diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 59be19d..9d46913 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -89,6 +89,10 @@ void Error_Handler(void);
#define TMC2240_MISO_GPIO_Port GPIOA
#define TMC2240_MOSI_Pin LL_GPIO_PIN_7
#define TMC2240_MOSI_GPIO_Port GPIOA
+#define TMC2240_STEP_Pin LL_GPIO_PIN_0
+#define TMC2240_STEP_GPIO_Port GPIOB
+#define TMC2240_DIR_Pin LL_GPIO_PIN_1
+#define TMC2240_DIR_GPIO_Port GPIOB
#define OLED_SDA_Pin LL_GPIO_PIN_12
#define OLED_SDA_GPIO_Port GPIOB
#define OLDE_SCK_Pin LL_GPIO_PIN_13
diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h
index 6998ec1..7471ff8 100644
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -37,7 +37,6 @@ extern "C" {
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
-void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
/* USER CODE BEGIN Prototypes */
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 46a4128..41a0ca2 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -59,7 +59,7 @@ void MX_GPIO_Init(void)
LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
/**/
- LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
+ LL_GPIO_ResetOutputPin(GPIOB, TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
/**/
GPIO_InitStruct.Pin = LED_BLUE_Pin;
@@ -74,8 +74,8 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
- |LL_GPIO_PIN_12|LL_GPIO_PIN_15;
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_8
+ |LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -87,10 +87,16 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
- |LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
- |LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
- |LL_GPIO_PIN_8|LL_GPIO_PIN_9;
+ GPIO_InitStruct.Pin = TMC2240_DIR_Pin;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+ GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &GPIO_InitStruct);
+
+ /**/
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
+ |LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
+ |LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
diff --git a/Core/Src/main.c b/Core/Src/main.c
index dd0d888..8771d04 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -99,7 +99,6 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
- MX_TIM2_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
MX_TIM3_Init();
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index a09fd58..e37f0b2 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -257,10 +257,6 @@ void TIM3_IRQHandler(void)
/* USER CODE END TIM3_IRQn 0 */
/* USER CODE BEGIN TIM3_IRQn 1 */
- if (IS_TIM_IT_FLAG(WORK_TIM))
- {
- TIM_IRQ_HANDLER(WORK_TIM);
- }
/* USER CODE END TIM3_IRQn 1 */
}
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 47ba760..98524f0 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -58,55 +58,6 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */
-}
-/* TIM2 init function */
-void MX_TIM2_Init(void)
-{
-
- /* USER CODE BEGIN TIM2_Init 0 */
-
- /* USER CODE END TIM2_Init 0 */
-
- LL_TIM_InitTypeDef TIM_InitStruct = {0};
- LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
-
- LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
- /* Peripheral clock enable */
- LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
-
- /* USER CODE BEGIN TIM2_Init 1 */
-
- /* USER CODE END TIM2_Init 1 */
- TIM_InitStruct.Prescaler = 0;
- TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
- TIM_InitStruct.Autoreload = 7199;
- TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
- LL_TIM_Init(TIM2, &TIM_InitStruct);
- LL_TIM_EnableARRPreload(TIM2);
- LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
- LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH2);
- TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM2;
- TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
- TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
