从 ESP32 驱动 TMC5160

如何解决从 ESP32 驱动 TMC5160

我正在尝试使用 Tom Magnier 的 TMC5160 库，但遇到了一些问题。我使用的是 BigTreeTech 芯片的 SPI 接口版本，并连接了以下引脚。 硬件设置：

    MOSI (ESP32 : 23)   <=> SDI
    MISO (ESP32 : 19)   <=> SDO
    SCK (ESP32 : 18)    <=> SCK
    ESP32:5             <=> CSN
    ESP32:25            <=> DRV_ENN (optional,tie to GND if not used)
    GND                 <=> GND
    3.3V (ESP32 : )     <=> VCC_IO (depending on the processor voltage)

我基本上只是想实现示例，看来我可以使用默认值配置驱动程序，因为它找到了芯片并显示状态。但是，它不会响应电机控制。我想知道我是否在与 ESP32 的连接中遗漏了什么。

我的初始化和测试代码。

void izTMC5160::Initialize()
{
    _log->Log("izTMC5160::Initialize starting...");
    pinMode(_enablePin,OUTPUT); 
    digitalWrite(_enablePin,LOW); // Active low

    SPI.begin();

    // This sets the motor & driver parameters /!\ run the configWizard for your driver and motor for fine tuning !
    powerStageParams.drvStrength = 2;
    powerStageParams.bbmTime = 24;
    powerStageParams.bbmClks = 0;
    motorParams.globalScaler = 219;
    motorParams.irun = 31;
    motorParams.ihold = 15;
//    motorParams.freewheeling = 0;
    motorParams.pwmOfsInitial = 30;
    motorParams.pwmGradInitial = 0;
    motor.begin(powerStageParams,motorParams,TMC5160::NORMAL_MOTOR_DIRECTION);

    // ramp definition
    motor.setRampMode(TMC5160::POSITIONING_MODE);
    motor.setMaxSpeed(_maxSpeed);
    motor.setAcceleration(_acceleration);
    delay(_startupDelay); // Standstill for automatic tuning
    _log->Log("izTMC5160::Initialize completed...");
}

void izTMC5160::Test()
{
    _testDir = !_testDir;
    motor.setTargetPosition(_testDir ? _testSteps : -_testSteps);  // 1 full rotation = 200s/rev
    float xactual = motor.getCurrentPosition();
    float vactual = motor.getCurrentSpeed();
    char buffer[256];
    sprintf(buffer,"izTMC5160::Test - Current position: %f Current Speed: %f",xactual,vactual);
    _log->Log(buffer);
}

void izTMC5160::Enable(bool enable)
{
    if(enable)
    {
        digitalWrite(_enablePin,LOW);
    }
    else
    {
        digitalWrite(_enablePin,HIGH);
    }
}