重写驱动
This commit is contained in:
parent
5dd03a2628
commit
76736247f5
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@ -89,6 +89,10 @@ void Error_Handler(void);
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#define TMC2240_MISO_GPIO_Port GPIOA
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#define TMC2240_MOSI_Pin LL_GPIO_PIN_7
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#define TMC2240_MOSI_GPIO_Port GPIOA
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#define TMC2240_STEP_Pin LL_GPIO_PIN_0
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#define TMC2240_STEP_GPIO_Port GPIOB
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#define TMC2240_DIR_Pin LL_GPIO_PIN_1
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#define TMC2240_DIR_GPIO_Port GPIOB
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#define OLED_SDA_Pin LL_GPIO_PIN_12
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#define OLED_SDA_GPIO_Port GPIOB
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#define OLDE_SCK_Pin LL_GPIO_PIN_13
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@ -37,7 +37,6 @@ extern "C" {
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/* USER CODE END Private defines */
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void MX_TIM1_Init(void);
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void MX_TIM2_Init(void);
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void MX_TIM3_Init(void);
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/* USER CODE BEGIN Prototypes */
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@ -59,7 +59,7 @@ void MX_GPIO_Init(void)
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LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
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/**/
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LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
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LL_GPIO_ResetOutputPin(GPIOB, TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
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/**/
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GPIO_InitStruct.Pin = LED_BLUE_Pin;
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@ -74,8 +74,8 @@ void MX_GPIO_Init(void)
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LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
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|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
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GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_8
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|LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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@ -87,10 +87,16 @@ void MX_GPIO_Init(void)
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
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|LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
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|LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
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|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
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GPIO_InitStruct.Pin = TMC2240_DIR_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &GPIO_InitStruct);
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/**/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
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|LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
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|LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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@ -99,7 +99,6 @@ int main(void)
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_TIM2_Init();
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MX_USART1_UART_Init();
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MX_TIM1_Init();
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MX_TIM3_Init();
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@ -257,10 +257,6 @@ void TIM3_IRQHandler(void)
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/* USER CODE END TIM3_IRQn 0 */
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/* USER CODE BEGIN TIM3_IRQn 1 */
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if (IS_TIM_IT_FLAG(WORK_TIM))
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{
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TIM_IRQ_HANDLER(WORK_TIM);
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}
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/* USER CODE END TIM3_IRQn 1 */
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}
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@ -58,55 +58,6 @@ void MX_TIM1_Init(void)
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/* USER CODE END TIM1_Init 2 */
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}
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/* TIM2 init function */
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void MX_TIM2_Init(void)
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{
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/* USER CODE BEGIN TIM2_Init 0 */
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/* USER CODE END TIM2_Init 0 */
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LL_TIM_InitTypeDef TIM_InitStruct = {0};
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LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
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LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* Peripheral clock enable */
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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/* USER CODE BEGIN TIM2_Init 1 */
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/* USER CODE END TIM2_Init 1 */
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TIM_InitStruct.Prescaler = 0;
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TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
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TIM_InitStruct.Autoreload = 7199;
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TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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LL_TIM_Init(TIM2, &TIM_InitStruct);
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LL_TIM_EnableARRPreload(TIM2);
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LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
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LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH2);
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TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM2;
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TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.CompareValue = 0;
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TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
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LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
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LL_TIM_OC_EnableFast(TIM2, LL_TIM_CHANNEL_CH2);
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LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
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LL_TIM_DisableMasterSlaveMode(TIM2);
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/* USER CODE BEGIN TIM2_Init 2 */
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/* USER CODE END TIM2_Init 2 */
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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/**TIM2 GPIO Configuration
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PA1 ------> TIM2_CH2
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*/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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/* TIM3 init function */
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void MX_TIM3_Init(void)
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@ -117,7 +68,9 @@ void MX_TIM3_Init(void)
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/* USER CODE END TIM3_Init 0 */
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LL_TIM_InitTypeDef TIM_InitStruct = {0};
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LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
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LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* Peripheral clock enable */
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
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@ -128,18 +81,35 @@ void MX_TIM3_Init(void)
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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TIM_InitStruct.Prescaler = 7199;
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TIM_InitStruct.Prescaler = 71;
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TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
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TIM_InitStruct.Autoreload = 99;
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TIM_InitStruct.Autoreload = 1000;
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TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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LL_TIM_Init(TIM3, &TIM_InitStruct);
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LL_TIM_DisableARRPreload(TIM3);
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LL_TIM_EnableARRPreload(TIM3);
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LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
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LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
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TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
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TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
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TIM_OC_InitStruct.CompareValue = 0;
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TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
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LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
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LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH3);
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LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
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LL_TIM_DisableMasterSlaveMode(TIM3);
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
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/**TIM3 GPIO Configuration
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PB0 ------> TIM3_CH3
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*/
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GPIO_InitStruct.Pin = TMC2240_STEP_Pin;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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LL_GPIO_Init(TMC2240_STEP_GPIO_Port, &GPIO_InitStruct);
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}
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@ -153,32 +153,37 @@
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>_tmc2240,0x10</ItemText>
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<ItemText>_tmc2240,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>rdata</ItemText>
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<ItemText>tmc</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>data</ItemText>
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<ItemText>wdata</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>wdata</ItemText>
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<ItemText>rdata</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>rdata</ItemText>
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<ItemText>TMC2240_B_CURRENT</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>tx_data</ItemText>
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<ItemText>rdata</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>vel,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow1>
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File diff suppressed because it is too large
Load Diff
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Binary file not shown.
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@ -13,8 +13,6 @@ static uint8_t business_inspection(struct flow *fl)
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FL_HEAD(fl);
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for (;;)
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{
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tmc2240_config(TMC2240_1);
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tmc2240_position_read(TMC2240_1);
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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FL_TAIL(fl);
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@ -35,10 +33,11 @@ static uint8_t idle_inspection(struct flow *fl)
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for (;;)
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{
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GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
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tmc2240_test(TMC2240_1);
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ssd1306_f6x8_string(0, 2, " tick:");
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ssd1306_f6x8_number(40, 2, tick++, 0);
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ssd1306_f6x8_string(0, 4, " cfg:");
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ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->data.gconf, 0);
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ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->config.gconf.data, 0);
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ssd1306_update_screen();
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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@ -78,7 +77,6 @@ void app_init(void)
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FL_INIT(&idle_fw); // 空闲任务
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ENABLE_TIM(TASK_TIM);
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ENABLE_TIM(WORK_TIM);
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ssd1306_clear();
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}
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@ -43,7 +43,6 @@ void board_init(void)
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{
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GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
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delay_ms(100);
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spi_gpio_group_t gpios;
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gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
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gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin);
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@ -7,9 +7,6 @@
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#define UART_TXSIZE (240u) // 发送240个字节
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#define TASK_TIM TIM1
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#define PWM_TIM TIM2
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#define PWM_CHANNEL LL_TIM_CHANNEL_CH2
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#define WORK_TIM TIM3
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typedef struct
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{
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@ -6,6 +6,9 @@ static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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{
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@ -18,6 +21,8 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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@ -38,6 +43,65 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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}
