117 lines
3.9 KiB
C
117 lines
3.9 KiB
C
/*
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* @Author: DaMing zxm5337@163.com
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* @Date: 2024-03-28 09:58:33
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* @LastEditors: 张小明 zxm5337@163.com
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* @LastEditTime: 2024-05-27 19:13:36
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* @FilePath: \Proxi_CheckBoard\User\App\motor.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#ifndef __MOTO_H__
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#define __MOTO_H__
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#include "data_type_def.h"
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#include "tim.h"
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#define PWM_DEFAULT 50
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//#define FREQ_DEFAULT 80000
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//#define FREQ_DEFAULT 60000
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#define FREQ_DEFAULT 20000
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#define LOAD_DEFAULT 8
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#define MOTOR_A 0XF0
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#define MOTOR_B 0X0F
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#define DIR_FORWARD 0
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#define DIR_REVERSED 1
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#define TMC2240A_TIMEOUT_VALUE 100
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#define TMC2240A_A_NSS_H() HAL_GPIO_WritePin(MOTOR_SPI_CS_A_GPIO_Port, MOTOR_SPI_CS_A_Pin, GPIO_PIN_SET)
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#define TMC2240A_A_NSS_L() HAL_GPIO_WritePin(MOTOR_SPI_CS_A_GPIO_Port, MOTOR_SPI_CS_A_Pin, GPIO_PIN_RESET)
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#define TMC2240A_B_NSS_H() HAL_GPIO_WritePin(MOTOR_SPI_CS_B_GPIO_Port, MOTOR_SPI_CS_B_Pin, GPIO_PIN_SET)
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#define TMC2240A_B_NSS_L() HAL_GPIO_WritePin(MOTOR_SPI_CS_B_GPIO_Port, MOTOR_SPI_CS_B_Pin, GPIO_PIN_RESET)
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#define TMC2240A_A_EN_H() HAL_GPIO_WritePin(MOTOR_A_EN_GPIO_Port, MOTOR_A_EN_Pin, GPIO_PIN_SET)
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#define TMC2240A_A_EN_L() HAL_GPIO_WritePin(MOTOR_A_EN_GPIO_Port, MOTOR_A_EN_Pin, GPIO_PIN_RESET)
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#define TMC2240A_B_EN_H() HAL_GPIO_WritePin(MOTOR_B_EN_GPIO_Port, MOTOR_B_EN_Pin, GPIO_PIN_SET)
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#define TMC2240A_B_EN_L() HAL_GPIO_WritePin(MOTOR_B_EN_GPIO_Port, MOTOR_B_EN_Pin, GPIO_PIN_RESET)
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#define TMC2240A_A_DIR_H() HAL_GPIO_WritePin(MOTOR_A_DIR_GPIO_Port, MOTOR_A_DIR_Pin, GPIO_PIN_SET)
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#define TMC2240A_A_DIR_L() HAL_GPIO_WritePin(MOTOR_A_DIR_GPIO_Port, MOTOR_A_DIR_Pin, GPIO_PIN_RESET)
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#define TMC2240A_B_DIR_H() HAL_GPIO_WritePin(MOTOR_B_DIR_GPIO_Port, MOTOR_B_DIR_Pin, GPIO_PIN_SET)
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#define TMC2240A_B_DIR_L() HAL_GPIO_WritePin(MOTOR_B_DIR_GPIO_Port, MOTOR_B_DIR_Pin, GPIO_PIN_RESET)
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#define TMC2240A_RST_H() HAL_GPIO_WritePin(MOTOR_NRST_GPIO_Port, MOTOR_NRST_Pin, GPIO_PIN_SET)
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#define TMC2240A_RST_L() HAL_GPIO_WritePin(MOTOR_NRST_GPIO_Port, MOTOR_NRST_Pin, GPIO_PIN_RESET)
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#define TMC2240A_A_PUL_H() HAL_GPIO_WritePin(MOTOR_A_PUL_GPIO_Port, MOTOR_A_PUL_Pin, GPIO_PIN_SET)
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#define TMC2240A_A_PUL_L() HAL_GPIO_WritePin(MOTOR_A_PUL_GPIO_Port, MOTOR_A_PUL_Pin, GPIO_PIN_RESET)
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#define TMC2240A_B_PUL_H() HAL_GPIO_WritePin(MOTOR_B_PUL_GPIO_Port, MOTOR_B_PUL_Pin, GPIO_PIN_SET)
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#define TMC2240A_B_PUL_L() HAL_GPIO_WritePin(MOTOR_B_PUL_GPIO_Port, MOTOR_B_PUL_Pin, GPIO_PIN_RESET)
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#define TMC2240A_SCK_H() HAL_GPIO_WritePin(MOTOR_SPI2_SCK_GPIO_Port, MOTOR_SPI2_SCK_Pin, GPIO_PIN_SET)
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#define TMC2240A_SCK_L() HAL_GPIO_WritePin(MOTOR_SPI2_SCK_GPIO_Port, MOTOR_SPI2_SCK_Pin, GPIO_PIN_RESET)
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typedef struct
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{
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uint8_t index;
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uint8_t direction;
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uint16_t enc1;
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uint16_t enc1_old;
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int16_t enc2;
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int32_t enc;
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int32_t enc_old;
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int32_t enc_sub;
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uint32_t timer;
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} encoder_t;
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typedef struct
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{
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BOOL en;
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BOOL force_near_flag;
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BOOL force_far_flag;
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BOOL limit_near_flag;
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BOOL limit_far_flag;
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BOOL limit_flag;
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BOOL stall_flag;
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BOOL lvdt_flag;
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BOOL end_flag;
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BOOL zero_flag;
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BOOL zero_ack;
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uint8_t ctr_cmd;
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uint8_t index;
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uint8_t direction;
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float32 Sn;
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uint32_t step;
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uint32_t step_count;
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float32 pre_position;
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float32 position_pv;
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float32 position_sv;
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float32 position_sub;
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float32 position_zero;
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uint32_t freq;
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uint32_t pwm;
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uint32_t load_pv;
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uint32_t load_sv;
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} motor_t;
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extern uint8_t motor_X;
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extern encoder_t encoder_A;
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extern encoder_t encoder_B;
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extern motor_t motor_A;
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extern motor_t motor_B;
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void fun_ini_encoder(TIM_HandleTypeDef *htim, encoder_t *encoder);
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void fun_ini_tmc2240a(motor_t *motor);
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void fun_get_encoder(TIM_HandleTypeDef *htim, encoder_t *encoder);
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void fun_set_motor(motor_t *motor);
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void fun_pwm_it_callback(motor_t *motor);
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// void tmc2240a_read_Write(uint8_t index, uint8_t *pTxData, uint8_t *pRxData, uint16_t size);
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#endif
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