From e1d5b4d37dd4744fbe8da54c7e9b5484c6447876 Mon Sep 17 00:00:00 2001 From: wujunchao <24472040@qq.com> Date: Thu, 23 May 2024 17:22:31 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- App/Inc/motor.h | 12 +- App/Src/Uart1.c | 26 +- App/Src/app.c | 100 +- App/Src/motor.c | 330 +- App/Src/oled2.c | 237 +- App/Src/tmc5160.c | 149 +- Inc/app.h | 4 +- MDK-ARM/mfps.uvguix.吴俊潮 | 174 +- MDK-ARM/mfps.uvoptx | 57 +- MDK-ARM/mfps.uvprojx | 5 - MDK-ARM/mfps/ads1220.crf | Bin 671436 -> 668661 bytes MDK-ARM/mfps/ads1220.d | 5 +- MDK-ARM/mfps/ads1220.o | Bin 759872 -> 761384 bytes MDK-ARM/mfps/app.crf | Bin 668152 -> 665328 bytes MDK-ARM/mfps/app.d | 7 +- MDK-ARM/mfps/app.o | Bin 736744 -> 737256 bytes MDK-ARM/mfps/delay.crf | Bin 667706 -> 664931 bytes MDK-ARM/mfps/delay.d | 3 +- MDK-ARM/mfps/delay.o | Bin 737416 -> 738460 bytes MDK-ARM/mfps/dma.o | Bin 699560 -> 700764 bytes MDK-ARM/mfps/flash.o | Bin 707264 -> 708632 bytes MDK-ARM/mfps/gpio.o | Bin 700320 -> 701516 bytes MDK-ARM/mfps/i2c.o | Bin 703612 -> 704916 bytes MDK-ARM/mfps/key.crf | Bin 667776 -> 665001 bytes MDK-ARM/mfps/key.d | 3 +- MDK-ARM/mfps/key.o | Bin 738208 -> 739224 bytes MDK-ARM/mfps/m1820.crf | Bin 668844 -> 666063 bytes MDK-ARM/mfps/m1820.d | 3 +- MDK-ARM/mfps/m1820.o | Bin 746092 -> 747312 bytes MDK-ARM/mfps/main.crf | Bin 668060 -> 665339 bytes MDK-ARM/mfps/main.d | 3 +- MDK-ARM/mfps/main.o | Bin 737616 -> 738700 bytes MDK-ARM/mfps/mfps.axf | Bin 815432 -> 823652 bytes MDK-ARM/mfps/mfps.build_log.htm | 8 +- MDK-ARM/mfps/mfps.hex | 4250 +++++++++++++------------ MDK-ARM/mfps/mfps.htm | 859 ++--- MDK-ARM/mfps/mfps.lnp | 1 - MDK-ARM/mfps/mfps.map | 2324 +++++++------- MDK-ARM/mfps/mfps_mfps.dep | 157 +- MDK-ARM/mfps/misc.o | Bin 704600 -> 705904 bytes MDK-ARM/mfps/motor.crf | Bin 669765 -> 667739 bytes MDK-ARM/mfps/motor.d | 3 +- MDK-ARM/mfps/motor.o | Bin 744132 -> 748384 bytes MDK-ARM/mfps/mylib.o | Bin 712852 -> 714048 bytes MDK-ARM/mfps/oled.crf | Bin 672911 -> 672976 bytes MDK-ARM/mfps/oled.o | Bin 768952 -> 771460 bytes MDK-ARM/mfps/oled2.crf | Bin 675366 -> 672817 bytes MDK-ARM/mfps/oled2.d | 3 +- MDK-ARM/mfps/oled2.o | Bin 779528 -> 781824 bytes MDK-ARM/mfps/serial_port.crf | Bin 667943 -> 665168 bytes MDK-ARM/mfps/serial_port.d | 3 +- MDK-ARM/mfps/serial_port.o | Bin 734464 -> 735408 bytes MDK-ARM/mfps/spi.o | Bin 703592 -> 704896 bytes MDK-ARM/mfps/startup_stm32f103xe.o | Bin 6788 -> 6812 bytes MDK-ARM/mfps/stm32f1xx_hal.o | Bin 731772 -> 733764 bytes MDK-ARM/mfps/stm32f1xx_hal_cortex.o | Bin 721748 -> 723420 bytes MDK-ARM/mfps/stm32f1xx_hal_dma.o | Bin 720572 -> 722124 bytes MDK-ARM/mfps/stm32f1xx_hal_exti.o | Bin 711164 -> 712572 bytes MDK-ARM/mfps/stm32f1xx_hal_flash.o | Bin 719056 -> 720672 bytes MDK-ARM/mfps/stm32f1xx_hal_flash_ex.o | Bin 718464 -> 719984 bytes MDK-ARM/mfps/stm32f1xx_hal_gpio.o | Bin 710756 -> 712128 bytes MDK-ARM/mfps/stm32f1xx_hal_gpio_ex.o | Bin 700608 -> 701812 bytes MDK-ARM/mfps/stm32f1xx_hal_i2c.o | Bin 848260 -> 851948 bytes MDK-ARM/mfps/stm32f1xx_hal_msp.o | Bin 699144 -> 700308 bytes MDK-ARM/mfps/stm32f1xx_hal_pwr.o | Bin 721944 -> 723672 bytes MDK-ARM/mfps/stm32f1xx_hal_rcc.o | Bin 721408 -> 723004 bytes MDK-ARM/mfps/stm32f1xx_hal_rcc_ex.o | Bin 702812 -> 704020 bytes MDK-ARM/mfps/stm32f1xx_hal_spi.o | Bin 787168 -> 790200 bytes MDK-ARM/mfps/stm32f1xx_hal_tim.o | Bin 898720 -> 903916 bytes MDK-ARM/mfps/stm32f1xx_hal_tim_ex.o | Bin 772276 -> 774848 bytes MDK-ARM/mfps/stm32f1xx_hal_uart.o | Bin 797672 -> 800872 bytes MDK-ARM/mfps/stm32f1xx_it.crf | Bin 669599 -> 666970 bytes MDK-ARM/mfps/stm32f1xx_it.d | 3 +- MDK-ARM/mfps/stm32f1xx_it.o | Bin 761724 -> 763636 bytes MDK-ARM/mfps/system_stm32f1xx.o | Bin 699540 -> 700728 bytes MDK-ARM/mfps/tim.o | Bin 703568 -> 704880 bytes MDK-ARM/mfps/tmc5160.crf | Bin 670032 -> 667184 bytes MDK-ARM/mfps/tmc5160.d | 3 +- MDK-ARM/mfps/tmc5160.o | Bin 747832 -> 748788 bytes MDK-ARM/mfps/uart1.crf | Bin 671121 -> 668371 bytes MDK-ARM/mfps/uart1.d | 3 +- MDK-ARM/mfps/uart1.o | Bin 760720 -> 762368 bytes MDK-ARM/mfps/usart.o | Bin 707788 -> 709168 bytes Src/main.c | 37 +- Src/stm32f1xx_it.c | 55 +- 85 files changed, 4448 insertions(+), 4379 deletions(-) diff --git a/App/Inc/motor.h b/App/Inc/motor.h index 56c3815..9dcce82 100644 --- a/App/Inc/motor.h +++ b/App/Inc/motor.h @@ -3,10 +3,12 @@ #include "main.h" -#define magnet_1mm 7 //1mmӦmvֵ -extern int magnet_middle; //Χ-еmv -extern int magnet_start; //Χ-mv -extern int magnet_end; //Χ-յmv +#define magnet_1mm 7 //1mmӦmvֵ +extern int magnet_middle; //Χ-еmv +extern int magnet_start; //Χ-mv +extern int magnet_end; //Χ-յmv +extern unsigned char magnet_type;// +extern signed int vol_data; //ŸӦģѹֵ extern unsigned char Runmotor_step; extern int led_flag; //ledƿر־ @@ -47,5 +49,5 @@ void mov_step(void); // //void mov_end(void); //صλ //void motor_seat(void); //λж void get_state(void); - +void get_magnetv(void); #endif diff --git a/App/Src/Uart1.c b/App/Src/Uart1.c index 5f54c42..7284baa 100644 --- a/App/Src/Uart1.c +++ b/App/Src/Uart1.c @@ -573,6 +573,7 @@ unsigned char Check_VerfiyData(void) //ݽշ(ôѭ) +uint8_t magnet_type = 25; void Deal_Uart_Data_For_Module(void) { if(order_flag) //нյָ @@ -626,32 +627,37 @@ void Deal_Uart_Data_For_Module(void) { case 1:// #25 { - magnet_start = magnet_middle - 13 * magnet_1mm; - magnet_end = magnet_middle + 13 * magnet_1mm; + magnet_start = magnet_middle - 16 * magnet_1mm; + magnet_end = magnet_middle + 16 * magnet_1mm; + magnet_type = 25; } break; case 2:// #50 { - magnet_start = magnet_middle - 26 * magnet_1mm; - magnet_end = magnet_middle + 26 * magnet_1mm; + magnet_start = magnet_middle - 29 * magnet_1mm; + magnet_end = magnet_middle + 29 * magnet_1mm; + magnet_type = 50; } break; case 3:// #110 { - magnet_start = magnet_middle - 56 * magnet_1mm; - magnet_end = magnet_middle + 56 * magnet_1mm; + magnet_start = magnet_middle - 59 * magnet_1mm; + magnet_end = magnet_middle + 59 * magnet_1mm; + magnet_type = 110; } break; case 4:// #210 { - magnet_start = magnet_middle - 106 * magnet_1mm; - magnet_end = magnet_middle + 106 * magnet_1mm; + magnet_start = magnet_middle - 109 * magnet_1mm; + magnet_end = magnet_middle + 109 * magnet_1mm; + magnet_type = 210; } break; case 5:// { - magnet_start = magnet_middle - 56 * magnet_1mm; - magnet_end = magnet_middle + 56 * magnet_1mm; + magnet_start = magnet_middle - 29 * magnet_1mm; + magnet_end = magnet_middle + 29 * magnet_1mm; + magnet_type = 25; } break; } diff --git a/App/Src/app.c b/App/Src/app.c index 4f62a0e..92ffc88 100644 --- a/App/Src/app.c +++ b/App/Src/app.c @@ -2,41 +2,34 @@ //绿灯 NOR ;蓝灯 ERR -float X_ads1220 = 0; //读到的电压值 -float X_ads1220_L = 15.0; //电压值上限 -float X_ads1220_H = 1320.0; //电压值下限 -float X_ads1220_prc = 0; //电压百分比（即位移百分比） +float X_ads1220 = 0; //读到的电压值 float TEMP_M1820 = 0; //温度 uint32_t move_step_5mm = 0x0000C800; uint32_t move_step_1mm = 0x00002800; -char oled_init_flag = 0,oled_init_result = 0; -//int i2c_error_temp = 0; + uint8_t magnet_tx[7] = {0x05,0x01,0x00,0x01,0x00,0x32,0xFF}; -HAL_StatusTypeDef hal_check_tx; -uint8_t flash_rd_flag = 0; -signed int first_xa_32 = 0;//记录上电时电机位置 -uint16_t load_check = 0; -uint8_t TSTEP_CK[5] = {0}; -uint32_t tstep_check = 0; + +HAL_StatusTypeDef hal_check_tx; //用于查看debug发送状态 +uint8_t flash_rd_flag = 0; //flash读取标志 +signed int first_xa_32 = 0; //记录上电时电机位置 +int LEDcnt_ms = 100; //LED计数 +uint16_t SG_RESULT = 0; +uint8_t TSTEP_RAW[5] = {0}; +uint32_t TSTEP = 0; void app_act (void) { if(flash_rd_flag == 0) //只读取一次 { STMFLASH_Read(FLASH_SAVE_ADDR,flash_rd,6); //读取当前flash内容 -// magnet_middle = flash_rd[0]; //默认以#25的中点为标准 + + magnet_middle = flash_rd[0]; //默认以#25的中点为标准，#50和#110的位置预留 flash_rd_flag = 1; } - TMC5160_SPIReadInt(0x12,TSTEP_CK); //读取TSTEP,为0说明灵敏度过小 - tstep_check = Raw_32(TSTEP_CK); - TMC5160_SPIReadInt(DRV_STAT_ADDR,DRV_STAT); //读取驱动器状态 - DRV_STAT_32 = Raw_32(DRV_STAT); - SG_RESULT_16 = ((uint16_t)DRV_STAT_32) & 0x03FF; //驱动器状态共32bit，其中0-9bit为负载值，读到的负载值越低，负载越高，0代表最高负载 - if(SG_RESULT_16 != 0) load_check = SG_RESULT_16; - //1 按键操作 + // 按键操作 // Key_Scan();//按键扫描（已放入定时器中断） key_act(); //按键执行功能 @@ -50,41 +43,48 @@ void app_act (void) // // } - //3 串口通信测试 -// uart_test(); - //4 数据采集 + // 数据采集 if(it_100ms_flag) { it_100ms_flag = 0; - HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_SET); //使能485发送，发送结束后在回调函数中拉低 +// HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_SET); //使能485发送，发送结束后在回调函数中拉低 - hal_check_tx = HAL_UART_Transmit_IT(&huart2, magnet_tx ,7); //485发送 +// hal_check_tx = HAL_UART_Transmit_IT(&huart2, magnet_tx ,7); //485发送 - TEMP_M1820 = M1820_Get_Temp(); //温度采集 + TMC5160_SPIReadInt(0x12,TSTEP_RAW); //读取TSTEP + TSTEP = Raw_32(TSTEP_RAW); + TMC5160_SPIReadInt(DRV_STAT_ADDR,DRV_STAT); //读取驱动器状态 + DRV_STAT_32 = Raw_32(DRV_STAT); // 16-20bit为实际电机电流 + SG_RESULT = ((uint16_t)DRV_STAT_32) & 0x03FF; //驱动器状态共32bit，其中0-9bit为负载值，读到的负载值越低，负载越高，0代表最高负载 - OLED_MenuTest(); //OLED显示,菜单 + get_state(); + + get_magnetv(); //磁感应反馈电压 - X_ads1220 = Xads1220_filter(25,75); //电阻尺滤波结果（电压值，mv） -// X_ads1220_prc =(X_ads1220 - X_ads1220_L)/(X_ads1220_H - X_ads1220_L); + TEMP_M1820 = M1820_Get_Temp(); //温度采集 + + OLED_MenuTest(); //OLED显示,菜单 + + X_ads1220 = Xads1220_filter(25,75); //电阻尺滤波结果（电压值，mv） - // 串口计时 - process_ttl_receive_timer(); + + process_ttl_receive_timer(); // 串口计时 } - //5 电阻尺 位移传感器 - Xads1220_record();//采集数据用于滤波 + // 电阻尺 位移传感器 + Xads1220_record(); //采集数据用于滤波 - //6 电机 - motor_protect_ads(100,1900); + // 电机 + motor_protect_ads(100,1900); //电阻尺限位 Deal_Motor(); - //7 串口数据处理 + // 串口数据处理 Deal_Uart_Data_For_Module(); @@ -94,23 +94,41 @@ void app_act (void) //9 LED灯状态指示 if( Motor_Run == 0 ) { - HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET);//停止状态两灯熄灭 + HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET); //停止状态两灯熄灭 HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET); } if( (Motor_Run == 1) && (motor_direc == 1) ) { - HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET);//正向转动绿灯亮 + HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET); //正向转动绿灯亮 HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET); } if( (Motor_Run == 1) && (motor_direc == 2) ) { HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET); - HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//反向转动蓝灯亮 + HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET); //反向转动蓝灯亮 } if( ( Motor_Run == 2 ) || ( Motor_Run == 3 ) ) { - HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET); - HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//复位移动时两灯亮 + if(LEDcnt_ms == 100) + { + LEDcnt_ms = 0; + HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET); + } + + if(it_200ms_flag) + { + it_200ms_flag = 0; + + LEDcnt_ms++; + + if( LEDcnt_ms == 2 ) + { + LEDcnt_ms = 0; + HAL_GPIO_TogglePin(LED_NOR_GPIO_Port, LED_NOR_Pin); + HAL_GPIO_TogglePin(LED_ERR_GPIO_Port, LED_ERR_Pin); //复位移动时两灯闪烁 + } + } } } diff --git a/App/Src/motor.c b/App/Src/motor.c index 83c24fc..bd27110 100644 --- a/App/Src/motor.c +++ b/App/Src/motor.c @@ -10,7 +10,7 @@ #define MOTOR_REV 2 //˶ #define MOTOR_RETURN 3 // -int magnet_middle = 1135; //е +int magnet_middle = 1240; //е int magnet_start = 800; //Χ-mv int magnet_end = 1200; //Χ-յmv #define motor_start 200 //˶Χmv @@ -59,35 +59,31 @@ void ClrRunmotorStep(void) } // +#define SPEED_MIN 0x00003A98 #define SPEED_NORMAL 0x00007530 -#define SPEED_MAX 0x0000EA60 +#define SPEED_MAX 0x0001D4C0 int first_flag = 1; void Deal_Motor(void) { - TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL - XA_32 = Raw_32(XA); - TMC5160_SPIReadInt(VACTUAL_ADDR,VA); //ȡʵٶVACTUAL - VA_32 = Raw_32(VA); - //жֱг̻ǽг if(Travle_Flag == 0)//ֱг̡תһȦˮƽλ5mm { motor_data[0] = 0x00;//00 ֱг 01 г //жϵֹͣУеʼλǽλ - if( Motor_Run == 0)//ֹͣ + if( Motor_Run == 0) //ֹͣ { tmc5160_operate(MOTOR_STOP,0); if( speed_max != SPEED_NORMAL) { - speed_max = SPEED_NORMAL; //VMAX + speed_max = SPEED_NORMAL; //VMAX TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); - speed_1 = speed_max / 2; //V1 + speed_1 = speed_max / 2; //V1 TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); } } - else if(Motor_Run == 1)// + else if((Motor_Run == 1) && (first_flag == 0)) //Уϵ縴λɺЧ { if(Motor_Run >= 1 && Runmotor_step == 0) { @@ -121,19 +117,21 @@ void Deal_Motor(void) if( ocin1 == 0 )//жǷ񵽴ʼλ { + //¼һθλʱλ + if(first_flag) + { + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL + XA_32 = Raw_32(XA); + + first_xa_32 = XA_32; + first_flag = 0; + } + motor_direc = MOTOR_POS; Runmotor_step = 0; Motor_Run = 0; return; } -// if( ocin2 == 0 )//жǷ񵽴λ -// { -// motor_direc = MOTOR_REV; -// Runmotor_step = 0; -// Motor_Run = 0; -// return; -// } - if( (X_ads1220 <= (motor_start + 50) ) && (X_ads1220 != 0) ) { @@ -153,14 +151,14 @@ void Deal_Motor(void) } - if((ocin2 == 1) && (ocin2 == 1)) + if((ocin2 == 1) && (ocin2 == 1)) //δλʱٴ󲽳 { if( speed_max != SPEED_MAX) { speed_max = SPEED_MAX; - TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX + TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX - speed_1 = speed_max / 2; //V1 + speed_1 = speed_max / 2; //V1 TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); } @@ -168,15 +166,8 @@ void Deal_Motor(void) } } - else if(Motor_Run == 3)//еλ + else if((Motor_Run == 3) && (first_flag == 0)) //еλ { -// if( ocin1 == 0 )//жǷ񵽴ʼλ -// { -// motor_direc = MOTOR_POS; -// Runmotor_step = 0; -// Motor_Run = 0; -// return; -// } if( ocin2 == 0 )//жǷ񵽴λ { motor_direc = MOTOR_REV; @@ -195,14 +186,12 @@ void Deal_Motor(void) if((ocin2 == 1) && (ocin2 == 1)) { - -// uint32_t speed_max = 0x00009C40; //VMAX Ŀٶ if( speed_max != SPEED_MAX) { speed_max = SPEED_MAX; - TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX + TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX - speed_1 = speed_max / 2; //V1 + speed_1 = speed_max / 2; //V1 TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); } @@ -297,13 +286,6 @@ void