373 lines
12 KiB
C
373 lines
12 KiB
C
/**
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* @file tmc2240.h
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* @author xushenghao
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* @brief TMC2240驱动头文件
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* @version 0.1
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* @note
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* 1. 芯片VM需要供电，否则SPI无法正常通信
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* 2. 42步进电机每步1.8度，1圈200步。1/8细分，1步=0.225度，电机转一周需要1600个脉冲
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*/
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#ifndef __TMC2240_H
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#define __TMC2240_H
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#include "main.h"
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#include "spis.h"
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#define MOTOR_42_STEP_ANGLE 1.8f // 42步进电机每步1.8度
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#define TMC2240_PWM_DUTY_DEFAULT 50 // PWM默认占空比
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/*
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0x00 = 0x00002108 ;; writing GCONF @ address 0=0x00 with 0x00002108=8456=0.0
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0x03 = 0x00000000 ;; writing SLAVECONF @ address 1=0x03 with 0x00000000=0=0.0
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0x04 = 0x4001682C ;; writing IOIN @ address 2=0x04 with 0x4001682C=1073834028=0.0
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0x0A = 0x00000021 ;; writing DRV_CONF @ address 3=0x0A with 0x00000021=33=0.0
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0x0B = 0x00000000 ;; writing GLOBAL_SCALER @ address 4=0x0B with 0x00000000=0=0.0
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0x10 = 0x00001208 ;; writing IHOLD_IRUN @ address 5=0x10 with 0x00001208=4616=0.0
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0x11 = 0x00000000 ;; writing TPOWERDOWN @ address 6=0x11 with 0x00000000=0=0.0
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0x13 = 0x00000000 ;; writing TPWMTHRS @ address 7=0x13 with 0x00000000=0=0.0
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0x14 = 0x000003BE ;; writing TCOOLTHRS @ address 8=0x14 with 0x000003BE=958=0.0
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0x15 = 0x00000000 ;; writing THIGH @ address 9=0x15 with 0x00000000=0=0.0
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0x2D = 0x00000000 ;; writing DIRECT_MODE @ address 10=0x2D with 0x00000000=0=0.0
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0x38 = 0x00000000 ;; writing ENCMODE @ address 11=0x38 with 0x00000000=0=0.0
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0x39 = 0x00000000 ;; writing X_ENC @ address 12=0x39 with 0x00000000=0=0.0
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0x3A = 0x00010000 ;; writing ENC_CONST @ address 13=0x3A with 0x00010000=65536=0.0
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0x52 = 0x0B920F25 ;; writing OTW_OV_VTH @ address 14=0x52 with 0x0B920F25=194121509=0.0
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0x60 = 0xAAAAB554 ;; writing MSLUT[0] @ address 15=0x60 with 0xAAAAB554=0=0.0
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0x61 = 0x4A9554AA ;; writing MSLUT[1] @ address 16=0x61 with 0x4A9554AA=1251300522=0.0
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0x62 = 0x24492929 ;; writing MSLUT[2] @ address 17=0x62 with 0x24492929=608774441=0.0
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0x63 = 0x10104222 ;; writing MSLUT[3] @ address 18=0x63 with 0x10104222=269500962=0.0
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0x64 = 0xFBFFFFFF ;; writing MSLUT[4] @ address 19=0x64 with 0xFBFFFFFF=0=0.0
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0x65 = 0xB5BB777D ;; writing MSLUT[5] @ address 20=0x65 with 0xB5BB777D=0=0.0
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0x66 = 0x49295556 ;; writing MSLUT[6] @ address 21=0x66 with 0x49295556=1227445590=0.0
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0x67 = 0x00404222 ;; writing MSLUT[7] @ address 22=0x67 with 0x00404222=4211234=0.0
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0x68 = 0xFFFF8056 ;; writing MSLUTSEL @ address 23=0x68 with 0xFFFF8056=0=0.0
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0x69 = 0x00F70000 ;; writing MSLUTSTART @ address 24=0x69 with 0x00F70000=16187392=0.0
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0x6C = 0x00410153 ;; writing CHOPCONF @ address 25=0x6C with 0x00410153=4260179=0.0
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0x6D = 0x00040000 ;; writing COOLCONF @ address 26=0x6D with 0x00040000=262144=0.0
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0x70 = 0xC44C001E ;; writing PWMCONF @ address 27=0x70 with 0xC44C001E=0=0.0
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0x74 = 0x00000000 ;; writing SG4_THRS @ address 28=0x74 with 0x00000000=0=0.0
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*/
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#define TMC2240_GCONF 0x00
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#define TMC2240_GSTAT 0x01
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#define TMC2240_IFCNT 0x02
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#define TMC2240_SLAVECONF 0x03
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#define TMC2240_IOIN 0x04
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#define TMC2240_DRV_CONF 0x0A
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#define TMC2240_GLOBAL_SCALER 0x0B
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#define TMC2240_IHOLD_IRUN 0x10
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#define TMC2240_TPOWERDOWN 0x11
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#define TMC2240_TSTEP 0x12
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#define TMC2240_TPWMTHRS 0x13
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#define TMC2240_TCOOLTHRS 0x14
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#define TMC2240_THIGH 0x15
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#define TMC2240_DIRECT_MODE 0x2D
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#define TMC2240_ENCMODE 0x38
