X used by device 0 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmXSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmX, period); __HAL_TIM_SetCompare(&hTimPwmX, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmX, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X); } /******************************************************//** * @brief Sets the frequency of PWM_Y used by device 1 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmYSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmY, period); __HAL_TIM_SetCompare(&hTimPwmY, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmY, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y); } /******************************************************//** * @brief Sets the frequency of PWM_Z used by device 2 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmZSetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmZ, period); __HAL_TIM_SetCompare(&hTimPwmZ, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmZ, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z); } /******************************************************//** * @brief Sets the frequency of PWM_E1 used by device 3 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE1SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE1, period); __HAL_TIM_SetCompare(&hTimPwmE1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE1, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1); } /******************************************************//** * @brief Sets the frequency of PWM_E2 used by device 4 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE2SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE2, period); __HAL_TIM_SetCompare(&hTimPwmE2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE2, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2); } /******************************************************//** * @brief Sets the frequency of PWM_E3 used by device 5 * @param newFreq in Hz * @retval None * @note The frequency is directly the current speed of the device **********************************************************/ void BSP_MotorControlBoard_PwmE3SetFreq(uint16_t newFreq) { uint32_t sysFreq = HAL_RCC_GetSysClockFreq(); uint32_t period = (sysFreq/ (TIMER_PRESCALER * BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_FREQ_RESCALER * (uint32_t)newFreq)) - 1; __HAL_TIM_SetAutoreload(&hTimPwmE3, period); __HAL_TIM_SetCompare(&hTimPwmE3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3, period >> 1); HAL_TIM_PWM_Start_IT(&hTimPwmE3, BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3); } /******************************************************//** * @brief Initialises the PWM uses by the specified device * @param deviceId (from 0 to 2) * @retval None * @note Device 0 uses PWM1 based on timer 1 * Device 1 uses PWM 2 based on timer 2 * Device 2 uses PWM3 based timer 0 **********************************************************/ void BSP_MotorControlBoard_PwmInit(uint8_t deviceId) { TIM_OC_InitTypeDef sConfigOC; TIM_MasterConfigTypeDef sMasterConfig; TIM_HandleTypeDef *pHTim; uint32_t channel; switch (deviceId) { case 0: default: pHTim = &hTimPwmX; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X; break; case 1: pHTim = &hTimPwmY; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y; break; case 2: pHTim = &hTimPwmZ; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z; break; case 3: pHTim = &hTimPwmE1; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1; break; case 4: pHTim = &hTimPwmE2; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2; break; case 5: pHTim = &hTimPwmE3; pHTim->Instance = BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3; channel = BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3; break; } pHTim->Init.Prescaler = TIMER_PRESCALER -1; pHTim->Init.CounterMode = TIM_COUNTERMODE_UP; pHTim->Init.Period = 0; pHTim->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; HAL_TIM_PWM_Init(pHTim); sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; HAL_TIM_PWM_ConfigChannel(pHTim, &sConfigOC, channel); sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; HAL_TIMEx_MasterConfigSynchronization(pHTim, &sMasterConfig); } /******************************************************//** * @brief Stops the PWM uses by the specified device * @param deviceId (from 0 to 2) * @retval