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static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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uint8_t wdata[5] = {0};
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wdata[0] = TMC2240_HIGHT_BIT | reg;
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wdata[1] = (data >> 24) & 0xFF;
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wdata[2] = (data >> 16) & 0xFF;
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wdata[3] = (data >> 8) & 0xFF;
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wdata[4] = data & 0xFF;
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tmc2240_write(index, wdata);
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}
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static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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uint8_t wdata[5] = {0};
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uint8_t rdata[5] = {0};
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wdata[0] = reg;
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tmc2240_read(index, wdata, rdata);
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return (rdata[1] << 24) | (rdata[2] << 16) | (rdata[3] << 8) | rdata[4];
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}
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/**
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* @brief 配置TMC2240步进电机驱动器
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*
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* 该函数用于配置TMC2240步进电机驱动器的各种参数，包括步进电机的工作模式、加减速曲线等。
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*
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* @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
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*/
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static void tmc2240_config(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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tmc->config.gconf.data = 0x00000000;
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tmc->config.chopconf.data = 0x00410153;
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tmc->config.drvconf.data = 0x00000021;
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tmc->config.global_scaler.data = 0x00000000;
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tmc->config.ihold_irun.data = 0x00071f1f;
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tmc->config.pwmconf.data = 0xC44C261E;
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tmc->config.gstat.data = 0x00000007;
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tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
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tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
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tmc2240_reg_write(index, TMC2240_DRV_CONF, tmc->config.drvconf.data);
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tmc2240_reg_write(index, TMC2240_GLOBAL_SCALER, tmc->config.global_scaler.data);
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tmc2240_reg_write(index, TMC2240_IHOLD_IRUN, tmc->config.ihold_irun.data);
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tmc2240_reg_write(index, TMC2240_PWMCONF, tmc->config.pwmconf.data);
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tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
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}
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void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -45,7 +109,10 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gp
|
|||
|
||||
tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
|
||||
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
|
||||
osel_memset((uint8_t *)&tmc->config, 0, sizeof(tmc2240_config_t));
|
||||
osel_memset((uint8_t *)&tmc->read_config, 0, sizeof(tmc2240_config_t));
|
||||
tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
|
||||
tmc2240_config(index);
|
||||
}
|
||||
|
||||
tmc2240_t *tmc2240_get(tmc2240_index_e index)
|
||||
|
|
@ -54,41 +121,26 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
|
|||
return &_tmc2240[index];
|
||||
}
|
||||
|
||||
void tmc2240_config(tmc2240_index_e index)
|
||||
{
|
||||
uint8_t wdata[5];
|
||||
wdata[0] = TMC2240_HIGHT_BIT | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
|
||||
wdata[1] = 0x00;
|
||||
wdata[2] = 0x00;
|
||||
wdata[3] = 0x00;
|
||||
wdata[4] = 0xE4;
|
||||
tmc2240_write(index, wdata);
|
||||
|
||||
uint8_t rdata[5] = {0};
|
||||
osel_memset(wdata, 0, 5);
|
||||
wdata[0] = TMC2240_REG_GCONF;
|
||||
tmc2240_read(index, wdata, rdata);
|
||||
_tmc2240[index].data.gconf = rdata[4];
|
||||
}
|
||||
|
||||
int32_t tmc2240_position_read(tmc2240_index_e index)
|
||||
void tmc2240_velocity(tmc2240_index_e index, int32_t vel)
|
||||
{
|
||||
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
|
||||
tmc2240_t *tmc = &_tmc2240[index];
|
||||
uint8_t wdata[5] = {0};
|
||||
uint8_t rdata[5] = {0};
|
||||
|
||||
wdata[0] = TMC2240_REG_XACTUAL; // XACTUAL register address
|
||||
tmc2240_read(index, wdata, rdata);
|
||||
|
||||
int32_t response = 0;
|
||||
response |= (rdata[1]);
|
||||
response <<= 8;
|
||||
response |= (rdata[2]);
|
||||
response <<= 8;
|
||||
response |= (rdata[3]);
|
||||
response <<= 8;
|
||||
response |= (rdata[4]);
|
||||
tmc->data.position = response;
|
||||
return response;
|
||||
DBG_ASSERT(tmc != NULL __DBG_LINE);
|
||||
}
|
||||
|
||||
void tmc2240_test(tmc2240_index_e index)
|
||||
{
|
||||
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
|
||||
tmc2240_t *tmc = &_tmc2240[index];
|
||||
DBG_ASSERT(tmc != NULL __DBG_LINE);
|
||||
|
||||
tmc->read_config.gconf.data = tmc2240_reg_read(index, TMC2240_GCONF);
|
||||
tmc->read_config.chopconf.data = tmc2240_reg_read(index, TMC2240_CHOPCONF);
|
||||
tmc->read_config.drvconf.data = tmc2240_reg_read(index, TMC2240_DRV_CONF);
|
||||
tmc->read_config.global_scaler.data = tmc2240_reg_read(index, TMC2240_GLOBAL_SCALER);
|
||||
tmc->read_config.ihold_irun.data = tmc2240_reg_read(index, TMC2240_IHOLD_IRUN);
|
||||
tmc->read_config.pwmconf.data = tmc2240_reg_read(index, TMC2240_PWMCONF);
|
||||
tmc->read_config.gstat.data = tmc2240_reg_read(index, TMC2240_GSTAT);
|
||||
tmc->adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
|
||||
tmc->temperature = (float32)(tmc->adc_temp - 2038) / 7.7;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,9 +12,90 @@
|
|||
#include "main.h"
|
||||
#include "spis.h"
|
||||
|
||||
/*
|
||||
0x00 = 0x00002108 ;; writing GCONF @ address 0=0x00 with 0x00002108=8456=0.0
|
||||
0x03 = 0x00000000 ;; writing SLAVECONF @ address 1=0x03 with 0x00000000=0=0.0
|
||||
0x04 = 0x4001682C ;; writing IOIN @ address 2=0x04 with 0x4001682C=1073834028=0.0
|
||||
0x0A = 0x00000021 ;; writing DRV_CONF @ address 3=0x0A with 0x00000021=33=0.0
|
||||
0x0B = 0x00000000 ;; writing GLOBAL_SCALER @ address 4=0x0B with 0x00000000=0=0.0
|
||||
0x10 = 0x00001208 ;; writing IHOLD_IRUN @ address 5=0x10 with 0x00001208=4616=0.0
|
||||
0x11 = 0x00000000 ;; writing TPOWERDOWN @ address 6=0x11 with 0x00000000=0=0.0
|
||||
0x13 = 0x00000000 ;; writing TPWMTHRS @ address 7=0x13 with 0x00000000=0=0.0
|
||||
0x14 = 0x000003BE ;; writing TCOOLTHRS @ address 8=0x14 with 0x000003BE=958=0.0
|
||||
0x15 = 0x00000000 ;; writing THIGH @ address 9=0x15 with 0x00000000=0=0.0
|
||||
0x2D = 0x00000000 ;; writing DIRECT_MODE @ address 10=0x2D with 0x00000000=0=0.0
|
||||
0x38 = 0x00000000 ;; writing ENCMODE @ address 11=0x38 with 0x00000000=0=0.0
|
||||