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#define TMC2240_XENC 0x39
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#define TMC2240_ENC_CONST 0x3A
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#define TMC2240_ENC_STATUS 0x3B
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#define TMC2240_ENC_LATCH 0x3C
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#define TMC2240_ADC_VSUPPLY_AIN 0x50
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#define TMC2240_ADC_TEMP 0x51
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#define TMC2240_OTW_OV_VTH 0x52
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#define TMC2240_MSLUT0 0x60
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#define TMC2240_MSLUT1 0x61
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#define TMC2240_MSLUT2 0x62
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#define TMC2240_MSLUT3 0x63
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#define TMC2240_MSLUT4 0x64
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#define TMC2240_MSLUT5 0x65
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#define TMC2240_MSLUT6 0x66
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#define TMC2240_MSLUT7 0x67
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#define TMC2240_MSLUTSEL 0x68
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#define TMC2240_MSLUTSTART 0x69
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#define TMC2240_MSCNT 0x6A
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#define TMC2240_MSCURACT 0x6B
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#define TMC2240_CHOPCONF 0x6C
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#define TMC2240_COOLCONF 0x6D
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#define TMC2240_DCCTRL 0x6E
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#define TMC2240_DRVSTATUS 0x6F
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#define TMC2240_PWMCONF 0x70
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#define TMC2240_PWMSCALE 0x71
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#define TMC2240_PWM_AUTO 0x72
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#define TMC2240_SG4_THRS 0x74
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#define TMC2240_SG4_RESULT 0x75
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#define TMC2240_SG4_IND 0x76
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#define TMC2240_HIGHT_BIT 0x80
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typedef enum
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{
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TMC2240_1,
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TMC2240_MAX,
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} tmc2240_index_e;
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typedef enum
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{
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TMC2240_FORWARD, // 正转
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TMC2240_BACKWARD, // 反转
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} tmc2240_direction_e;
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typedef enum
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{
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TMC2240_MRES_256,
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TMC2240_MRES_128,
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TMC2240_MRES_64,
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TMC2240_MRES_32,
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TMC2240_MRES_16,
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TMC2240_MRES_8,
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TMC2240_MRES_4,
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TMC2240_MRES_2,
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TMC2240_MRES_1, // FULL STEP
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} tmc2240_mres_e;
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// 0x00 GCONF
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t reserved1 : 1;
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/**
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* 停止之前的步骤执行超时检测。
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* 0x0：正常时间：2^20个时钟
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* 0x1：短时间：2^18个时钟
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*/
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uint32_t fast_standstill : 1;
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/**
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* 启用StealthChop2模式。
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* 0x0：无StealthChop2
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* 0x1：StealthChop2电压PWM模式使能(取决于速度阈值)。从关闭状态切换
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在静止状态下和在lHOLD = 时为开状态 仅限额定电流。
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*/
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uint32_t en_pwm_mode : 1;
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/**
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* 启用StealthChop2的步进输入筛选
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* 0x0：无StealthChop2
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* 0x1：StealthChop2电压PWM模式使能
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(取决于速度阈值)。从关闭状态切换
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在静止状态下和在lHOLD=时为开状态
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仅限额定电流。
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*/
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uint32_t multistep_filt : 1;
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/**
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* 更改电机方向/方向标志
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* 0x0：默认电机方向
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* 0x1：电机方向相反
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*/
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uint32_t shaft : 1;
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uint32_t diag0_error : 1;
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uint32_t diag0_otpw : 1;
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uint32_t diag0_stall : 1;
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uint32_t diag1_stall : 1;