mov_step(void) return; } -// TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL -// XA_32 = Raw_32(XA); -// TMC5160_SPIReadInt(VACTUAL_ADDR,VA); //ȡʵٶVACTUAL -// VA_32 = Raw_32(VA); - - if(Run_mm == 0) return;//Ϊ0 - switch(Runmotor_step) { case 1 : //׼ @@ -316,13 +298,13 @@ void mov_step(void) break; case 2 : //й { - if(Run_Step == 0) //λϢʱʹλĿƲRun_mm + if(Run_Step == 0) //λϢʱʹλĿƲRun_mm { tmc5160_operate(motor_direc,Run_mm * 10240); }else { - tmc5160_operate(motor_direc,Run_Step * 1024);//Runstep cm + tmc5160_operate(motor_direc,Run_Step * 1024); //Runstep cm } if(busy_flag == 0) { @@ -332,27 +314,23 @@ void mov_step(void) break; case 3 : { -// if(busy_flag == 0) -// { -// Runmotor_step++; -// } Runmotor_step++; } break; case 4 : { - if(it_50ms_flag) //1msʱ־ + if(it_50ms_flag) //50msʱ־ { - it_50ms_flag = 0;//ʱ־ + it_50ms_flag = 0; //ʱ־ Runmotor_Nums++; } - if(Runmotor_Nums >= 10)//ʱ + if(Runmotor_Nums >= 10) //ʱ { Runmotor_Nums = 0; Runmotor_step++; - get_state(); //ȡǰ״̬ - send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//ݷ + get_state(); //ȡǰ״̬ + send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data); //ݷ } } break; @@ -372,22 +350,16 @@ void mov_step(void) //Уһֱг̣ - +int stop_cnt = 0; +uint32_t motor_x_start = 0,motor_x_end = 0; void mov_loop1(void) { -// TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL -// XA_32 = Raw_32(XA); -// TMC5160_SPIReadInt(VACTUAL_ADDR,VA); //ȡʵٶVACTUAL -// VA_32 = Raw_32(VA); - switch(Runmotor_step) { case 1 : //׼ { - //motor_direc = MOTOR_POS; //ʼΪת - motor_dire = 1; -// Run_mm = 0; +// motor_direc = MOTOR_POS; //λ Run_num = 0; motor_data[2] = 0x00; //ʱ Runmotor_Nums = 0; //д @@ -398,12 +370,58 @@ void mov_loop1(void) break; case 2 : //й̣ڷΧ { - if( X_ads1220 > magnet_start ) //λж + if( X_ads1220 >= magnet_start ) //һεΧ,ԵΪ׼ { tmc5160_operate(MOTOR_STOP,0); -// if(busy_flag == 1) break; + while(busy_flag == 1) //ֹͣ + { + tmc5160_operate(MOTOR_STOP,0); + + stop_cnt++; + if(stop_cnt > 10000) + { + stop_cnt = 0; + break; //ֹ + } + + if(busy_flag == 0) stop_cnt = 0; + } - if(it_1000ms_flag) //1msʱ־ + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ֹͣȡʵλXACTUAL + XA_32 = Raw_32(XA); + + motor_x_start = XA_32; //¼ʱĵλ + + switch(magnet_type) //ݲͬ񣬼˶յ + { + case 25: + { + motor_x_end = motor_x_start + 10240*(25+6); + } + break; + case 50: + { + motor_x_end = motor_x_start + 10240*(50+6); + } + break; + case 110: + { + motor_x_end = motor_x_start + 10240*(110+6); + } + break; + case 210: + { + motor_x_end = motor_x_start + 10240*(210+6); + } + break; + default: + { + motor_x_end = 0; + } + break; + } + + if(it_1000ms_flag) //1000msʱ־ { it_1000ms_flag = 0; //ʱ־ Runmotor_Nums++; @@ -424,14 +442,28 @@ void mov_loop1(void) // get_state(); //ȡǰ״̬ // send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//ݷ } - //ΧǰԴ󲽳˶λΪmm5mmתһȦ - if( speed_max != SPEED_MAX) + + if( X_ads1220 <= magnet_start - 150) //ΧȽԶʱ˶ { - speed_max = SPEED_MAX; - TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX - - speed_1 = speed_max / 2; //V1 - TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); + if( speed_max != SPEED_MAX) + { + speed_max = SPEED_MAX; + TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); // VMAX + + speed_1 = speed_max / 2; //V1 + TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); + } + } + else //ΧȽϽʱСٶ + { + if( speed_max != SPEED_MIN) + { + speed_max = SPEED_MIN; //VMAX + TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); + + speed_1 = speed_max / 2; //V1 + TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); + } } tmc5160_operate( motor_direc, 51200*30 ); @@ -445,21 +477,21 @@ void mov_loop1(void) //ΧС˶λΪmm if( speed_max != SPEED_NORMAL) { - speed_max = SPEED_NORMAL; //VMAX + speed_max = SPEED_NORMAL; //VMAX TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); - speed_1 = speed_max / 2; //V1 + speed_1 = speed_max / 2; //V1 TMC5160_SPIWriteInt(V1_ADDR, speed_1,1); } if(Run_Step == 0) { - tmc5160_operate(motor_direc,Run_mm*10240);//5mm-512001mm-10240 + tmc5160_operate(motor_direc,Run_mm*10240); //5mm-512001mm-10240 }else { tmc5160_operate(motor_direc,Run_Step*1024); } - if(busy_flag == 0)//ָλúͷbusy_flag + if(busy_flag == 0) //ָλúͷbusy_flag { Runmotor_step++; } @@ -467,20 +499,20 @@ void mov_loop1(void) break; case 4 : //ʱ { - if(it_50ms_flag) //1msʱ־ + if(it_50ms_flag) //50msʱ־ { - it_50ms_flag = 0;//ʱ־ + it_50ms_flag = 0; //ʱ־ Runmotor_Nums++; } - if(Runmotor_Nums >= (Run_Inter / 50))//ʱ + if(Runmotor_Nums >= (Run_Inter / 50)) //ʱ { Runmotor_Nums = 0; Runmotor_step++; send_flag = 0; - get_state(); //ȡǰλ - send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//ݷ + get_state(); //ȡǰλ + send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data); //ݷ } } @@ -488,14 +520,14 @@ void mov_loop1(void) case 5 : { - if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//жǷ񵽴ʼλ + if( (ocin1 == 0) && (motor_direc != MOTOR_POS) ) //жǷ񵽴ʼλ { motor_direc = MOTOR_POS; Runmotor_step = 0; Motor_Run = 0; break; } - if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//жǷ񵽴λ + if( (ocin2 == 0) && (motor_direc != MOTOR_REV) ) //жǷ񵽴λ { motor_direc = MOTOR_REV; Runmotor_step = 0; @@ -503,25 +535,87 @@ void mov_loop1(void) break; } - Runmotor_step = 3; + Runmotor_step = 3; //Χ֮ǰ3-4-5֮ѭ - if((X_ads1220 >= magnet_end) && (motor_direc != MOTOR_REV)) //Χж + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL + XA_32 = Raw_32(XA); + + if(motor_x_end != 0) //δ쳣ʱԵΪ׼ { - tmc5160_operate(MOTOR_STOP,0); - - if(busy_flag == 0) + if((XA_32 >= motor_x_end) && (motor_direc != MOTOR_REV)) //Χյֹͣ { - motor_direc = MOTOR_REV; //ת - Runmotor_Nums = 0; - Runmotor_step = 7; + + tmc5160_operate(MOTOR_STOP,0); + while(busy_flag == 1) //ֹͣ + { + tmc5160_operate(MOTOR_STOP,0); + + stop_cnt++; + if(stop_cnt > 10000) + { + stop_cnt = 0; + break; //ֹ + } + + if(busy_flag == 0) stop_cnt = 0; + } + + if(busy_flag == 0) + { + motor_direc = MOTOR_REV; //ת + Runmotor_Nums = 0; + Runmotor_step = 7; + } + } + }else //쳣ʱԵΪ׼ + { + if((X_ads1220 >= magnet_end) && (motor_direc != MOTOR_REV)) //Χյֹͣ + { + + tmc5160_operate(MOTOR_STOP,0); + while(busy_flag == 1) //ֹͣ + { + tmc5160_operate(MOTOR_STOP,0); + + stop_cnt++; + if(stop_cnt > 10000) + { + stop_cnt = 0; + break; //ֹ + } + + if(busy_flag == 0) stop_cnt = 0; + } + + if(busy_flag == 0) + { + motor_direc = MOTOR_REV; //ת + Runmotor_Nums = 0; + Runmotor_step = 7; + } } } - if((X_ads1220 <= magnet_start) && (motor_direc == MOTOR_REV)) //Χж + if((XA_32 <= motor_x_start) && (motor_direc == MOTOR_REV)) //صΧ󣬸λ { - Motor_Run = 2; // + tmc5160_operate(MOTOR_STOP,0); + while(busy_flag == 1) //ֹͣ + { + tmc5160_operate(MOTOR_STOP,0); + + stop_cnt++; + if(stop_cnt > 10000) + { + stop_cnt = 0; + break; //ֹ + } + + if(busy_flag == 0) stop_cnt = 0; + } + + Motor_Run = 2; //صʼ Runmotor_step = 0; } @@ -530,14 +624,14 @@ void mov_loop1(void) break; case 6 : { - if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//жǷ񵽴ʼλ + if( (ocin1 == 0) && (motor_direc != MOTOR_POS) ) //жǷ񵽴ʼλ { motor_direc = MOTOR_POS; Runmotor_step = 0; Motor_Run = 0; break; } - if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//жǷ񵽴λ + if( (ocin2 == 0) && (motor_direc != MOTOR_REV) ) //жǷ񵽴λ { motor_direc = MOTOR_REV; Runmotor_step = 0; @@ -550,9 +644,9 @@ void mov_loop1(void) break; case 7 : { - if(it_10ms_flag) //1msʱ־ + if(it_10ms_flag) //1msʱ־ { - it_10ms_flag = 0; //ʱ־ + it_10ms_flag = 0; //ʱ־ Runmotor_Nums++; } if((Runmotor_Nums/100) >= Run_Stop) //ʱ @@ -570,19 +664,35 @@ void mov_loop1(void) } } +uint32_t V_data = 0; +signed int _data = 0,vol_data = 0; +char start_check = 0; +uint16_t send_xa = 0; void get_state(void) { motor_data[1] = Motor_Run; motor_data[2] = Run_Mode; - motor_data[4] = rx_data2[1]; //485 - motor_data[5] = rx_data2[2]; - motor_data[6] = rx_data2[3]; - motor_data[7] = rx_data2[4]; + + if(rx_data2[start_check] != 0x05) + { + start_check = (start_check + 1)*(start_check <5); //λʼ֡ + } + else + { + motor_data[4] = rx_data2[ (start_check + 1) - 6*( (start_check + 1) > 5) ]; //ʼ֡λ㼟Ӧģķֵ + motor_data[5] = rx_data2[ (start_check + 2) - 6*( (start_check + 2) > 5) ]; + motor_data[6] = rx_data2[ (start_check + 3) - 6*( (start_check + 3) > 5) ]; + motor_data[7] = rx_data2[ (start_check + 4) - 6*( (start_check + 4) > 5) ]; + } + + /*߶*/ // motor_data[8] = ((uint16_t)(X_ads1220*10) & 0xff00)>> 8; //ȸ8λ -// motor_data[9] = (uint16_t)(X_ads1220*10) & 0x00ff; //ȵ8λ +// motor_data[9] = (uint16_t)(X_ads1220*10) & 0x00ff; //ȵ8λ + /*ڲ*/ - uint16_t send_xa = 0; + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //ȡʵλXACTUAL + XA_32 = Raw_32(XA); send_xa = ((XA_32 - first_xa_32) * 100) / 10240; motor_data[8] = ((uint16_t)send_xa & 0xff00)>> 8; //ȸ8λ motor_data[9] = ((uint16_t)send_xa & 0x00ff); //ȵ8λ @@ -594,3 +704,19 @@ void get_state(void) else motor_data[3] = motor_direc + 2; } + +void get_magnetv(void) +{ + V_data = motor_data[4]*0xffffff + motor_data[5]*0xffff + motor_data[6]*0xff + motor_data[7]; + //ADSתΪʵʵѹֵ + if(V_data & 0x00800000) + { + _data = 0xffffffff - V_data; + vol_data = (-2.5 / 0x7fffff) * _data*1000; + } + else + { + _data = V_data; + vol_data = (2.5 / 0x7fffff) * _data*1000; + } +} diff --git a/App/Src/oled2.c b/App/Src/oled2.c index 5600a50..afa5ff0 100644 --- a/App/Src/oled2.c +++ b/App/Src/oled2.c @@ -475,11 +475,12 @@ void OLED_DisplayTest(void) } } -char oled_p = 0,oled_s[2] = {0},oled_en = 0,oled_s_motorok[2] = {0},oled_s_magnetok[2] = {0}; //ѡָݴ +char oled_p = 0,oled_s[2] = {0},oled_en = 1,oled_s_motorok[2] = {0},oled_s_magnetok[2] = {0}; //ѡָݴ char magnet_select[2] = {0},magnet_s_ok[2] = {0}; //лȷȡָ char para_flag = 0,motor_flag1 = 0,motor_flag2 = 0,magnet_flag = 0; //ǣֻʾһκҪˢµ unsigned int step_temp[2] = {1,1},smp_intr_temp[2] = {0},smp_dpth_temp[2] = {0}; //ݴ char run_mode_temp[2] = {0},magnetx_temp[2] = {0}; //ģʽ㶯ѭݴ棬ݴ +signed int magnetv_temp[2] = {0}; //ŸӦݴ float x_magnet_temp[2] = {0}; //У׼λݴ int direc_temp[2] = {1,1}; //ݴ uint16_t flash_wrt[6] = {0},flash_rd[6] = {0}; //0:#25е,1:#50е,2:#110е @@ -498,23 +499,17 @@ void OLED_MenuTest(void) { OLED_Clear(); -// OLED_ShowString(0,0," ",16,1); //԰󣬵0ҳ -// OLED_ShowString(56,0," ",16,1); //԰У0ҳ -// OLED_ShowString(80,0," ",16,1); //԰ң0ҳ -// OLED_ShowCN(40,0,0,1); //ԡˡ0ҳ -// OLED_ShowCN(64,0,1,1); //ԡ0ҳ -// OLED_ShowString(0,2,"Parameter ",16,0); OLED_ShowCN(0,0,2,0); //Ρ0ҳ OLED_ShowCN(24,0,3,0); //0ҳ OLED_ShowCN(48,0,4,0); //ࡱ0ҳ OLED_ShowCN(72,0,5,0); //⡱0ҳ -// OLED_ShowString(0,4,"Motor Control",16,0); + OLED_ShowCN(0,2,6,0); //硱2ҳ OLED_ShowCN(24,2,7,0); //2ҳ OLED_ShowCN(48,2,8,0); //ء2ҳ OLED_ShowCN(72,2,9,0); //ơ2ҳ -// OLED_ShowString(0,6,"Magnet Sample",16,0); + OLED_ShowCN(0,4,10,0); //š4ҳ OLED_ShowCN(24,4,11,0); //4ҳ OLED_ShowCN(48,4,12,0); //ɡ4ҳ @@ -598,64 +593,43 @@ void OLED_MenuTest(void) para_flag = 1; OLED_Clear(); -// OLED_ShowString(0,0,(char *)("Pos"),16,0); //(x,y,char,size,color), color{01},x{0-128},y{} -// OLED_ShowString(0,2,str_print2,16,0); -// OLED_ShowString(88,0,(char *)("OC1"),16,0); -// OLED_ShowString(0,4,(char *)("Temp"),16,0); -// sprintf(str_print3, "%.2f",TEMP_M1820 ); -// OLED_ShowString(0,6,str_print3,16,0); -// OLED_ShowString(88,4,(char *)("OC2"),16,0); -// OLED_ShowString(64,2,(char *)("mv"),16,0); -// if(ocin1 == 1) -// { -// OLED_ShowString(88,2," OK ",16,0); -// }else -// { -// OLED_ShowString(88,2,"ERR",16,0); -// } -// if(ocin2 == 1) -// { -// OLED_ShowString(88,6," OK ",16,0); -// }else -// { -// OLED_ShowString(88,6,"ERR",16,0); -// } - OLED_ShowCN(0,0,6,0); //硱0ҳ OLED_ShowCN(16,0,14,0); //衱0ҳ OLED_ShowCN(32,0,15,0); //ߡ0ҳ - sprintf(str_print2, "%.2f",X_ads1220 ); + OLED_ShowChar(96,0,' ',16,0); //ˢµλ + sprintf(str_print2, "%d",(int)X_ads1220 ); OLED_ShowString(56,0,str_print2,16,0); //ADCֵ // OLED_ShowString(112,0,"mv",16,0); //mv OLED_ShowCN(0,2,16,0); //¡2ҳ OLED_ShowCN(16,2,17,0); //ȡ2ҳ if( TEMP_M1820 > 50) TEMP_M1820 = 25.00; - sprintf(str_print3, "%.2f",TEMP_M1820 ); + sprintf(str_print3, "%.1f",TEMP_M1820 ); OLED_ShowString(56,2,str_print3,16,0); //¶ֵ + + OLED_ShowCN(0,4,10,0); //š4ҳ + OLED_ShowCN(16,4,11,0); //4ҳ + if( abs(vol_data) > 500) vol_data = 500; + sprintf(str_print2, "%d",vol_data ); + OLED_ShowString(56,4,str_print2,16,0); //Ӧֵ - OLED_ShowCN(0,4,18,0); //ޡ4ҳ - OLED_ShowCN(16,4,19,0); //λ4ҳ - OLED_ShowChar(32,4,'1',16,0); //'1' - - OLED_ShowCN(0,6,18,0); //ޡ6ҳ - OLED_ShowCN(16,6,19,0); //λ6ҳ - OLED_ShowChar(32,6,'2',16,0); //'2' if(ocin1 == 1) { - OLED_ShowString(56,4,"----",16,0); //δʾ---- + OLED_ShowString(0,6,"-----",16,0); //δʾ---- }else { - OLED_ShowCN(56,4,20,0); //4ҳ - OLED_ShowCN(72,4,21,0); //4ҳ + OLED_ShowCN(0,6,18,0); //ޡ4ҳ + OLED_ShowCN(16,6,19,0); //λ4ҳ + OLED_ShowChar(32,6,'1',16,0); //'1' } if(ocin2 == 1) { - OLED_ShowString(56,6,"----",16,0); //δʾ---- + OLED_ShowString(72,6,"-----",16,0); //δʾ---- }else { - OLED_ShowCN(56,6,20,0); //6ҳ - OLED_ShowCN(72,6,21,0); //6ҳ + OLED_ShowCN(72,6,18,0); //ޡ6ҳ + OLED_ShowCN(88,6,19,0); //λ6ҳ + OLED_ShowChar(104,6,'2',16,0); //'2' } @@ -663,9 +637,10 @@ void OLED_MenuTest(void) { //λ Xads_temp2[0] = X_ads1220; - if( (Xads_temp2[1] - Xads_temp2[0] > 1) || (Xads_temp2[0] - Xads_temp2[1] > 1)) + if( (Xads_temp2[1] - Xads_temp2[0] >= 1) || (Xads_temp2[0] - Xads_temp2[1] >= 1)) { - sprintf(str_print2, "%.2f",Xads_temp2[0] ); // + sprintf(str_print2, "%d",(int)Xads_temp2[0] ); // + OLED_ShowChar(80,0,' ',16,0); //ˢµ4λ OLED_ShowString(56,0,str_print2,16,0); Xads_temp2[1] = Xads_temp2[0]; } @@ -673,11 +648,23 @@ void OLED_MenuTest(void) //¶ T_temp2[0] = TEMP_M1820; if((T_temp2[1] != T_temp2[0]) && (T_temp2[1] < 50)) - { - sprintf(str_print3, "%.2f",T_temp2[1] ); //¶ + { + sprintf(str_print3, "%.1f",T_temp2[1] ); //¶ OLED_ShowString(56,2,str_print3,16,0); + OLED_ShowChar(72,2,'.',16,0); //ˢС㣬ֹ T_temp2[1] = T_temp2[0]; } + + // + magnetv_temp[0] = vol_data; + if( abs(vol_data) > 500) vol_data = 500; + if(magnetv_temp[1] != magnetv_temp[0]) + { + OLED_ShowString(64,4," ",16,0); + sprintf(str_print2, "%d",vol_data ); + OLED_ShowString(56,4,str_print2,16,0); //Ӧֵ + magnetv_temp[1] = magnetv_temp[0]; + } //λÿ1 OC1_temp[0] = ocin1; @@ -685,13 +672,12 @@ void OLED_MenuTest(void) { if(OC1_temp[0] == 1) { -// OLED_ShowString(56,4," OK ",16,0); - OLED_ShowString(56,4,"----",16,0); //δʾ---- + OLED_ShowString(0,6,"-----",16,0); //δʾ---- }else - { -// OLED_ShowString(56,4,"ERR",16,0); - OLED_ShowCN(56,4,20,0); //4ҳ - OLED_ShowCN(72,4,21,0); //4ҳ + { + OLED_ShowCN(0,6,18,0); //ޡ4ҳ + OLED_ShowCN(16,6,19,0); //λ4ҳ + OLED_ShowChar(32,6,'1',16,0); //'1' } OC1_temp[1] = OC1_temp[0]; } @@ -702,13 +688,12 @@ void OLED_MenuTest(void) { if(OC2_temp[0] == 1) { -// OLED_ShowString(56,6," OK ",16,0); - OLED_ShowString(56,6,"----",16,0); //δʾ---- + OLED_ShowString(72,6,"-----",16,0); //δʾ---- }else { -// OLED_ShowString(56,6,"ERR",16,0); - OLED_ShowCN(56,6,20,0); //6ҳ - OLED_ShowCN(72,6,21,0); //6ҳ + OLED_ShowCN(72,6,18,0); //ޡ6ҳ + OLED_ShowCN(88,6,19,0); //λ6ҳ + OLED_ShowChar(104,6,'2',16,0); //'2' } OC2_temp[1] = OC2_temp[0]; } @@ -729,15 +714,11 @@ void OLED_MenuTest(void) motor_flag1 = 1; OLED_Clear(); -// OLED_ShowString(0,0,"Motor Control",16,0); -// OLED_ShowString(0,0,"Run Mode:",16,0); OLED_ShowCN(0,0,22,0); //ˡ0ҳ OLED_ShowCN(16,0,23,0); //0ҳ OLED_ShowCN(32,0,24,0); //ģ0ҳ OLED_ShowCN(48,0,25,0); //ʽ0ҳ -// if(Run_Mode == 0) OLED_ShowString(80,0,"STEP",16,1); -// if(Run_Mode == 1) OLED_ShowString(80,0,"LOOP",16,1); if(Run_Mode == 0) { OLED_ShowCN(72,0,26,1); //ԡ㡱0ҳ @@ -756,7 +737,6 @@ void OLED_MenuTest(void) run_mode_temp[0] = Run_Mode; run_mode_temp[1] = Run_Mode; -// OLED_ShowString(0,2,"Run Step:",16,0); OLED_ShowCN(0,2,22,0); //ˡ2ҳ OLED_ShowCN(16,2,23,0); //2ҳ OLED_ShowCN(32,2,30,0); //2ҳ @@ -767,12 +747,11 @@ void OLED_MenuTest(void) step_temp[0] = Run_mm; step_temp[1] = Run_mm; -// OLED_ShowString(0,4,"Run Dire:",16,0); OLED_ShowCN(0,4,22,0); //ˡ4ҳ OLED_ShowCN(16,4,23,0); //4ҳ OLED_ShowCN(32,4,32,0); //4ҳ OLED_ShowCN(48,4,33,0); //򡱣4ҳ -// OLED_ShowString(80,4,"POS",16,0); + if(motor_direc == 2) { OLED_ShowCN(72,4,35,0); //4ҳ @@ -784,8 +763,6 @@ void OLED_MenuTest(void) direc_temp[0] = motor_direc; direc_temp[1] = motor_direc; -// OLED_ShowString(0,6,"Cancel",16,0); -// OLED_ShowString(80,6,"OK",16,0); OLED_ShowCN(80,6,36,0); //ȷ6ҳ OLED_ShowCN(96,6,37,0); //ϡ6ҳ OLED_ShowCN(0,6,38,0); //ȡ6ҳ @@ -795,8 +772,6 @@ void OLED_MenuTest(void) { if(run_mode_temp[0] != run_mode_temp[1]) //˶ģʽ仯ʱˢ { -// if(run_mode_temp[0] == 0) OLED_ShowString(80,0,"STEP",16,1); -// if(run_mode_temp[0] == 1) OLED_ShowString(80,0,"LOOP",16,1); if(run_mode_temp[0] == 0) { OLED_ShowCN(72,0,26,1); //ԡ㡱0ҳ @@ -820,9 +795,7 @@ void OLED_MenuTest(void) { oled_en = 0; motor_flag1 = 0; - -// if(run_mode_temp[0] == 0) OLED_ShowString(80,0,"STEP",16,0); -// if(run_mode_temp[0] == 1) OLED_ShowString(80,0,"LOOP",16,0); + if(run_mode_temp[0] == 0) { OLED_ShowCN(72,0,26,0); //㡱0ҳ @@ -923,12 +896,10 @@ void OLED_MenuTest(void) { if(direc_temp[0] == 1) { -// OLED_ShowString(80,4,"POS",16,1); OLED_ShowCN(72,4,34,1); //ԡ4ҳ } if(direc_temp[0] == 2) { -// OLED_ShowString(80,4,"REV",16,1); OLED_ShowCN(72,4,35,1); //ԡ4ҳ } @@ -943,12 +914,10 @@ void OLED_MenuTest(void) if(direc_temp[0] == 1) { -// OLED_ShowString(80,4,"POS",16,0); OLED_ShowCN(72,4,34,0); //4ҳ } if(direc_temp[0] == 2) { -// OLED_ShowString(80,4,"REV",16,0); OLED_ShowCN(72,4,35,0); //4ҳ } @@ -963,7 +932,6 @@ void OLED_MenuTest(void) motor_flag1 = 1; oled_s_motorok[0] = 0; oled_s_motorok[1] = 0; -// OLED_ShowString(0,6,"Cancel",16,1); OLED_ShowCN(0,6,38,1); //ԡȡ6ҳ OLED_ShowCN(16,6,39,1); //ԡ6ҳ @@ -973,8 +941,6 @@ void OLED_MenuTest(void) { if(oled_s_motorok[0] == 0) { -// OLED_ShowString(0,6,"Cancel",16,1); -// OLED_ShowString(80,6,"OK",16,0); OLED_ShowCN(80,6,36,0); //ȷ6ҳ OLED_ShowCN(96,6,37,0); //ϡ6ҳ OLED_ShowCN(0,6,38,1); //ԡȡ6ҳ @@ -982,8 +948,6 @@ void OLED_MenuTest(void) } if(oled_s_motorok[0] == 1) { -// OLED_ShowString(0,6,"Cancel",16,0); -// OLED_ShowString(80,6,"OK",16,1); OLED_ShowCN(80,6,36,1); //ԡȷ6ҳ OLED_ShowCN(96,6,37,1); //ԡϡ6ҳ OLED_ShowCN(0,6,38,0); //ȡ6ҳ @@ -1042,25 +1006,7 @@ void OLED_MenuTest(void) { motor_flag2 = 1; OLED_Clear(); -// OLED_ShowString(0,0,"Running...",16,0); -// OLED_ShowString(0,2,"Pos:",16,0); -// OLED_ShowString(106,2,"mv",16,0); -// OLED_ShowString(0,4,"OC1:",16,0); -// OLED_ShowString(64,4,"OC2:",16,0); -// if(ocin1 == 1) -// { -// OLED_ShowString(8,6," OK ",16,0); -// }else -// { -// OLED_ShowString(8,6,"ERROR",16,0); -// } -// if(ocin2 == 1) -// { -// OLED_ShowString(72,6," OK ",16,0); -// }else -// { -// OLED_ShowString(72,6,"ERROR",16,0); -// } + OLED_ShowCN(0,0,22,0); //ˡ0ҳ OLED_ShowCN(16,0,40,0); //С0ҳ OLED_ShowCN(32,0,41,0); //С0ҳ @@ -1109,45 +1055,15 @@ void OLED_MenuTest(void) Xads_temp2[1] = Xads_temp2[0]; } -// //λÿ1 -// OC1_temp[0] = ocin1; -// if( OC1_temp[1] != OC1_temp[0] ) -// { -// if(OC1_temp[0] == 1) -// { -// OLED_ShowString(8,6," OK ",16,0); -// }else -// { -// OLED_ShowString(8,6,"ERROR",16,0); -// } -// OC1_temp[1] = OC1_temp[0]; -// } - -// //λÿ2 -// OC2_temp[0] = ocin2; -// if( OC2_temp[1] != OC2_temp[0] ) -// { -// if(OC2_temp[0] == 1) -// { -// OLED_ShowString(72,6," OK ",16,0); -// }else -// { -// OLED_ShowString(72,6,"ERROR",16,0); -// } -// OC2_temp[1] = OC2_temp[0]; -// } - //λÿ1 OC1_temp[0] = ocin1; if( OC1_temp[1] != OC1_temp[0] ) { if(OC1_temp[0] == 1) { -// OLED_ShowString(56,4," OK ",16,0); OLED_ShowString(56,4,"----",16,0); //δʾ---- }else { -// OLED_ShowString(56,4,"ERR",16,0); OLED_ShowCN(56,4,20,0); //4ҳ OLED_ShowCN(72,4,21,0); //4ҳ } @@ -1160,11 +1076,9 @@ void OLED_MenuTest(void) { if(OC2_temp[0] == 1) { -// OLED_ShowString(56,6," OK ",16,0); OLED_ShowString(56,6,"----",16,0); //δʾ---- }else { -// OLED_ShowString(56,6,"ERR",16,0); OLED_ShowCN(56,6,20,0); //6ҳ OLED_ShowCN(72,6,21,0); //6ҳ } @@ -1174,7 +1088,6 @@ void OLED_MenuTest(void) if(Motor_Run == 0) { -// OLED_ShowString(0,0,"Completed !",16,0); OLED_ShowCN(0,0,42,0); //ѡ0ҳ OLED_ShowCN(16,0,43,0); //ꡱ0ҳ OLED_ShowCN(32,0,44,0); //ɡ0ҳ @@ -1200,13 +1113,11 @@ void OLED_MenuTest(void) magnet_flag = 1; OLED_Clear(); -// STMFLASH_Read(FLASH_SAVE_ADDR,flash_rd,2); smp_intr_temp[0] = magnet_tx[3]; smp_intr_temp[1] = magnet_tx[3]; smp_dpth_temp[0] = magnet_tx[5]; smp_dpth_temp[1] = magnet_tx[5]; -// OLED_ShowString(0,0,"Sample Set",16,0); OLED_ShowCN(32,0,12,1); //ԡɡ0ҳ OLED_ShowCN(48,0,13,1); //ԡ0ҳ OLED_ShowCN(64,0,45,1); //ԡ衱0ҳ @@ -1214,29 +1125,21 @@ void OLED_MenuTest(void) OLED_ShowString(0,0," ",16,1); OLED_ShowString(96,0," ",16,1); -// OLED_ShowString(0,2,"Interval:",16,0); OLED_ShowCN(0,2,12,0); //ɡ2ҳ OLED_ShowCN(16,2,13,0); //2ҳ OLED_ShowCN(32,2,47,0); //䡱2ҳ OLED_ShowCN(48,2,48,0); //2ҳ sprintf(str_print2, "%d",smp_intr_temp[0] ); OLED_ShowString(72,2,str_print2,16,1); -// sprintf(str_print2, "%d",flash_rd[0] ); -// OLED_ShowString(72,2,str_print2,16,1); OLED_ShowString(96,2,"ms",16,0); -// OLED_ShowString(0,4,"Deepth:",16,0); OLED_ShowCN(0,4,12,0); //ɡ4ҳ OLED_ShowCN(16,4,13,0); //4ҳ OLED_ShowCN(32,4,49,0); //4ҳ OLED_ShowCN(48,4,17,0); //ȡ4ҳ sprintf(str_print2, "%d",smp_dpth_temp[0] ); OLED_ShowString(72,4,str_print2,16,0); -// sprintf(str_print2, "%d",flash_rd[1] ); -// OLED_ShowString(72,2,str_print2,16,1); -// OLED_ShowString(0,6,"Cancel",16,0); -// OLED_ShowString(80,6,"OK",16,0); OLED_ShowCN(80,6,36,0); //ȷ6ҳ OLED_ShowCN(96,6,37,0); //ϡ6ҳ OLED_ShowCN(0,6,38,0); //ȡ6ҳ @@ -1304,19 +1207,19 @@ void OLED_MenuTest(void) if(magnet_flag == 0) { magnet_flag = 1; + oled_s_magnetok[0] = 0; oled_s_magnetok[1] = 0; -// OLED_ShowString(0,6,"Cancel",16,1); + OLED_ShowCN(0,6,38,1); //ԡȡ6ҳ OLED_ShowCN(16,6,39,1); //ԡ6ҳ + }else { if(oled_s_magnetok[0] != oled_s_magnetok[1]) { if(oled_s_magnetok[0] == 0) { -// OLED_ShowString(0,6,"Cancel",16,1); -// OLED_ShowString(80,6,"OK",16,0); OLED_ShowCN(80,6,36,0); //ȷ6ҳ OLED_ShowCN(96,6,37,0); //ϡ6ҳ OLED_ShowCN(0,6,38,1); //ԡȡ6ҳ @@ -1324,8 +1227,6 @@ void OLED_MenuTest(void) } if(oled_s_magnetok[0] == 1) { -// OLED_ShowString(0,6,"Cancel",16,0); -// OLED_ShowString(80,6,"OK",16,1); OLED_ShowCN(80,6,36,1); //ԡȷ6ҳ OLED_ShowCN(96,6,37,1); //ԡϡ6ҳ OLED_ShowCN(0,6,38,0); //ȡ6ҳ @@ -1336,7 +1237,7 @@ void OLED_MenuTest(void) } if(oled_en == 1) { - if(oled_s_magnetok[0] == 0) + if(oled_s_magnetok[0] == 0) //ȡʼݴ { oled_en = 0; magnet_flag = 0; @@ -1348,7 +1249,7 @@ void OLED_MenuTest(void) oled_p = 1; } - if(oled_s_magnetok[0] == 1) + if(oled_s_magnetok[0] == 1) //ȷϺݴдmagnet_tx { oled_en = 0; magnet_flag = 0; @@ -1356,9 +1257,10 @@ void OLED_MenuTest(void) magnet_tx[3] = smp_intr_temp[0]; magnet_tx[5] = smp_dpth_temp[0]; -// flash_wrt[0] = smp_intr_temp[0]; -// flash_wrt[1] = smp_dpth_temp[0]; -// STMFLASH_Write(FLASH_SAVE_ADDR,flash_wrt,2); + HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_SET); //ʹ485ͣͽڻص + + HAL_UART_Transmit_IT(&huart2, magnet_tx ,7); //485 + oled_p = 1; } @@ -1430,7 +1332,7 @@ void OLED_MenuTest(void) if(magnet_select[0] == 0) { - OLED_ShowString(72,0,"#25 ",16,0); //ȷȡ + OLED_ShowString(72,0,"#25 ",16,0); //ȷȡ sprintf(str_print2, "%d",flash_rd[0] ); //#25е OLED_ShowString(72,2,str_print2,16,0); } @@ -1458,8 +1360,6 @@ void OLED_MenuTest(void) { magnet_flag = 1; - OLED_ShowCN(0,6,38,0); //ԡȡ6ҳ - OLED_ShowCN(16,6,39,0); //ԡ6ҳ sprintf(str_print2, "%d",(uint16_t)Xads_temp2[0] ); //Եǰλ OLED_ShowString(72,4,str_print2,16,1); } @@ -1474,21 +1374,23 @@ void OLED_MenuTest(void) Xads_temp2[1] = Xads_temp2[0]; } - if(magnet_motor_sw == 0) + if(magnet_motor_sw == 0) //ֹͣ { Motor_Run = 0; motor_direc = 1; Run_Mode = 0; } - if(magnet_motor_sw == 1) + if(magnet_motor_sw == 1) //ѭ򲽽 { + Run_Step = 0; Run_mm = 15; motor_direc = 1; Motor_Run = 1; Run_Mode = 0; } - if(magnet_motor_sw == 2) + if(magnet_motor_sw == 2) //ѭ򲽽 { + Run_Step = 0; Run_mm = 15; motor_direc = 2; Motor_Run = 1; @@ -1496,7 +1398,7 @@ void OLED_MenuTest(void) } } - if(oled_en == 1) + if(oled_en == 1) //ȷϵǰλúȡ { oled_en = 0; magnet_flag = 0; @@ -1505,7 +1407,7 @@ void OLED_MenuTest(void) Motor_Run = 0; Run_Mode = 0; motor_direc = 1; - sprintf(str_print2, "%d",(uint16_t)Xads_temp2[0] ); //ȷϵǰλúȡ + sprintf(str_print2, "%d",(uint16_t)Xads_temp2[0] ); OLED_ShowString(72,4,str_print2,16,0); oled_p = 14; @@ -1557,7 +1459,7 @@ void OLED_MenuTest(void) } } - if((oled_en == 1) && (magnet_s_ok[0] == 1)) + if((oled_en == 1) && (magnet_s_ok[0] == 1)) //ȷϺ󽫡е㡱ֵдflash { oled_en = 0; magnet_flag = 0; @@ -1567,7 +1469,8 @@ void OLED_MenuTest(void) if(magnet_select[0] == 2) flash_wrt[2] = (uint16_t)Xads_temp2[0]; //#110е STMFLASH_Write(FLASH_SAVE_ADDR,flash_wrt,6); //дflash -// magnet_middle = flash_rd[0]; //Ĭ#25еΪ׼ + + magnet_middle = flash_rd[0]; //Ĭ#25еΪ׼ magnet_s_ok[0] = 0; magnet_s_ok[1] = 0; diff --git a/App/Src/tmc5160.c b/App/Src/tmc5160.c index 8e8c737..3bb3f22 100644 --- a/App/Src/tmc5160.c +++ b/App/Src/tmc5160.c @@ -52,10 +52,10 @@ uint32_t rampmode = 0x00000000; //斜坡运动模式 0-位置；1-速度 int xtarget = 0x00000000; //位置模式的目标位置，51200/圈 uint32_t speed_1 = 0x00004E20; //V1 过渡阶段的目标速度 uint32_t speed_max = 0x00009C40; //VMAX 目标速度 -uint32_t acc_1 = 0x00000BB8; //A1 过渡阶段的加速度 -uint32_t acc_max = 0x000007D0; //AMAX 最大加速度 -uint32_t dcr_1 = 0x0000BB8; //D1 过渡阶段的减速度 -uint32_t dcr_max = 0x000007D0; //DMAX 最大减速度 +uint32_t acc_1 = 0x00000FA0; //A1 过渡阶段的加速度 +uint32_t acc_max = 0x00000BB8; //AMAX 最大加速度 +uint32_t dcr_1 = 0x00000FA0; //D1 过渡阶段的减速度 +uint32_t dcr_max = 0x00000BB8; //DMAX 最大减速度 /*************常用参数配置***************/ void tmc5160_init(void) @@ -72,9 +72,9 @@ void tmc5160_init(void) // 速度相关的驱动控制寄存器 TMC5160_SPIWriteInt(0x10, 0x00070A02,1); // IHOLD->0~7bit; IRUN->12~8bit TMC5160_SPIWriteInt(0x11, 0x0000000A,1); // writing value 0x0000000A = 10 = 0.0 to address 9 = 0x11(TPOWERDOWN) -// TMC5160_SPIWriteInt(0x13, 0x000001F4,1); // writing value 0x00000041 = 65 = 0.0 to address 10 = 0x13(TPWMTHRS) - TMC5160_SPIWriteInt(0x14, 0x00000010,1); // 0x14(TCOOLTHRS)，静步阈值 - TMC5160_SPIWriteInt(0x15, 0x00000010,1); // writing value 0x00000000 = 0 = 0.0 to address 12 = 0x15(THIGH) + TMC5160_SPIWriteInt(0x13, 0x00000000,1); // 0x13(TPWMTHRS),StealthChop上限，超过该值后启用降噪，TSTEP >= TPWMTHRS使能降噪 + TMC5160_SPIWriteInt(0x14, 0x00000000,1); // 0x14(TCOOLTHRS)，降温操作，当该值 >= TSTEP >= THIGH 时，将禁用降噪，使能降温。 + TMC5160_SPIWriteInt(0x15, 0x00000000,1); // 0x15(THIGH)，该值大于等于TSTEP时，coolstep和steathchop都会被禁用 // 斜波发生器运动寄存器 TMC5160_SPIWriteInt(RAMPMODE_ADDR, rampmode,1); // writing value 0x00000000 = 0 = 0.0 to address 13 = 0x20(RAMPMODE) TMC5160_SPIWriteInt(XACTUAL_ADDR, 0x00000000,1); // writing value 0xFFCC12F0 = 0 = 0.0 to address 14 = 0x21(XACTUAL) @@ -108,10 +108,10 @@ void tmc5160_init(void) // TMC5160_SPIWriteInt(0x68, 0xFFFF8056,1); // writing value 0xFFFF8056 = 0 = 0.0 to address 39 = 0x68(MSLUTSEL) // TMC5160_SPIWriteInt(0x69, 0x00F70000,1); // writing value 0x00F70000 = 16187392 = 0.0 to address 40 = 0x69(MSLUTSTART) // // 电机驱动寄存器-驱动寄存器组 - TMC5160_SPIWriteInt(0x6C, 0x000100C3,1); // writing value 0x00410153 = 4260179 = 0.0 to address 41 = 0x6C(CHOPCONF) - TMC5160_SPIWriteInt(0x6D, 0x00000000,1); // 0x6D(COOLCONF),16-22bit设置堵转灵敏度，最大3F（63），最小40（-64） -// TMC5160_SPIWriteInt(0x6E, 0x00000000,1); // writing value 0x00000000 = 0 = 0.0 to address 43 = 0x6E(DCCTRL) - TMC5160_SPIWriteInt(0x70, 0xC40C001E,1); // writing value 0xC40C001E = 0 = 0.0 to address 44 = 0x70(PWMCONF) + TMC5160_SPIWriteInt(0x6C, 0x000100C3,1); // 0x6C(CHOPCONF)斩波器配置 + TMC5160_SPIWriteInt(0x6D, 0x00C00000,1); // 0x6D(COOLCONF),16-22bit设置堵转灵敏度，最大3F（63），最小C0（-64） +// TMC5160_SPIWriteInt(0x6E, 0x00000000,1); // 0x6E(DCCTRL) + TMC5160_SPIWriteInt(0x70, 0xC40C001E,1); // 0x70(PWMCONF)已开启自动调节 } uint8_t data_r[5] = {0};//存放接收到的数据 @@ -207,54 +207,11 @@ void TMC5160_SPIReadInt(uint8_t addr, uint8_t record[5])//从addr寄存器读取 } -uint8_t XA[5]={0},VA[5]={0},RAMP_STAT[5],DRV_STAT[5]; -signed