0x39 = 0x00000000 ;; writing X_ENC @ address 12=0x39 with 0x00000000=0=0.0
|
||||
0x3A = 0x00010000 ;; writing ENC_CONST @ address 13=0x3A with 0x00010000=65536=0.0
|
||||
0x52 = 0x0B920F25 ;; writing OTW_OV_VTH @ address 14=0x52 with 0x0B920F25=194121509=0.0
|
||||
0x60 = 0xAAAAB554 ;; writing MSLUT[0] @ address 15=0x60 with 0xAAAAB554=0=0.0
|
||||
0x61 = 0x4A9554AA ;; writing MSLUT[1] @ address 16=0x61 with 0x4A9554AA=1251300522=0.0
|
||||
0x62 = 0x24492929 ;; writing MSLUT[2] @ address 17=0x62 with 0x24492929=608774441=0.0
|
||||
0x63 = 0x10104222 ;; writing MSLUT[3] @ address 18=0x63 with 0x10104222=269500962=0.0
|
||||
0x64 = 0xFBFFFFFF ;; writing MSLUT[4] @ address 19=0x64 with 0xFBFFFFFF=0=0.0
|
||||
0x65 = 0xB5BB777D ;; writing MSLUT[5] @ address 20=0x65 with 0xB5BB777D=0=0.0
|
||||
0x66 = 0x49295556 ;; writing MSLUT[6] @ address 21=0x66 with 0x49295556=1227445590=0.0
|
||||
0x67 = 0x00404222 ;; writing MSLUT[7] @ address 22=0x67 with 0x00404222=4211234=0.0
|
||||
0x68 = 0xFFFF8056 ;; writing MSLUTSEL @ address 23=0x68 with 0xFFFF8056=0=0.0
|
||||
0x69 = 0x00F70000 ;; writing MSLUTSTART @ address 24=0x69 with 0x00F70000=16187392=0.0
|
||||
0x6C = 0x00410153 ;; writing CHOPCONF @ address 25=0x6C with 0x00410153=4260179=0.0
|
||||
0x6D = 0x00040000 ;; writing COOLCONF @ address 26=0x6D with 0x00040000=262144=0.0
|
||||
0x70 = 0xC44C001E ;; writing PWMCONF @ address 27=0x70 with 0xC44C001E=0=0.0
|
||||
0x74 = 0x00000000 ;; writing SG4_THRS @ address 28=0x74 with 0x00000000=0=0.0
|
||||
*/
|
||||
|
||||
#define TMC2240_GCONF 0x00
|
||||
#define TMC2240_GSTAT 0x01
|
||||
#define TMC2240_IFCNT 0x02
|
||||
#define TMC2240_SLAVECONF 0x03
|
||||
#define TMC2240_IOIN 0x04
|
||||
#define TMC2240_DRV_CONF 0x0A
|
||||
#define TMC2240_GLOBAL_SCALER 0x0B
|
||||
|
||||
#define TMC2240_IHOLD_IRUN 0x10
|
||||
#define TMC2240_TPOWERDOWN 0x11
|
||||
#define TMC2240_TSTEP 0x12
|
||||
#define TMC2240_TPWMTHRS 0x13
|
||||
#define TMC2240_TCOOLTHRS 0x14
|
||||
#define TMC2240_THIGH 0x15
|
||||
|
||||
#define TMC2240_DIRECT_MODE 0x2D
|
||||
|
||||
#define TMC2240_ENCMODE 0x38
|
||||
#define TMC2240_XENC 0x39
|
||||
#define TMC2240_ENC_CONST 0x3A
|
||||
#define TMC2240_ENC_STATUS 0x3B
|
||||
#define TMC2240_ENC_LATCH 0x3C
|
||||
|
||||
#define TMC2240_ADC_VSUPPLY_AIN 0x50
|
||||
#define TMC2240_ADC_TEMP 0x51
|
||||
#define TMC2240_OTW_OV_VTH 0x52
|
||||
|
||||
#define TMC2240_MSLUT0 0x60
|
||||
#define TMC2240_MSLUT1 0x61
|
||||
#define TMC2240_MSLUT2 0x62
|
||||
#define TMC2240_MSLUT3 0x63
|
||||
#define TMC2240_MSLUT4 0x64
|
||||
#define TMC2240_MSLUT5 0x65
|
||||
#define TMC2240_MSLUT6 0x66
|
||||
#define TMC2240_MSLUT7 0x67
|
||||
#define TMC2240_MSLUTSEL 0x68
|
||||
#define TMC2240_MSLUTSTART 0x69
|
||||
#define TMC2240_MSCNT 0x6A
|
||||
#define TMC2240_MSCURACT 0x6B
|
||||
#define TMC2240_CHOPCONF 0x6C
|
||||
#define TMC2240_COOLCONF 0x6D
|
||||
#define TMC2240_DCCTRL 0x6E
|
||||
#define TMC2240_DRVSTATUS 0x6F
|
||||
|
||||
#define TMC2240_PWMCONF 0x70
|
||||
#define TMC2240_PWMSCALE 0x71
|
||||
#define TMC2240_PWM_AUTO 0x72
|
||||
#define TMC2240_SG4_THRS 0x74
|
||||
#define TMC2240_SG4_RESULT 0x75
|
||||
#define TMC2240_SG4_IND 0x76
|
||||
|
||||
#define TMC2240_HIGHT_BIT 0x80
|
||||
#define TMC2240_REG_GCONF 0x00
|
||||
#define TMC2240_REG_XACTUAL 0x21
|
||||
|
||||
typedef enum
|
||||
{
|
||||
|
|
@ -22,19 +103,262 @@ typedef enum
|
|||
TMC2240_MAX,
|
||||
} tmc2240_index_e;
|
||||
|
||||
// 0x00 GCONF
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
|
||||
uint32_t reserved1 : 1;
|
||||
/**
|
||||
* 停止之前的步骤执行超时检测。
|
||||
* 0x0：正常时间：2^20个时钟
|
||||
* 0x1：短时间：2^18个时钟
|
||||
*/
|
||||
uint32_t fast_standstill : 1;
|
||||
/**
|
||||
* 启用StealthChop2模式。
|
||||
* 0x0：无StealthChop2
|
||||
* 0x1：StealthChop2电压PWM模式使能(取决于速度阈值)。从关闭状态切换
|
||||
在静止状态下和在lHOLD = 时为开状态 仅限额定电流。