None **********************************************************/ void BSP_MotorControlBoard_PwmStop(uint8_t deviceId) { switch (deviceId) { case 0: HAL_TIM_PWM_Stop(&hTimPwmX,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X); break; case 1: HAL_TIM_PWM_Stop(&hTimPwmY,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y); break; case 2: HAL_TIM_PWM_Stop(&hTimPwmZ,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z); break; case 3: HAL_TIM_PWM_Stop(&hTimPwmE1,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1); break; case 4: HAL_TIM_PWM_Stop(&hTimPwmE2,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2); break; case 5: HAL_TIM_PWM_Stop(&hTimPwmE3,BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3); break; default: break;//ignore error } } /******************************************************//** * @brief Releases the L6474 reset (pin set to High) of all devices * @param None * @retval None **********************************************************/ void BSP_MotorControlBoard_ReleaseReset(void) { HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_X_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN, GPIO_PIN_SET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN, GPIO_PIN_SET); } /******************************************************//** * @brief Resets the L6474 (reset pin set to low) of all devices * @param None * @retval None **********************************************************/ void BSP_MotorControlBoard_Reset(void) { HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_X_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN, GPIO_PIN_RESET); HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT, BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN, GPIO_PIN_RESET); } /******************************************************//** * @brief Set the GPIO used for the direction * @param deviceId (from 0 to 6) * @param gpioState state of the direction gpio (0 to reset, 1 to set) * @retval None **********************************************************/ void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState) { switch (deviceId) { case 5: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E3_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E3_PIN, (GPIO_PinState)gpioState); break; case 4: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E2_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E2_PIN, (GPIO_PinState)gpioState); break; case 3: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_E1_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_E1_PIN, (GPIO_PinState)gpioState); break; case 2: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_Z_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_Z_PIN, (GPIO_PinState)gpioState); break; case 1: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_Y_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_Y_PIN, (GPIO_PinState)gpioState); break; case 0: HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_DIR_X_PORT, BSP_MOTOR_CONTROL_BOARD_DIR_X_PIN, (GPIO_PinState)gpioState); break; default: ; } } /******************************************************//** * @brief Initialise the SPI used by L6474 * @param None * @retval HAL_OK if SPI transaction is OK, HAL_KO else **********************************************************/ uint8_t BSP_MotorControlBoard_SpiInit(void) { HAL_StatusTypeDef status; /* Initialises the SPI --------------------------------------------------*/ SpiHandle.Instance = SPIx; SpiHandle.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; SpiHandle.Init.Direction = SPI_DIRECTION_2LINES; SpiHandle.Init.CLKPhase = SPI_PHASE_2EDGE; SpiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH; SpiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLED; SpiHandle.Init.CRCPolynomial = 7; SpiHandle.Init.DataSize = SPI_DATASIZE_8BIT; SpiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB; SpiHandle.Init.NSS = SPI_NSS_SOFT; SpiHandle.Init.TIMode = SPI_TIMODE_DISABLED; SpiHandle.Init.Mode = SPI_MODE_MASTER; status = HAL_SPI_Init(&SpiHandle); return (uint8_t) status; } /******************************************************//** * @brief Write and read SPI byte to the L6474 * @param pByteToTransmit pointer to the byte to transmit * @param pReceivedByte pointer to the received byte * @param nbDevices Number of device in the SPI chain * @retval HAL_OK if SPI transaction is OK, HAL_KO else **********************************************************/ uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices) { HAL_StatusTypeDef status = HAL_ERROR; uint32_t i; HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_RESET); for (i = 0; i < nbDevices; i++) { status = HAL_SPI_TransmitReceive(&SpiHandle, pByteToTransmit, pReceivedByte, 1, SPIx_TIMEOUT_MAX); if (status != HAL_OK) { break; } pByteToTransmit++; pReceivedByte++; } HAL_GPIO_WritePin(BSP_MOTOR_CONTROL_BOARD_CS_PORT, BSP_MOTOR_CONTROL_BOARD_CS_PIN, GPIO_PIN_SET); return (uint8_t) status; } /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ /** ****************************************************************************** * @file stm32f4xx_3dPrinter_motor.h * @author IPC Rennes * @version V1.0.0 * @date January 29, 2015 * @brief Header for motor functions of 3D Printer BSP driver * (based on L6474) ****************************************************************************** * @attention * * © COPYRIGHT(c) 2014 STMicroelectronics * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __STM32F4XX_3DPRINTER_MOTOR_H #define __STM32F4XX_3DPRINTER_MOTOR_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ //#include "stm32f4xx_nucleo.h" #include "stm32f4xx_hal.h" /** @addtogroup BSP * @{ */ /** @addtogroup STM32F4XX_3DPRINTER_MOTOR * @{ */ /* Exported Constants --------------------------------------------------------*/ /** @defgroup STM32F4XX_3DPRINTER_MOTOR_Exported_Constants * @{ */ /******************************************************************************/ /* USE_STM32F4XX_NUCLEO */ /******************************************************************************/ /** @defgroup Constants_For_STM32F4XX_3DPRINTER_MOTOR_MOTOR * @{ */ /// Interrupt line used for L6474 FLAG #define BSP_MOTOR_CONTROL_BOARD_FLAG_IRQn (EXTI15_10_IRQn) /// Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X (TIM1) /// Channel Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_X (TIM_CHANNEL_4) /// HAL Active Channel Timer used for PWM_X #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_X (HAL_TIM_ACTIVE_CHANNEL_4) /// Timer Clock Enable for PWM1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_CLCK_ENABLE() __TIM1_CLK_ENABLE() /// Timer Clock Disable for PWM1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_CLCK_DISABLE() __TIM1_CLK_DISABLE() /// PWM_X global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_X_IRQn (TIM1_CC_IRQn) /// PWM1 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_X (GPIO_AF1_TIM1) /// PWM1 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_X_FREQ_RESCALER (1) /// Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y (TIM2) /// Channel Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Y (TIM_CHANNEL_3) /// HAL Active Channel Timer used for PWM_Y #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_Y (HAL_TIM_ACTIVE_CHANNEL_3) /// Timer Clock Enable for PWM_Y #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_CLCK_ENABLE() __TIM2_CLK_ENABLE() /// Timer Clock Disable for PWM_Y #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_CLCK_DISABLE() __TIM2_CLK_DISABLE() /// PWM_Y global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_IRQn (TIM2_IRQn) /// PWM_Y GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_Y (GPIO_AF1_TIM2) /// PWM_Y frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Y_FREQ_RESCALER (1) /// Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z (TIM3) /// Channel Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_Z (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_Z #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_Z (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_Z #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_CLCK_ENABLE() __TIM3_CLK_ENABLE() /// Timer Clock Disable for PWM_Z #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_CLCK_DISABLE() __TIM3_CLK_DISABLE() /// PWM_Z global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_IRQn (TIM3_IRQn) /// PWM_Z GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_Z (GPIO_AF2_TIM3) /// PWM_Z frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_Z_FREQ_RESCALER (1) /// Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1 (TIM4) /// Channel Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E1 