int XA_32 = 0,VA_32 = 0,RAMP_STAT_32 = 0,DRV_STAT_32 = 0; //有正负 -uint16_t SG_RESULT_16 = 0; -char tmc5160_sw =0; +uint8_t XA[5]={0},VA[5]={0},RAMP_STAT[5],DRV_STAT[5]; //用于存放接收到的8bit*5数据 +signed int XA_32 = 0,VA_32 = 0,RAMP_STAT_32 = 0,DRV_STAT_32 = 0; //用于存放从8bit*5转化得到的32位数据 +char tmc5160_sw =0; //用于控制电机，在按键功能中使用 -//void tmc5160_act() -//{ -// TMC5160_SPIReadInt(XACTUAL_ADDR,XA);//读取实际位置XACTUAL -// XA_32 = Raw_32(XA); -// TMC5160_SPIReadInt(VACTUAL_ADDR,VA);//读取实际速度VACTUAL -// VA_32 = Raw_32(VA); - -// if(tmc5160_sw == 1) -// { -// HAL_GPIO_WritePin(LED_ERR_GPIO_Port,LED_ERR_Pin,GPIO_PIN_RESET); //蓝灯常亮 -// -// rampmode = 0x00000001; -// TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启速度模式 -// -//// rampmode = 0x00000000; -//// TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启位置模式 -//// if( XA_32 == 0x00000000 ) -//// { -//// xtarget = 0x00025800; -//// TMC5160_SPIWriteInt(XTARGET_ADDR, xtarget,1); //正向转动3圈 -//// } -//// -//// if( XA_32== 0x00025800 ) -//// { -//// xtarget = 0x00000000; -//// TMC5160_SPIWriteInt(XTARGET_ADDR, xtarget,1); //接着反向转3圈（返回起点） -//// } -// }else -// { -// TMC5160_SPIWriteInt(XTARGET_ADDR,XA_32,1); //把当前位置设定为目标位置，进入减速阶段 -// -// if( abs(VA_32) <= 0x0000000A ) // 视作已经停止 -// { -// HAL_GPIO_TogglePin(LED_ERR_GPIO_Port,LED_ERR_Pin); //蓝灯闪烁 -// -// } - -// } - -// -//} - -signed int Raw_32(uint8_t raw[5]) //把5*8bit数据中的0~31位拼接成1*32bit的数值并返回 +signed int Raw_32(uint8_t raw[5]) //把5*8bit数据中的0~31位拼接成1*32bit的数值并返回 { uint32_t result = 0; @@ -269,21 +226,20 @@ signed int Raw_32(uint8_t raw[5]) //把5*8bit数据中的0~31位拼接成1*32bit return result; } -uint32_t X_temp = 0; -char busy_flag = 0; + +char busy_flag = 0; //忙信号标志 void tmc5160_operate(char operate_mode, uint32_t steps) { - switch(operate_mode) { case 0 : //电机停止 { - TMC5160_SPIReadInt(VACTUAL_ADDR,VA); //读取实际速度VACTUAL + TMC5160_SPIReadInt(VACTUAL_ADDR,VA); //读取实际速度VACTUAL VA_32 = Raw_32(VA); - TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL XA_32 = Raw_32(XA); - if( VA_32 != 0) + if( VA_32 != 0) //只要实际速度不为0，就进入减速 { busy_flag = 1; @@ -303,19 +259,16 @@ void tmc5160_operate(char operate_mode, uint32_t steps) if( busy_flag == 0) { - busy_flag = 1; + busy_flag = 1; //忙信号置1，等待到达目标位置 - TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL XA_32 = Raw_32(XA); - X_temp = XA_32; - //记录此时的实际位置 - rampmode = 0x00000000; TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启位置模式 - TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp + steps, 1); //此时的实际位置+步长作为目标位置 - delay(1000); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。 + TMC5160_SPIWriteInt(XTARGET_ADDR, XA_32 + steps, 1); //此时的实际位置+步长作为目标位置 + delay(1000); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。 } if(busy_flag == 1) { @@ -324,8 +277,7 @@ void tmc5160_operate(char operate_mode, uint32_t steps) if(RAMP_STAT_32 & 0x00000200) //到达目标位置，XACTUAL = XTARGET时，第9位会被置 1 { - busy_flag = 0; - X_temp = 0; + busy_flag = 0; //忙信号清零 } } @@ -338,53 +290,28 @@ void tmc5160_operate(char operate_mode, uint32_t steps) { busy_flag = 1; - TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL + TMC5160_SPIReadInt(XACTUAL_ADDR,XA); //读取实际位置XACTUAL XA_32 = Raw_32(XA); - - X_temp = XA_32; - + rampmode = 0x00000000; - TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启位置模式 + TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启位置模式 - TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp - steps, 1); - delay(1000); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。 + TMC5160_SPIWriteInt(XTARGET_ADDR, XA_32 - steps, 1); + delay(1000); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。 } if(busy_flag == 1) { - TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT); //读取斜坡状态 + TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT); //读取斜坡状态 RAMP_STAT_32 = Raw_32(RAMP_STAT); - if(RAMP_STAT_32 & 0x00000200) //到达目标位置，XACTUAL = XTARGET时，第9位会被置 1 + if(RAMP_STAT_32 & 0x00000200) //到达目标位置，XACTUAL = XTARGET时，第9位会被置 1 { busy_flag = 0; - X_temp = 0; } } } break; - -// case 3 : //电机回到起点(上电位置) -// { -// if( busy_flag == 0) -// { -// busy_flag = 1; -// rampmode = 0x00000000; -// TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1); //开启位置模式 -// -// speed_max <<=1; -// TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1); //以二倍速返回零点 -// TMC5160_SPIWriteInt(XTARGET_ADDR, 0x00000000, 1); -// } -// if( RAMP_STAT_32 & 0x00000200 ) -// { -// busy_flag = 0; -// speed_max >>=1; -// TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1); //恢复原速 -// } -// } -// break; - default : { } @@ -396,15 +323,15 @@ void tmc5160_operate(char operate_mode, uint32_t steps) void motor_protect_ads(float threshold_neg, float threshold_pos) { - if( (X_ads1220 <= threshold_neg) && (motor_direc != 1) ) + if( (X_ads1220 <= threshold_neg) && ( motor_direc != 1 ) ) //到达负限位后停止，停止后正向 { - tmc5160_operate(0, 0); - if(busy_flag == 0) motor_direc = 1; + Motor_Run = 0; + motor_direc = 1; } - if( (X_ads1220 >= threshold_pos) && ( motor_direc != 2 ) ) + if( (X_ads1220 >= threshold_pos) && ( motor_direc != 2 ) ) //到达正限位后停止，停止后反向 { - tmc5160_operate(0, 0); - if(busy_flag == 0) motor_direc = 2; + Motor_Run = 0; + motor_direc = 2; } } diff --git a/Inc/app.h b/Inc/app.h index e7421ba..f14056e 100644 --- a/Inc/app.h +++ b/Inc/app.h @@ -1,9 +1,9 @@ #ifndef _APP_H #define _APP_H +#include "MyLib.h" #include "serial_port.h" #include "m1820.h" -#include "oled.h" #include "oled2.h" #include "ads1220.h" #include "tmc5160.h" @@ -30,7 +30,7 @@ void motor_protect_ads(float threshold_neg, float threshold_pos); void motor_protect_ocin(void); extern int it_1ms_cnt ,it_1ms_flag; -extern int it_2ms_cnt ,it_2ms_flag; +extern int it_200ms_cnt ,it_200ms_flag; extern int it_5ms_cnt ,it_5ms_flag; extern int it_10ms_cnt ,it_10ms_flag; extern int it_50ms_cnt ,it_50ms_flag; diff --git a/MDK-ARM/mfps.uvguix.吴俊潮 b/MDK-ARM/mfps.uvguix.吴俊潮 index b80b836..153cefd 100644 --- a/MDK-ARM/mfps.uvguix.吴俊潮 +++ b/MDK-ARM/mfps.uvguix.吴俊潮 @@ -15,17 +15,17 @@ 38003 Registers - 140 90 + 140 100 346 Code Coverage - 1010 160 + 1010 655 204 Performance Analyzer - 1170 + 1170 175 175 145 @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -102,16 +102,16 @@ 167 - 227 - 1667 + -1693 + -253 920 0 - 1142 - 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898 @@ -3603,84 +3603,48 @@ 0 100 - 0 + 1 - ..\App\Src\app.c - 8 - 10 - 28 + ..\App\Src\Uart1.c + 0 + 629 + 576 1 0 ..\App\Src\motor.c - 32 - 1 - 13 - 1 - - 0 - - - ..\App\Src\tmc5160.c - 0 - 42 - 409 + 17 + 562 + 571 1 0 ..\App\Src\oled2.c - 16 - 1549 - 1571 + 46 + 245 + 246 1 0 - ..\App\Src\myLib.c - 84 - 308 - 327 - 1 - - 0 - - - ..\App\Src\key.c + ../App/Inc/motor.h 0 - 139 - 140 - 1 - - 0 - - - ../App/Inc/oled2.h - 28 1 - 19 + 12 1 0 - ../Inc/app.h - 26 - 7 - 47 - 1 - - 0 - - - startup_stm32f103xe.s - 0 - 133 - 148 + ..\App\Src\app.c + 9 + 82 + 113 1 0 @@ -3695,19 +3659,55 @@ 0 - ..\App\Src\Uart1.c - 68 - 612 - 629 + ..