|
||||
*/
|
||||
uint32_t en_pwm_mode : 1;
|
||||
/**
|
||||
* 启用StealthChop2的步进输入筛选
|
||||
* 0x0：无StealthChop2
|
||||
* 0x1：StealthChop2电压PWM模式使能
|
||||
(取决于速度阈值)。从关闭状态切换
|
||||
在静止状态下和在lHOLD=时为开状态
|
||||
仅限额定电流。
|
||||
*/
|
||||
uint32_t multistep_filt : 1;
|
||||
/**
|
||||
* 更改电机方向/方向标志
|
||||
* 0x0：默认电机方向
|
||||
* 0x1：电机方向相反
|
||||
*/
|
||||
uint32_t shaft : 1;
|
||||
uint32_t diag0_error : 1;
|
||||
uint32_t diag0_otpw : 1;
|
||||
uint32_t diag0_stall : 1;
|
||||
uint32_t diag1_stall : 1;
|
||||
uint32_t diag1_index : 1;
|
||||
uint32_t diag1_onstate : 1;
|
||||
uint32_t reserved2 : 1;
|
||||
uint32_t diag0_pushpull : 1;
|
||||
uint32_t diag1_pushpull : 1;
|
||||
uint32_t small_hysteresis : 1;
|
||||
/**
|
||||
* 电机硬停止功能启用。
|
||||
* 0x0：正常运行
|
||||
* 0x1：紧急停止：ENCA停止定序器
|
||||
当绑得很高时(不执行任何步骤
|
||||
定序器、电机进入停顿状态)。
|
||||
*/
|
||||
uint32_t stop_enable : 1;
|
||||
/**
|
||||
* 通过以下方式启用直接motpr相电流控制
|
||||
* 0x0：正常运行
|
||||
* 0x1：电机线圈电流和极性直接
|
||||
通过串口编程：寄存器
|
||||
直接模式(0x2D)指定带符号线圈A
|
||||
电流(位8..0)和线圈B电流(位24..16)。在……里面
|
||||
在此模式下，电流按lHOLD设置进行定标。
|
||||
基于速度的StealthChop2电流调节
|
||||
在此模式下不可用。自动的
|
||||
StealthChop2电流调节仅适用于
|
||||
步进电机速度低。
|
||||
*/
|
||||
uint32_t direct_mode : 1;
|
||||
} bits;
|
||||
} gconf_u;
|
||||
|
||||
// 0x01 GSTAT
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t reset : 1;
|
||||
uint32_t drv_err : 1;
|
||||
uint32_t uv_cp : 1;
|
||||
uint32_t register_reset : 1;
|
||||
uint32_t vm_uvlo : 1;
|
||||
} bits;
|
||||
} gstat_u;
|
||||
|
||||
// 0x04 IOIN
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t step : 1;
|
||||
uint32_t dir : 1;
|
||||
} bits;
|
||||
} ioin_u;
|
||||
|
||||
// 0x0A DRVCONF
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t current_range : 2; // 0-1
|
||||
uint32_t reserved1 : 2; // 2-3
|
||||
uint32_t slope_control : 2; // 4-5
|
||||
} bits;
|
||||
} drvconf_u;
|
||||
|
||||
// 0x0B GLOBAL_SCALER
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t global_scale : 8; // 0-7
|
||||
} bits;
|
||||
} global_scaler_u;
|
||||
|
||||
// 0x10 IHOLD_IRUN
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t ihold : 5; // 0-4
|
||||
uint32_t reserved1 : 3; // 5-7
|
||||
uint32_t irun : 5; // 8-12
|
||||
uint32_t reserved2 : 3; // 13-15
|
||||
uint32_t iholddelay : 4; // 16-19
|
||||
uint32_t reserved3 : 4; // 20-23
|
||||
uint32_t irundelay : 4; // 24-27
|
||||
} bits;
|
||||
} ihold_irun_u;
|
||||
|
||||
// 0x11 TPOWERDOWN
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
/**
|
||||
* TPOWERDOW将电机停顿后的延迟时间(STST)设置为
|
||||
电机电流断电。时间范围约为0至4秒。
|
||||
注意：至少需要设置2才能自动调整
|
||||
SteaIhChop2脉宽调制自动关闭。
|
||||
重置默认设置=10
|
||||
0...((2^8)-1)x 2^18 tCLK
|
||||
*/
|
||||
uint32_t tpow : 8; // 0-9
|
||||
uint32_t reserved1 : 24;
|
||||
} bits;
|
||||
} tpowerdown_u;
|
||||
|
||||
// 0x13 TPWMTHRS
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t tpwmthrs : 20; // 0-19
|
||||
uint32_t reserved1 : 12; // 20-31
|
||||
} bits;
|
||||
} tpwmthrs_u;
|
||||
|
||||
// 0x2D DIRECT_MODE
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t direct_coil_a : 9; // 0-8
|
||||
uint32_t reserved1 : 7; // 9-15
|
||||
uint32_t direct_coil_b : 9; // 16-24
|
||||
uint32_t reserved2 : 7; // 25-31
|
||||
} bits;
|
||||
} direct_mode_u;
|
||||
|
||||
// 0x6C CHOPCONF
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
uint32_t toff : 4; // 0-3
|
||||
uint32_t hstrt : 3; // 4-6
|
||||
uint32_t hend : 4; // 7-10
|
||||
uint32_t fd3 : 1; // 11
|
||||
uint32_t disfdcc : 1; // 12
|
||||
uint32_t reserved1 : 1;
|
||||
uint32_t chm : 1; // 14
|
||||
uint32_t tbl : 2; // 15-16
|
||||
uint32_t reserved2 : 1;
|
||||
uint32_t vhighfs : 1; // 18
|
||||
uint32_t vhighchm : 1; // 19
|
||||
uint32_t tpfd : 4; // 20-23
|
||||
uint32_t mres : 4; // 24-27
|
||||
uint32_t intpol : 1; // 28
|
||||
uint32_t dedge : 1; // 29
|
||||
