Tle5012b+stm32f103c8t6 (bluepill) reading angle data

1. background

In the debug simpleFOC The program , Need to use magnetic encoder ,TLE5012B The price of magnetic encoder is low , Meet project requirements .TLE5012B There are two ways of communication ：SPI and ABI Interface mode . Summarize the use TLE5012B Some problems in the process

2. Hardware connection

MCU use ：STM32F103C8T6（bluepill） Minimum system board .
Sensors are purchased online TLE5012B modular + Radial magnet .
BLDC The motor ：X2212-13 KV：980
USB To serial port ：CH340 modular

2.1 SPI Wiring way

because TLE5012B It's using SSC Three wire communication , Compatible SPI Four wire communication , So you need to make a little adjustment when using , namely MISO、MOSI Received at the same time DATA（4） Pin . It needs to be controlled in the program MOSI Read write enable to control read write , instead of SPI Full duplex mode .


Specific connection way ：
PIN1(VDD)—> 3.3V
PIN2(GND)—> GND
PIN3(IFA)—> ×
PIN4(IFB)—> ×
PIN5(IFC)—> ×
PIN6(R2-CSQ)—> PA4
PIN7(R1-SCK)—> PA5
PIN8(R3-DATA)—> PA6
chip pin4 Or resistance R3 Another section of outgoing line —> PA7

Another feasible wiring method
PIN1(VDD)—> 3.3V
PIN2(GND)—> GND
PIN3(IFA)—> ×
PIN4(IFB)—> ×
PIN5(IFC)—> ×
PIN6(R2-CSQ)—> PA4
PIN7(R1-SCK)—> PA5
chip pin4 Or resistance R3 Another section of outgoing line —> PA6/PA7 Short circuit
（ tested PIN8(R3-DATA)—> PA6/PA7 Short circuit , The data is wrong ）

2.1.2 Embedded programs

Direct use SimpleFOC transplant STM32（ 3、 ... and ）—— Angle reading The program provided inside ：STM32ReadTLE5012B_spi1. You can also download directly from the online disk provided by this blogger ：
link ：https://pan.baidu.com/s/1ueR9a9_uL-Zce_CKTwhawQ
Extraction code ：9qls

2.1.3 test result

Use the serial port debugging assistant to view the data , Turn the motor , You can see that the data is changing , Data change in one week 360°, Absolute position mode ,0° After that, it's directly 360°

The oscilloscope measures PA4,5,6,7, You can see that data is collected at intervals , Because the oscilloscope can only be adjusted to 2ns, Cannot directly capture SPI wave form .

2.2 ABI Wiring way

STM32F103 series MCU The timer of provides independent Encoder Pattern , Except for two basic timers （TIM6/7） No such function , Other advanced timers （TIM1/8）, Basic timer （TIM2/3/4/5） All have this function , Here we use TIM4 Of Encoder function , Pin use ：PB6（TIM4_1）,PB7(TIM4_2)

Can be in STM32 See the timer block diagram in the data book of ：1- Clock source ;2- controller ;3- Time base unit ;4- Input capture . among 2- The controller part includes trigger controller 、 From the mode controller and the encoder interface we use here . The encoder interface is the input channel TIMx-CH1/TIMx-CH2 Input signal , after “ Input filters and edge detectors ” after （TI1FP1/TI2FP2）, Transmit the pulse signal to the controller “ Encoder interface ”. For details, please refer to ：STM32 General timer encoder mode

Specific connection way ：
PIN1(VDD)—> 3.3V
PIN2(GND)—> GND
PIN3(IFA)—> PB6/TIM4_1
PIN4(IFB)—> PB7/TIM4_2
PIN5(IFC)—> PB5/ Interrupt mode
PIN6(R2-CSQ)—> ×
PIN7(R1-SCK)—> ×
PIN8(R3-DATA)—> ×

2.2.2 ABI Embedded programs

Direct use SimpleFOC transplant STM32（ 3、 ... and ）—— Angle reading The program provided inside ：STM32ReadTLE5012B_ABZ. You can also download directly from the online disk provided by this blogger ：
link ：https://pan.baidu.com/s/1ueR9a9_uL-Zce_CKTwhawQ
Extraction code ：9qls

2.2.3 ABI test result

The motor rotates once ,I Send out a pulse ,MCU Capture I Enter interrupt after signal , Send the current pulse count . This is just the simplest program . Read the pulse count value , You can know the value of the rotation angle . Cooperate with others TIM timing , Calculate the angle value in a fixed time , Or time in a fixed angle , You can calculate the speed .

Embedded programs

1. SimpleFOC transplant STM32（ 3、 ... and ）—— Angle reading The program in is the simplest code program , For understanding hardware and programs , Testing hardware problems is very helpful
2. STM32F103RCTx-TLE5012B-Magnetic-Angle-Sensor
   , This github The warehouse is officially provided Arduino The library has been ported to STM32 Next , The writing is quite standard , There are also many functions , Can be called directly .
3. ODrive Step on the pit （ Two ）3508 Motors and TLE5012B Magnetic encoder parameter configuration 、 calibration 、 Position closed-loop mode rotation motor （TLE5012B-E1000）
4. ODrive example #1 Example of motor configuration (4250-520KV + TLE5012B-E1000)