- TIM_OC_InitStruct.CompareValue = 0;
- TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
- LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
- LL_TIM_OC_EnableFast(TIM2, LL_TIM_CHANNEL_CH2);
- LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
- LL_TIM_DisableMasterSlaveMode(TIM2);
- /* USER CODE BEGIN TIM2_Init 2 */
-
- /* USER CODE END TIM2_Init 2 */
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- /**TIM2 GPIO Configuration
- PA1 ------> TIM2_CH2
- */
- GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
- GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
- GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
- GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
}
/* TIM3 init function */
void MX_TIM3_Init(void)
@@ -117,7 +68,9 @@ void MX_TIM3_Init(void)
/* USER CODE END TIM3_Init 0 */
LL_TIM_InitTypeDef TIM_InitStruct = {0};
+ LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
+ LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
@@ -128,18 +81,35 @@ void MX_TIM3_Init(void)
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
- TIM_InitStruct.Prescaler = 7199;
+ TIM_InitStruct.Prescaler = 71;
TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
- TIM_InitStruct.Autoreload = 99;
+ TIM_InitStruct.Autoreload = 1000;
TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
LL_TIM_Init(TIM3, &TIM_InitStruct);
- LL_TIM_DisableARRPreload(TIM3);
+ LL_TIM_EnableARRPreload(TIM3);
LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
+ LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
+ TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
+ TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
+ TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
+ TIM_OC_InitStruct.CompareValue = 0;
+ TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+ LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
+ LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH3);
LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
LL_TIM_DisableMasterSlaveMode(TIM3);
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+ /**TIM3 GPIO Configuration
+ PB0 ------> TIM3_CH3
+ */
+ GPIO_InitStruct.Pin = TMC2240_STEP_Pin;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+ GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ LL_GPIO_Init(TMC2240_STEP_GPIO_Port, &GPIO_InitStruct);
}
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 2093ad1..05a7fb3 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -153,32 +153,37 @@
0
1
- _tmc2240,0x10
+ _tmc2240,0x0A
1
1
- rdata
+ tmc
2
1
- data
+ wdata
3
1
- wdata
+ rdata
4
1
- rdata
+ TMC2240_B_CURRENT
5
1
- tx_data
+ rdata
+
+
+ 6
+ 1
+ vel,0x0A
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index 2d8231d..970a6ce 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
:020000040800F2
-:100000009034002005010008091500088707000842
-:10001000051500084D070008ED1A00080000000053
-:100020000000000000000000000000005918000857
-:100030008507000800000000591700085B18000839
+:10000000E0340020050100087D1500089B08000869
+:100010007915000861080008C11A000800000000F6
+:10002000000000000000000000000000CD180008E3
+:100030009908000800000000CD170008CF1800083C
:100040001F0100081F0100081F0100081F01000810
:100050001F0100081F0100081F0100081F01000800
:100060001F0100081F0100081F0100081F010008F0
-:100070001F0100081F010008650700087507000838
+:100070001F0100081F01000879080008890800080E
:100080001F0100081F0100081F0100081F010008D0
:100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008511900081F0100081F01000866
-:1000B0001F010008211A00081F0100081F01000885
+:1000A0001F010008C51900081F0100081F010008F2
+:1000B0001F010008AD1A00081F0100081F010008F9
:1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F010008DD1A00081F0100081F010008A9
+:1000D0001F010008B11A00081F0100081F010008D5
:1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F01AFB00480047492B0008AFF30080CE