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uint32_t diag1_index : 1;
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uint32_t diag1_onstate : 1;
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uint32_t reserved2 : 1;
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uint32_t diag0_pushpull : 1;
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uint32_t diag1_pushpull : 1;
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uint32_t small_hysteresis : 1;
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/**
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* 电机硬停止功能启用。
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* 0x0：正常运行
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* 0x1：紧急停止：ENCA停止定序器
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当绑得很高时(不执行任何步骤
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定序器、电机进入停顿状态)。
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*/
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uint32_t stop_enable : 1;
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/**
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* 通过以下方式启用直接motpr相电流控制
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* 0x0：正常运行
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* 0x1：电机线圈电流和极性直接
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通过串口编程：寄存器
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直接模式(0x2D)指定带符号线圈A
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电流(位8..0)和线圈B电流(位24..16)。在……里面
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在此模式下，电流按lHOLD设置进行定标。
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基于速度的StealthChop2电流调节
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在此模式下不可用。自动的
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StealthChop2电流调节仅适用于
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步进电机速度低。
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*/
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uint32_t direct_mode : 1;
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} bits;
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} gconf_u;
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// 0x01 GSTAT
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t reset : 1;
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uint32_t drv_err : 1;
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uint32_t uv_cp : 1;
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uint32_t register_reset : 1;
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uint32_t vm_uvlo : 1;
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} bits;
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} gstat_u;
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// 0x0A DRVCONF
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t current_range : 2; // 0-1
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uint32_t reserved1 : 2; // 2-3
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uint32_t slope_control : 2; // 4-5
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} bits;
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} drvconf_u;
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// 0x0B GLOBAL_SCALER
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t global_scale : 8; // 0-7
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} bits;
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} global_scaler_u;
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// 0x10 IHOLD_IRUN
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t ihold : 5; // 0-4
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uint32_t reserved1 : 3; // 5-7
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uint32_t irun : 5; // 8-12
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uint32_t reserved2 : 3; // 13-15
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uint32_t iholddelay : 4; // 16-19
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uint32_t reserved3 : 4; // 20-23
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uint32_t irundelay : 4; // 24-27
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} bits;
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} ihold_irun_u;
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// 0x6C CHOPCONF
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typedef union
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{
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uint32_t data;
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struct
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{
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uint32_t toff : 4; // 0-3
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uint32_t hstrt : 3; // 4-6
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uint32_t hend : 4; // 7-10
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uint32_t fd3 : 1; // 11
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uint32_t disfdcc : 1; // 12
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uint32_t reserved1 : 1;
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uint32_t chm : 1; // 14
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uint32_t tbl : 2; // 15-16
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uint32_t reserved2 : 1;
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uint32_t vhighfs : 1; // 18
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uint32_t vhighchm : 1; // 19
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uint32_t tpfd : 4; // 20-23
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uint32_t mres : 4; // 24-27
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uint32_t intpol : 1; // 28
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uint32_t dedge : 1; // 29
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uint32_t diss2g : 1; // 30
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uint32_t diss2vs : 1; // 31
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} bits;
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} chopconf_u;
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// 0x70 PWMCONF
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typedef union
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{
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uint32_t data;
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struct
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{