uint32_t diss2g : 1; // 30
|
||||
uint32_t diss2vs : 1; // 31
|
||||
} bits;
|
||||
} chopconf_u;
|
||||
|
||||
// 0x70 PWMCONF
|
||||
typedef union
|
||||
{
|
||||
uint32_t data;
|
||||
struct
|
||||
{
|
||||
/**
|
||||
* 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，
|
||||
* 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。
|
||||
* 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，
|
||||
* 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，
|
||||
* 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。
|
||||
*/
|
||||
uint32_t pwm_ofs : 8;
|
||||
/**
|
||||
* 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，
|
||||
* 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。
|
||||
* 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。
|
||||
*/
|
||||
uint32_t pwm_grad : 8;
|
||||
uint32_t pwm_freq : 2;
|
||||
uint32_t pwm_autoscale : 1;
|
||||
uint32_t pwm_autograd : 1;
|
||||
} bits;
|
||||
} pwmconf_u;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
gconf_u gconf; // 0x00 GCONF
|
||||
gstat_u gstat; // 0x01 GSTAT
|
||||
ioin_u ioin; // 0x04 IOIN
|
||||
drvconf_u drvconf; // 0x0A DRVCONF
|
||||
global_scaler_u global_scaler; // 0x0B GLOBAL_SCALER
|
||||
ihold_irun_u ihold_irun; // 0x10 IHOLD_IRUN
|
||||
tpowerdown_u tpowerdown; // 0x11 TPOWERDOWN
|
||||
direct_mode_u direct_mode; // 0x2D DIRECT_MODE
|
||||
chopconf_u chopconf; // 0x6C CHOPCONF
|
||||
pwmconf_u pwmconf; // 0x70 PWMCONF
|
||||
} tmc2240_config_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
spi_t *spi;
|
||||
struct
|
||||
{
|
||||
int32_t gconf;
|
||||
int32_t position;
|
||||
} data;
|
||||
tmc2240_config_t config;
|
||||
tmc2240_config_t read_config;
|
||||
|
||||
uint16_t adc_temp;
|
||||
float32 temperature;
|
||||
} tmc2240_t;
|
||||
|
||||
void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios);
|
||||
void tmc2240_config(tmc2240_index_e index);
|
||||
tmc2240_t *tmc2240_get(tmc2240_index_e index);
|
||||
|
||||
int32_t tmc2240_position_read(tmc2240_index_e index);
|
||||
void tmc2240_velocity(tmc2240_index_e index, int32_t vel);
|
||||
void tmc2240_test(tmc2240_index_e index);
|
||||
#endif // __TMC2240_H
|
||||
|
|
|
|||
70
motor.ioc
70
motor.ioc
|
|
@ -34,31 +34,30 @@ Mcu.IP2=RCC
|
|||
Mcu.IP3=SPI1
|
||||
Mcu.IP4=SYS
|
||||
Mcu.IP5=TIM1
|
||||
Mcu.IP6=TIM2
|
||||
Mcu.IP7=TIM3
|
||||
Mcu.IP8=USART1
|
||||
Mcu.IPNb=9
|
||||
Mcu.IP6=TIM3
|
||||
Mcu.IP7=USART1
|
||||
Mcu.IPNb=8
|
||||
Mcu.Name=STM32F103C(8-B)Tx
|
||||
Mcu.Package=LQFP48
|
||||
Mcu.Pin0=PC13-TAMPER-RTC
|
||||
Mcu.Pin1=PD0-OSC_IN
|
||||
Mcu.Pin10=PB13
|
||||
Mcu.Pin11=PA9
|
||||
Mcu.Pin12=PA10
|
||||
Mcu.Pin13=PA13
|
||||
Mcu.Pin14=PA14
|
||||
Mcu.Pin15=VP_SYS_VS_Systick
|
||||
Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
|
||||
Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
|
||||
Mcu.Pin10=PB12
|
||||
Mcu.Pin11=PB13
|
||||
Mcu.Pin12=PA9
|
||||
Mcu.Pin13=PA10
|
||||
Mcu.Pin14=PA13
|
||||
Mcu.Pin15=PA14
|
||||
Mcu.Pin16=VP_SYS_VS_Systick
|
||||
Mcu.Pin17=VP_TIM1_VS_ClockSourceINT
|
||||
Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
|
||||
Mcu.Pin2=PD1-OSC_OUT
|
||||
Mcu.Pin3=PA1
|
||||
Mcu.Pin4=PA3
|
||||
Mcu.Pin5=PA4
|
||||
Mcu.Pin6=PA5
|
||||
Mcu.Pin7=PA6
|
||||
Mcu.Pin8=PA7
|
||||
Mcu.Pin9=PB12
|
||||
Mcu.Pin3=PA3
|
||||
Mcu.Pin4=PA4
|
||||
Mcu.Pin5=PA5
|
||||
Mcu.Pin6=PA6
|
||||
Mcu.Pin7=PA7
|
||||
Mcu.Pin8=PB0
|
||||
Mcu.Pin9=PB1
|
||||
Mcu.PinsNb=19
|
||||
Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
|
||||
Mcu.ThirdPartyNb=1
|
||||
|
|
@ -82,7 +81,6 @@ NVIC.TIM1_UP_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
|
|||
NVIC.TIM3_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
|
||||
NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
|
||||
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
|
||||
PA1.Signal=S_TIM2_CH2
|