-:10010000903400200648804706480047FEE7FEE797
+:1000F00000F0A4FB00480047252B0008AFF3008068
+:10010000E03400200648804706480047FEE7FEE747
:10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:100120004D190008ED000008D2B201E000F8012BE3
+:10012000C1190008ED000008D2B201E000F8012B6F
:10013000491EFBD270470022F6E710B513460A4667
:1001400004461946FFF7F0FF204610BD421C10F888
:10015000011B0029FBD1801A7047F0B480EA01022C
@@ -26,10 +26,10 @@
:1001800035DAC1F3160141F4000204B15242C5F15F
:10019000200602FA06F12A411044B3EBD05F23D0C7
:1001A000C4B1012DA0EBC35009DCF0BC4FF00042FC
-:1001B00002EAC352DBB200F5000000F02ABA4000A8
+:1001B00002EAC352DBB200F5000000F0B4BA40001E
:1001C00000F1807000EBC350A0F1807040EAD17064
:1001D000490009E0490841EAC071A0EBC35000F5AD
-:1001E0000000400800EBC350F0BC00F009BA6142C7
+:1001E0000000400800EBC350F0BC00F093BA61423D
:1001F000012202EB4101001BF6E7F0BC704781F0E1
:100200000041AAE780F00040A7E780EA010210B5AC
:1002100002F00043400022D04A001FD0010E01EB43
@@ -45,1314 +45,1345 @@
:1002B0004FF400000023914201D3891A0343400800
:1002C0004FEA4101F7D151B1914202D14FF00041C3
:1002D00005E002D24FF0010101E06FF0010103EBF4
-:1002E000C450284430BC00F08BB92DE9FE4F804645
+:1002E000C450284430BC00F015BA2DE9FE4F8046BA
:1002F00081EA0300C00F0C46009021F0004123F07A
:100300000045B8EB0200A94105D24046214690467F
:100310001C460B46024623F00040104347D0270DF1
:10032000C7F30A00C3F30A510290401A0190402813
:100330006BDAC3F3130040F4801B0098924620B19F
:100340000023D2EB030A63EB0B0B01985946C0F173
-:100350004002504600F023F906460D4650465946E5
-:10036000019A00F03BF910EB08006141002487EA94
+:100350004002504600F0ADF906460D46504659465B
+:10036000019A00F0C5F910EB08006141002487EA0A
:10037000115284EAE7731A4340D0009A62B3019A9B
:10038000012A4FEA075215DC001B61EB02014FF016
:10039000004202EA0752CDE90042001C41F58011FB
-:1003A00032462B4600F072F903B0BDE8F08F4046AC
+:1003A00032462B4600F0FCF903B0BDE8F08F404622
:1003B0002146F9E7001B61EB0201001C41F58013A7
:1003C00000185B412018A2F5001747EB030140EA33
:1003D000D570B6196D4111E06D084FEA360645EA51
:1003E000C0754FEA0752001B61EB0201001C41F58A
:1003F000801149084FEA30000019514132462B461E
-:1004000003B0BDE8F04F00F032B90098012240007F
+:1004000003B0BDE8F04F00F0BCB9009801224000F5
:100410000023D0EB020263EBE073009821464FEA21
:10042000E074B8EB000061EB0401E9E783F00043FE
-:100430005BE781F0004158E7C10F80EAE0700844B3
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diff --git a/Public/ADI-TMC2240-CN.pdf b/Public/ADI-TMC2240-CN.pdf
new file mode 100644
index 0000000..175fb4d
Binary files /dev/null and b/Public/ADI-TMC2240-CN.pdf differ
diff --git a/Public/ADI-TMC2240.pdf b/Public/ADI-TMC2240.pdf
new file mode 100644
index 0000000..60fa416
Binary files /dev/null and b/Public/ADI-TMC2240.pdf differ
diff --git a/Public/TMC2240_datasheet_rev1_20231.pdf b/Public/TMC2240_datasheet_rev1_20231.pdf
deleted file mode 100644
index 8477189..0000000
Binary files a/Public/TMC2240_datasheet_rev1_20231.pdf and /dev/null differ
diff --git a/User/application/app.c b/User/application/app.c
index 0bd4041..f75bb9c 100644
--- a/User/application/app.c
+++ b/User/application/app.c
@@ -13,8 +13,6 @@ static uint8_t business_inspection(struct flow *fl)
FL_HEAD(fl);
for (;;)
{
- tmc2240_config(TMC2240_1);
- tmc2240_position_read(TMC2240_1);
FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
}
FL_TAIL(fl);
@@ -35,10 +33,11 @@ static uint8_t idle_inspection(struct flow *fl)
for (;;)
{
GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
+ tmc2240_test(TMC2240_1);
ssd1306_f6x8_string(0, 2, " tick:");
ssd1306_f6x8_number(40, 2, tick++, 0);
ssd1306_f6x8_string(0, 4, " cfg:");
- ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->data.gconf, 0);
+ ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->config.gconf.data, 0);
ssd1306_update_screen();
FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
}