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E1 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E1 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_CLCK_ENABLE() __TIM4_CLK_ENABLE() /// Timer Clock Disable for PWM_E1 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_CLCK_DISABLE() __TIM4_CLK_DISABLE() /// PWM_E1 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_IRQn (TIM4_IRQn) /// PWM_E1 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E1 (GPIO_AF2_TIM4) /// PWM_E1 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E1_FREQ_RESCALER (1) /// Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2 (TIM9) /// Channel Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E2 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E2 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E2 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E2 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_CLCK_ENABLE() __TIM9_CLK_ENABLE() /// Timer Clock Disable for PWM_E2 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_CLCK_DISABLE() __TIM9_CLK_DISABLE() /// PWM_E2 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_IRQn (TIM1_BRK_TIM9_IRQn) /// PWM_E2 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E2 (GPIO_AF3_TIM9) /// PWM_E2 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E2_FREQ_RESCALER (1) /// Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3 (TIM10) /// Channel Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_CHAN_TIMER_PWM_E3 (TIM_CHANNEL_1) /// HAL Active Channel Timer used for PWM_E3 #define BSP_MOTOR_CONTROL_BOARD_HAL_ACT_CHAN_TIMER_PWM_E3 (HAL_TIM_ACTIVE_CHANNEL_1) /// Timer Clock Enable for PWM_E3 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_CLCK_ENABLE() __TIM10_CLK_ENABLE() /// Timer Clock Disable for PWM_E3 #define __BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_CLCK_DISABLE() __TIM10_CLK_DISABLE() /// PWM_E3 global interrupt #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_IRQn (TIM1_UP_TIM10_IRQn) /// PWM_E3 GPIO alternate function #define BSP_MOTOR_CONTROL_BOARD_AFx_TIMx_PWM_E3 (GPIO_AF3_TIM10) /// PWM_E3 frequency rescaler (1 for HW PWM, 2 for SW PWM) #define BSP_MOTOR_CONTROL_BOARD_TIMER_PWM_E3_FREQ_RESCALER (1) /** * @} */ /******************************************************************************/ /* Independent plateform definitions */ /******************************************************************************/ /** @defgroup Constants_For_Motor_GPIO_Mapping * @{ */ /// GPIO Pin used for the L6474 flag pin #define BSP_MOTOR_CONTROL_BOARD_FLAG_PIN (GPIO_PIN_1) /// GPIO port used for the L6474 flag pin #define BSP_MOTOR_CONTROL_BOARD_FLAG_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 0 #define BSP_MOTOR_CONTROL_BOARD_PWM_X_PIN (GPIO_PIN_14) /// GPIO Port used for the L6474 step clock pin of device 0 #define BSP_MOTOR_CONTROL_BOARD_PWM_X_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 1 #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_PIN (GPIO_PIN_10) /// GPIO port used for the L6474 step clock pin of device 1 #define BSP_MOTOR_CONTROL_BOARD_PWM_Y_PORT (GPIOB) /// GPIO Pin used for the L6474 step clock pin of device 2 #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_PIN (GPIO_PIN_6) /// GPIO port used for the L6474 step clock pin of device 2 #define BSP_MOTOR_CONTROL_BOARD_PWM_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 step clock pin of device 3 #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_PIN (GPIO_PIN_12) /// GPIO port used for the L6474 step clock pin of device 3 #define BSP_MOTOR_CONTROL_BOARD_PWM_E1_PORT (GPIOD) /// GPIO Pin used for the L6474 step clock pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_PIN (GPIO_PIN_5) /// GPIO port used for the L6474 step clock pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_PWM_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 step clock pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_PIN (GPIO_PIN_8) /// GPIO port used for the L6474 step clock pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_PWM_E3_PORT (GPIOB) /// GPIO Pin used for the L6474 direction pin of device 0 * #define BSP_MOTOR_CONTROL_BOARD_DIR_X_PIN (GPIO_PIN_15) /// GPIO port used for the L6474 direction pin of device 0 * #define BSP_MOTOR_CONTROL_BOARD_DIR_X_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 