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/**
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* 用户定义的 PWM 幅度偏移（0-255）与静止状态下的全电机电流（CS_ACTUAL=31）相关。 （重置默认值=30） 使用 PWM_OFS 作为自动缩放的初始值，
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* 以加快自动调谐过程。为此，请将 PWM_OFS 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
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* 完成后启用 StealthChop2。 PWM_OFS = 0 将禁用将电机电流缩放到低于电机特定的较低测量阈值。此设置应仅在某些条件下使用，
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* 例如当电源电压可以上下变化两倍或更多时。它可以防止电机超出调节范围，但也会防止电流降到调节限制以下。 PWM_OFS > 0 允许自动缩放到低 PWM 占空比，
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* 甚至低于较低的调节阈值。这允许基于实际（保持）电流比例（寄存器 IHOLD_IRUN）的低（静止）电流设置。
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*/
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uint32_t pwm_ofs : 8;
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/**
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* PWM 幅度的速度依赖梯度： PWM_GRAD x 256 / TSTEP 此值加到 PWM_OFS 以补偿速度依赖的电机反电动势。 使用 PWM_GRAD 作为自动缩放的初始值，
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* 以加快自动调谐过程。为此，请将 PWM_GRAD 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
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* 完成后启用 StealthChop2。 提示： 初始调谐后，可以从 PWM_GRAD_AUTO 中读取所需的初始值。
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*/
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uint32_t pwm_grad : 8;
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uint32_t pwm_freq : 2;
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uint32_t pwm_autoscale : 1;
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uint32_t pwm_autograd : 1;
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} bits;
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} pwmconf_u;
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typedef struct
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{
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gconf_u gconf; // 0x00 GCONF
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gstat_u gstat; // 0x01 GSTAT
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drvconf_u drvconf; // 0x0A DRVCONF
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global_scaler_u global_scaler; // 0x0B GLOBAL_SCALER
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ihold_irun_u ihold_irun; // 0x10 IHOLD_IRUN
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chopconf_u chopconf; // 0x6C CHOPCONF
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pwmconf_u pwmconf; // 0x70 PWMCONF
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} tmc2240_config_t;
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typedef struct
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{
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gpio_t *en; ///< EN_PIN
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gpio_t *dir; ///< DIR_PIN
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TIM_TypeDef *timer;
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uint32_t time_ch;
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spi_t *spi;
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tmc2240_config_t config;
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tmc2240_config_t read_config;
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uint32_t step;
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__IO uint32_t step_count;
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// PRIVATE
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struct
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{
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uint32_t sysclk; // 系统时钟
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uint32_t psc; // 预分频系数
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uint16_t arr; // 自动重装值 auto reload value
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uint32_t freq; // 频率
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} default_tm;
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struct
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{
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BOOL enable; // 使能
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tmc2240_direction_e direction; // 方向
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float32 percent; // 占空比
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uint16_t arr; // 自动重装值(改变速度)
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uint32_t freq; // 频率
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} params;
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struct
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{
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float32 step_angle; // 步进角度
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uint16_t circle_pulse; // 一圈脉冲数
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__IO int32_t add_pulse_count; /* 脉冲个数累计 */
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__IO uint32_t pulse_count; /* 脉冲个数记录 */
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__IO uint32_t step_angle_count; /* 步距个数 */
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} motor;
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struct
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{
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uint16_t tmc2240_adc_temp; // 温度ADC值
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float32 tmc2240_temperature; // 温度
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} data;
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} tmc2240_t;
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void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios);
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tmc2240_t *tmc2240_get(tmc2240_index_e index);
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void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle);
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void tmc2240_motor_update(tmc2240_index_e index);
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void tmc2240_test(tmc2240_index_e index);
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void tmc2240_config_read(tmc2240_index_e index);
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#endif // __TMC2240_H
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