@@ -78,7 +77,6 @@ void app_init(void)
FL_INIT(&idle_fw); // 空闲任务
ENABLE_TIM(TASK_TIM);
- ENABLE_TIM(WORK_TIM);
ssd1306_clear();
}
diff --git a/User/board/board.c b/User/board/board.c
index 0e130cc..0610b9f 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -43,7 +43,6 @@ void board_init(void)
{
GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
- delay_ms(100);
spi_gpio_group_t gpios;
gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin);
diff --git a/User/board/board.h b/User/board/board.h
index 9e0166e..c6fb45b 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -7,9 +7,6 @@
#define UART_TXSIZE (240u) // 发送240个字节
#define TASK_TIM TIM1
-#define PWM_TIM TIM2
-#define PWM_CHANNEL LL_TIM_CHANNEL_CH2
-#define WORK_TIM TIM3
typedef struct
{
diff --git a/User/lib/driver/tmc2240.c b/User/lib/driver/tmc2240.c
index 51e2918..0333442 100644
--- a/User/lib/driver/tmc2240.c
+++ b/User/lib/driver/tmc2240.c
@@ -6,6 +6,9 @@ static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
+ DBG_ASSERT(tmc != NULL __DBG_LINE);
+ DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
{
@@ -18,6 +21,8 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
+ DBG_ASSERT(tmc != NULL __DBG_LINE);
+ DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
@@ -38,6 +43,65 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
}
+static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
+{
+ DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+ tmc2240_t *tmc = &_tmc2240[index];
+ DBG_ASSERT(tmc != NULL __DBG_LINE);
+ DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
+ uint8_t wdata[5] = {0};
+ wdata[0] = TMC2240_HIGHT_BIT | reg;
+ wdata[1] = (data >> 24) & 0xFF;
+ wdata[2] = (data >> 16) & 0xFF;
+ wdata[3] = (data >> 8) & 0xFF;
+ wdata[4] = data & 0xFF;
+ tmc2240_write(index, wdata);
+}
+
+static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
+{
+ DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+ tmc2240_t *tmc = &_tmc2240[index];
+ DBG_ASSERT(tmc != NULL __DBG_LINE);
+ DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+
+ uint8_t wdata[5] = {0};
+ uint8_t rdata[5] = {0};
+ wdata[0] = reg;
+ tmc2240_read(index, wdata, rdata);
+ return (rdata[1] << 24) | (rdata[2] << 16) | (rdata[3] << 8) | rdata[4];
+}
+
+/**
+ * @brief 配置TMC2240步进电机驱动器
+ *
+ * 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。
+ *
+ * @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
+ */
+static void tmc2240_config(tmc2240_index_e index)
+{
+ DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+ tmc2240_t *tmc = &_tmc2240[index];
+ DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+ tmc->config.gconf.data = 0x00000000;
+ tmc->config.chopconf.data = 0x00410153;
+ tmc->config.drvconf.data = 0x00000021;
+ tmc->config.global_scaler.data = 0x00000000;
+ tmc->config.ihold_irun.data = 0x00071f1f;
+ tmc->config.pwmconf.data = 0xC44C261E;
+ tmc->config.gstat.data = 0x00000007;
+ tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
+ tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
+ tmc2240_reg_write(index, TMC2240_DRV_CONF, tmc->config.drvconf.data);
+ tmc2240_reg_write(index, TMC2240_GLOBAL_SCALER, tmc->config.global_scaler.data);
+ tmc2240_reg_write(index, TMC2240_IHOLD_IRUN, tmc->config.ihold_irun.data);
+ tmc2240_reg_write(index, TMC2240_PWMCONF, tmc->config.pwmconf.data);
+ tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
+}
+
void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
@@ -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;
}
diff --git a/User/lib/driver/tmc2240.h b/User/lib/driver/tmc2240.h
index 94c89b8..d70df05 100644
--- a/User/lib/driver/tmc2240.h
+++ b/User/lib/driver/tmc2240.h
@@ -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
diff --git a/motor.ioc b/motor.ioc
index e021e0f..d2fdc93 100644
--- a/motor.ioc
+++ b/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