||||
PA10.Mode=Asynchronous
|
||||
PA10.Signal=USART1_RX
|
||||
PA13.Mode=Serial_Wire
|
||||
|
|
@ -113,6 +111,12 @@ PA7.Mode=Full_Duplex_Master
|
|||
PA7.Signal=SPI1_MOSI
|
||||
PA9.Mode=Asynchronous
|
||||
PA9.Signal=USART1_TX
|
||||
PB0.GPIOParameters=GPIO_Label
|
||||
PB0.GPIO_Label=TMC2240_STEP
|
||||
PB0.Signal=S_TIM3_CH3
|
||||
PB1.GPIOParameters=GPIO_Label
|
||||
PB1.GPIO_Label=TMC2240_DIR
|
||||
PB1.Signal=GPIO_Output
|
||||
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
|
||||
PB12.GPIO_Label=OLED_SDA
|
||||
PB12.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
|
||||
|
|
@ -165,7 +169,7 @@ ProjectManager.ToolChainLocation=
|
|||
ProjectManager.UAScriptAfterPath=
|
||||
ProjectManager.UAScriptBeforePath=
|
||||
ProjectManager.UnderRoot=false
|
||||
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-LL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_DMA_Init-DMA-false-LL-true,4-MX_TIM2_Init-TIM2-false-LL-true,5-MX_USART1_UART_Init-USART1-false-LL-true,6-MX_TIM1_Init-TIM1-false-LL-true,7-MX_TIM3_Init-TIM3-false-LL-true,8-MX_SPI1_Init-SPI1-false-LL-true
|
||||
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-LL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_DMA_Init-DMA-false-LL-true,4-MX_USART1_UART_Init-USART1-false-LL-true,5-MX_TIM1_Init-TIM1-false-LL-true,6-MX_TIM3_Init-TIM3-false-LL-true,7-MX_SPI1_Init-SPI1-false-LL-true
|
||||
RCC.ADCFreqValue=36000000
|
||||
RCC.AHBFreq_Value=72000000
|
||||
RCC.APB1CLKDivider=RCC_HCLK_DIV2
|
||||
|
|
@ -195,8 +199,8 @@ RealThread.RT-Thread.3.1.5.RT_USING_COMPONENTS_INIT=1
|
|||
RealThread.RT-Thread.3.1.5.RT_USING_CONSOLE=0
|
||||
RealThread.RT-Thread.3.1.5.RT_USING_DEVICE=1
|
||||
RealThread.RT-Thread.3.1.5_SwParameter=RTOSJjkernel\:true;RTOSJjshell\:true;RTOSJjdevice\:true;
|
||||
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
|
||||
SH.S_TIM2_CH2.ConfNb=1
|
||||
SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
|
||||
SH.S_TIM3_CH3.ConfNb=1
|
||||
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
|
||||
SPI1.CLKPhase=SPI_PHASE_2EDGE
|
||||
SPI1.CLKPolarity=SPI_POLARITY_HIGH
|
||||
|
|
@ -208,27 +212,17 @@ SPI1.VirtualType=VM_MASTER
|
|||
TIM1.IPParameters=Prescaler,Period
|
||||
TIM1.Period=99
|
||||
TIM1.Prescaler=7199
|
||||
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
|
||||
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
|
||||
TIM2.CounterMode=TIM_COUNTERMODE_UP
|
||||
TIM2.IPParameters=Prescaler,Period,CounterMode,AutoReloadPreload,OCPolarity_2,TIM_MasterOutputTrigger,Channel-PWM Generation2 CH2,OCFastMode_PWM-PWM Generation2 CH2,OCMode_PWM-PWM Generation2 CH2
|
||||
TIM2.OCFastMode_PWM-PWM\ Generation2\ CH2=TIM_OCFAST_ENABLE
|
||||
TIM2.OCMode_PWM-PWM\ Generation2\ CH2=TIM_OCMODE_PWM2
|
||||
TIM2.OCPolarity_2=TIM_OCPOLARITY_LOW
|
||||
TIM2.Period=7199
|
||||
TIM2.Prescaler=0
|
||||
TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET
|
||||
TIM3.IPParameters=Prescaler,Period
|
||||
TIM3.Period=99
|
||||
TIM3.Prescaler=7199
|
||||
TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
|
||||
TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
|
||||
TIM3.IPParameters=Prescaler,Period,Channel-PWM Generation3 CH3,AutoReloadPreload
|
||||
TIM3.Period=1000
|
||||
TIM3.Prescaler=71
|
||||
USART1.IPParameters=VirtualMode
|
||||
USART1.VirtualMode=VM_ASYNC
|
||||
VP_SYS_VS_Systick.Mode=SysTick
|
||||
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
|
||||
VP_TIM1_VS_ClockSourceINT.Mode=Internal
|
||||
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
|
||||
VP_TIM2_VS_ClockSourceINT.Mode=Internal
|
||||
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
|
||||
VP_TIM3_VS_ClockSourceINT.Mode=Internal
|
||||
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
|
||||
board=custom
|
||||
|
|
|
|||
Loading…
Reference in New Issue