1 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Y_PIN (GPIO_PIN_9) /// GPIO port used for the L6474 direction pin of device 1 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Y_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 2 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Z_PIN (GPIO_PIN_0) /// GPIO port used for the L6474 direction pin of device 2 * #define BSP_MOTOR_CONTROL_BOARD_DIR_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 direction pin of device 3 * #define BSP_MOTOR_CONTROL_BOARD_DIR_E1_PIN (GPIO_PIN_13) /// GPIO port used for the L6474 direction pin of device 3 * #define BSP_MOTOR_CONTROL_BOARD_DIR_E1_PORT (GPIOC) /// GPIO Pin used for the L6474 direction pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_DIR_E2_PIN (GPIO_PIN_6) /// GPIO port used for the L6474 direction pin of device 4 #define BSP_MOTOR_CONTROL_BOARD_DIR_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 direction pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_DIR_E3_PIN (GPIO_PIN_2) /// GPIO port used for the L6474 direction pin of device 5 #define BSP_MOTOR_CONTROL_BOARD_DIR_E3_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 0) * #define BSP_MOTOR_CONTROL_BOARD_RESET_X_PIN (GPIO_PIN_13) /// GPIO port used for the L6474 reset (device 0) * #define BSP_MOTOR_CONTROL_BOARD_RESET_X_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 1) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Y_PIN (GPIO_PIN_10) /// GPIO port used for the L6474 reset pin (device 1) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Y_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 2) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Z_PIN (GPIO_PIN_15) /// GPIO port used for the L6474 reset pin (device 2) * #define BSP_MOTOR_CONTROL_BOARD_RESET_Z_PORT (GPIOC) /// GPIO Pin used for the L6474 reset pin (device 3) * #define BSP_MOTOR_CONTROL_BOARD_RESET_E1_PIN (GPIO_PIN_14) /// GPIO port used for the L6474 reset pin (device 3) * #define BSP_MOTOR_CONTROL_BOARD_RESET_E1_PORT (GPIOC) /// GPIO Pin used for the L6474 reset pin (device 4) #define BSP_MOTOR_CONTROL_BOARD_RESET_E2_PIN (GPIO_PIN_4) /// GPIO port used for the L6474 reset pin (device 4) #define BSP_MOTOR_CONTROL_BOARD_RESET_E2_PORT (GPIOE) /// GPIO Pin used for the L6474 reset pin (device 5) #define BSP_MOTOR_CONTROL_BOARD_RESET_E3_PIN (GPIO_PIN_3) /// GPIO port used for the L6474 reset pin (device 5) #define BSP_MOTOR_CONTROL_BOARD_RESET_E3_PORT (GPIOE) /// GPIO Pin used for the L6474 SPI chip select pin #define BSP_MOTOR_CONTROL_BOARD_CS_PIN (GPIO_PIN_4) /// GPIO port used for the L6474 SPI chip select pin #define BSP_MOTOR_CONTROL_BOARD_CS_PORT (GPIOA) /* Definition for SPIx clock resources */ /// Used SPI #define SPIx (SPI1) /// SPI clock enable #define SPIx_CLK_ENABLE() __SPI1_CLK_ENABLE() /// SPI SCK enable #define SPIx_SCK_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI MISO enable #define SPIx_MISO_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI MOSI enable #define SPIx_MOSI_GPIO_CLK_ENABLE() __GPIOA_CLK_ENABLE() /// SPI Force reset #define SPIx_FORCE_RESET() __SPI1_FORCE_RESET() /// SPI Release reset #define SPIx_RELEASE_RESET() __SPI1_RELEASE_RESET() /// SPI SCK pin #define SPIx_SCK_PIN (GPIO_PIN_5) /// SPI SCK port #define SPIx_SCK_GPIO_PORT (GPIOA) /// SPI MISO pin #define SPIx_MISO_PIN (GPIO_PIN_6) /// SPI MISO port #define SPIx_MISO_GPIO_PORT (GPIOA) /// SPI MOSI pin #define SPIx_MOSI_PIN (GPIO_PIN_7) /// SPI MOSI port #define SPIx_MOSI_GPIO_PORT (GPIOA) /// SPI_SCK alternate function #define SPIx_SCK_AF (GPIO_AF5_SPI1) /// SPI MISO AF #define SPIx_MISO_AF (SPIx_SCK_AF) /// SPI MOSI AF #define SPIx_MOSI_AF (SPIx_SCK_AF) /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* __STM32F4XX_3DPRINTER_MOTOR_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
我的功耗测试 一、 相同条件下不同芯片的对比(主频：8M) F103c8t6 L152c8t6 工作时(mA) 8.34 4.85 待机时(uA) 3.3 4.1 测量过程中（mA） 8.26 6.58 二、 不同功率下的功耗对比 L152c8t6主频 1M 2M 8M 32M 工作时(mA) 2.43 2.75 4.85 12 待机时(uA) 4.1 4.1 4.1 4.1 测量过程中（mA） 2.80 3.15 8.5 12
上楼意思是你调试看看，我觉得看看也解决不了问题，敷衍式回答。 我的经验，即使是官方的，MDK有些Ex Flash 算法不可靠的，你用的硬件一致？你换个IDE，比如CubeIDE试试。 你定位问题，我并不是很赞同，烧写算法会改变SPI的寄存器， 看你这个工程，你想写一个MDK烧写算法，不用HAL库比较容易，寄存器操作吧，或者sdlib。 我已经成功写了F7的MDK QSPI烧写算法和Cubeprogrammer的烧写算法，一用HAL就不行。
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