\App\Src\delay.c + 0 + 39 + 50 1 0 - ../App/Inc/motor.h + ..\App\Src\tmc5160.c + 38 + 92 + 112 + 1 + + 0 + + + ../Src/stm32f1xx_it.c + 22 + 101 + 118 + 1 + + 0 + + + ../Inc/app.h 0 1 - 6 + 51 + 1 + + 0 + + + ..\App\Src\ads1220.c + 0 + 300 + 335 + 1 + + 0 + + + startup_stm32f103xe.s + 0 + 133 + 148 1 0 diff --git a/MDK-ARM/mfps.uvoptx b/MDK-ARM/mfps.uvoptx index 5b3ec5b..64923d4 100644 --- a/MDK-ARM/mfps.uvoptx +++ b/MDK-ARM/mfps.uvoptx @@ -258,37 +258,52 @@ 21 1 - SG_RESULT_16 + Run_Stop 22 1 - DRV_STAT_32 + Runmotor_Nums,0x0A 23 1 - load_check + flash_wrt,0x0A 24 1 - tstep_check + V_data 25 1 - Run_Stop + vol_data,0x0A 26 1 - Runmotor_Nums,0x0A + magnet_middle,0x0A 27 1 - flash_wrt,0x0A + motor_x_end + + + 28 + 1 + SG_RESULT + + + 29 + 1 + DRV_STAT_32 + + + 30 + 1 + TSTEP @@ -760,18 +775,6 @@ 0 0 0 - ..\App\Src\oled.c - oled.c - 0 - 0 - - - 5 - 33 - 1 - 0 - 0 - 0 ..\App\Src\ads1220.c ads1220.c 0 @@ -779,7 +782,7 @@ 5 - 34 + 33 1 0 0 @@ -791,7 +794,7 @@ 5 - 35 + 34 1 0 0 @@ -803,7 +806,7 @@ 5 - 36 + 35 1 0 0 @@ -815,7 +818,7 @@ 5 - 37 + 36 1 0 0 @@ -827,7 +830,7 @@ 5 - 38 + 37 1 0 0 @@ -839,7 +842,7 @@ 5 - 39 + 38 1 0 0 @@ -851,7 +854,7 @@ 5 - 40 + 39 1 0 0 @@ -863,7 +866,7 @@ 5 - 41 + 40 1 0 0 diff --git a/MDK-ARM/mfps.uvprojx b/MDK-ARM/mfps.uvprojx index b94c1df..9f294d7 100644 --- a/MDK-ARM/mfps.uvprojx +++ b/MDK-ARM/mfps.uvprojx @@ 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../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h mfps\key.o: ../Inc/app.h +mfps\key.o: ../App/Inc/MyLib.h mfps\key.o: ../App/Inc/serial_port.h mfps\key.o: ../App/Inc/m1820.h -mfps\key.o: ../App/Inc/oled.h -mfps\key.o: ../App/Inc/MyLib.h mfps\key.o: ../App/Inc/oled2.h mfps\key.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\inttypes.h mfps\key.o: ../App/Inc/ads1220.h diff --git a/MDK-ARM/mfps/key.o b/MDK-ARM/mfps/key.o index 3a02b0744289b4e2241e88f1070c6a018ce1fcc0..fc94c9d7fa5dc14338bb189242749057659ca9c2 100644 GIT binary patch delta 42986 zcmb__34ByV@_)a1lgZ3W0?8ymfG`P3M2H-@fFP(jA%TR1Bpf0-gd{*D_W=Qq!4ubm z!@+HI@nC=IqN3uWMpse_pKPQZqXH%3DbBZ_`{1RHC%0|* z=YgGjKHU7lOLIWWDbCF!IJJ7ooYdsh^pVMJG|<)uOGbW%cpKR^7tJ`{_h4* zy6*^oVx+adDOzz~U~4@y3GSC{=T3Q+1*zmzrEyX9QfFPu0v7%)P+#KWidq(aq7$*Q zzLkX^@Ddr@?>?oSVPD)YXaki4?oYHqijXqxj65=@Zhm9SoTA(*BeF`1U>Ref;$Oxt 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p6)AfPY@W)``-Pp1P?Htzg}GFhyTZ11Y;vzEC+6Ji-c;^f`d>j*yx#x- diff --git a/MDK-ARM/mfps/mfps.build_log.htm b/MDK-ARM/mfps/mfps.build_log.htm index 4da7584..43a3ac7 100644 --- a/MDK-ARM/mfps/mfps.build_log.htm +++ b/MDK-ARM/mfps/mfps.build_log.htm @@ -21,17 +21,15 @@ Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0 Dialog DLL: TCM.DLL V1.56.4.0

Project:

-F:\Desktop\Work\2024.05\2024.05.18\mfps\MDK-ARM\mfps.uvprojx -Project File Date: 05/17/2024 +F:\Desktop\Work\01_λ÷װ\01_CODE\01_New\2024.05.23\mfps\MDK-ARM\mfps.uvprojx +Project File Date: 05/22/2024

Output:

*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'E:\Softwares\Keil_v5\ARM\ARMCC\Bin' Build target 'mfps' -compiling app.c... compiling motor.c... -compiling oled2.c... linking... -Program Size: Code=33650 RO-data=4418 RW-data=432 ZI-data=5200 +Program Size: Code=35242 RO-data=4418 RW-data=464 ZI-data=5200 FromELF: creating hex file... "mfps\mfps.axf" - 0 Error(s), 0 Warning(s). diff --git a/MDK-ARM/mfps/mfps.hex b/MDK-ARM/mfps/mfps.hex index bc6fac0..b225467 100644 --- a/MDK-ARM/mfps/mfps.hex +++ b/MDK-ARM/mfps/mfps.hex @@ -1,18 +1,18 @@ :020000040800F2 -:10000000001600202D020008CB490008C539000861 -:10001000C9490008D51400088D6D000800000000D3 -:100020000000000000000000000000004D66000815 -:10003000891800080000000091630008716600083C +:10000000201600202D020008434A0008FD39000890 +:10001000414A0008D5140008C56E00080000000021 +:1000200000000000000000000000000085670008DC +:10003000A518000800000000C9640008A9670008AE :10004000470200084702000847020008470200086C :10005000470200084702000847020008470200085C :10006000470200084702000847020008470200084C :10007000470200084702000847020008470200083C :100080005915000847020008470200084702000807 :10009000470200084702000847020008470200081C -:1000A00047020008D166000847020008470200081E -:1000B000470200084702000847020008D539000837 -:1000C000C939000847020008470200084702000833 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:1003A00018D1E069002820DA25F020051DE0D8F8F2 :1003B000180000EB800006EB40003038C8F8180049 -:1003C0002046E1688847064606F0C8FD0028EED1C1 +:1003C0002046E1688847064606F064FE0028EED124 :1003D000012F0AD02E2E08D12046E16888477F1CC5 :1003E0000646022F45F02005C4DBA069002803DA89 :1003F000404245F00105A061E80701D025F0100555 @@ -112,7 +112,7 @@ :1006E00004F80B000B98099AC0F80880C0E9002BA9 :1006F0007AE711264FF0000857E72DE9F04F8846BA :100700000446D21D22F0070191B0D1E90001CDE9E4 -:100710000A0106F0FFFB02460B98C00F01D02D2006 +:100710000A0106F09BFC02460B98C00F01D02D2069 :1007200007E02068810701D52B2002E0202101EAA3 :10073000C000032A099001D0072A05DB0346414681 :10074000204600F079F90BE12078800601D5E069B8 @@ -153,7 +153,7 @@ :10097000704700B58FB0CDE90131002105910549DF :100980007944CDE9031011466846FFF7D3FC0FB058 :1009900000BD0000E5FFFFFF0A6802F8010B0A60D6 -:1009A0007047000000487047C00F002030B5B0F11C +:1009A0007047000000487047E00F002030B5B0F1FC :1009B0000A024FEA900E71F100034EEA817EB0EB1D 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+:109AB000EC9A000800000020D00100006C010008B2 +:109AC000349B0008D001002050140000C801000899 +:109AD0001C00000043000000F8FFFFFF0C00000026 +:109AE0000E0000000F0000002E00000001543201A3 +:109AF0008210D324F4C2641B05012C0B1A32FF48D8 +:109B0000C123204E23409C23A00F8BB80B080930A3 +:109B10009E0938D8091A3E692023D8046A02B42263 +:109B2000031AB0100922866914091FA21319A10291 +:049B300017B1000069 :0400000508000131BD :00000001FF diff --git a/MDK-ARM/mfps/mfps.htm b/MDK-ARM/mfps/mfps.htm index c14cf76..b2cbc59 100644 --- a/MDK-ARM/mfps/mfps.htm +++ b/MDK-ARM/mfps/mfps.htm @@ -3,7 +3,7 @@ Static Call Graph - [mfps\mfps.axf]

Static Call Graph for image mfps\mfps.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat May 18 11:29:09 2024 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Thu May 23 15:59:46 2024

Maximum Stack Usage = 324 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -20,13 +20,12 @@ Functions with no stack information Mutually Recursive functions
  • ADC1_2_IRQHandler   ⇒   ADC1_2_IRQHandler
  • BusFault_Handler   ⇒   BusFault_Handler
    -
  • HardFault_Handler   ⇒   HardFault_Handler
  • MemManage_Handler   ⇒   MemManage_Handler
  • NMI_Handler   ⇒   NMI_Handler
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
  • UsageFault_Handler   ⇒   UsageFault_Handler
    -
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    -
  • QuickSort   ⇒   QuickSort
    +
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    +
  • QuickSort   ⇒   QuickSort

    @@ -119,8 +118,8 @@ Function Pointers Global Symbols

    __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

    [Calls]