xushenghao
/
motor_cs103
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

1

This commit is contained in:
许晟昊 2024-12-23 08:09:52 +08:00
parent 5f50ecf0f1
commit a8ca2d69f1
11 changed files with 1277 additions and 5060 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Core/Src/gpio.c
View File

@ -80,11 +80,20 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(GPIOA, &GPIO_InitStruct); LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = TMC2240_EN_Pin|TMC2240_CS_Pin; GPIO_InitStruct.Pin = TMC2240_EN_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN;
LL_GPIO_Init(TMC2240_EN_GPIO_Port, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = TMC2240_CS_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
LL_GPIO_Init(TMC2240_CS_GPIO_Port, &GPIO_InitStruct);
/**/ /**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10 GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10

3655
MDK-ARM/motor.uvguix.xushenghao
View File

File diff suppressed because one or more lines are too long

93
MDK-ARM/motor.uvoptx
View File

@ -1,4 +1,4 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <?xml version="1.0" encoding="UTF-8"?>
<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd"> <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
<SchemaVersion>1.0</SchemaVersion> <SchemaVersion>1.0</SchemaVersion>
@ -26,7 +26,7 @@
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<TargetOption> <TargetOption>
<CLKADS>12000000</CLKADS> <CLKADS>8000000</CLKADS>
<OPTTT> <OPTTT>
<gFlags>1</gFlags> <gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd> <BeepAtEnd>1</BeepAtEnd>
@ -45,7 +45,7 @@
<PageWidth>79</PageWidth> <PageWidth>79</PageWidth>
<PageLength>66</PageLength> <PageLength>66</PageLength>
<TabStop>8</TabStop> <TabStop>8</TabStop>
<ListingPath></ListingPath> <ListingPath />
</OPTLEX> </OPTLEX>
<ListingPage> <ListingPage>
<CreateCListing>1</CreateCListing> <CreateCListing>1</CreateCListing>
@ -104,16 +104,16 @@
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel> <nTsel>3</nTsel>
<sDll></sDll> <sDll />
<sDllPa></sDllPa> <sDllPa />
<sDlgDll></sDlgDll> <sDlgDll />
<sDlgPa></sDlgPa> <sDlgPa />
<sIfile></sIfile> <sIfile />
<tDll></tDll> <tDll />
<tDllPa></tDllPa> <tDllPa />
<tDlgDll></tDlgDll> <tDlgDll />
<tDlgPa></tDlgPa> <tDlgPa />
<tIfile></tIfile> <tIfile />
<pMon>BIN\CMSIS_AGDI.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
@ -125,7 +125,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name> <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -140,77 +140,52 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ARMDBGFLAGS</Key> <Key>ARMDBGFLAGS</Key>
<Name></Name> <Name />
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <Key>DLGUARM</Key>
<Name></Name> <Name />
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint/> <Breakpoint />
<WatchWindow1> <WatchWindow1>
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>buffer</ItemText> <ItemText>_tmc2240</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>app,0x0A</ItemText> <ItemText>rdata</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>work,0x0A</ItemText> <ItemText>data</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>ch</ItemText> <ItemText>wdata</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>4</count> <count>4</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>dd</ItemText> <ItemText>rdata</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>5</count> <count>5</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>i,0x0A</ItemText> <ItemText>tx_data</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>progress_text</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>x,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>_tmc2240</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>wdata</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>rdata</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow1> <MemoryWindow1>
<Mm> <Mm>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<SubType>0</SubType> <SubType>0</SubType>
<ItemText>0x20003440</ItemText> <ItemText>0x20003450</ItemText>
<AccSizeX>0</AccSizeX> <AccSizeX>0</AccSizeX>
</Mm> </Mm>
</MemoryWindow1> </MemoryWindow1>
@ -243,19 +218,19 @@
<newCpu>0</newCpu> <newCpu>0</newCpu>
<uProt>0</uProt> <uProt>0</uProt>
</DebugFlag> </DebugFlag>
<LintExecutable></LintExecutable> <LintExecutable />
<LintConfigFile></LintConfigFile> <LintConfigFile />
<bLintAuto>0</bLintAuto> <bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD> <bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags> <LntExFlags>0</LntExFlags>
<pMisraName></pMisraName> <pMisraName />
<pszMrule></pszMrule> <pszMrule />
<pSingCmds></pSingCmds> <pSingCmds />
<pMultCmds></pMultCmds> <pMultCmds />
<pMisraNamep></pMisraNamep> <pMisraNamep />
<pszMrulep></pszMrulep> <pszMrulep />
<pSingCmdsp></pSingCmdsp> <pSingCmdsp />
<pMultCmdsp></pMultCmdsp> <pMultCmdsp />
</TargetOption> </TargetOption>
</Target> </Target>

241
MDK-ARM/motor.uvprojx
View File

@ -1,10 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?> <?xml version="1.0" encoding="UTF-8"?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd"> <Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion> <SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header> <Header>### uVision Project, (C) Keil Software</Header>
<Targets> <Targets>
<Target> <Target>
<TargetName>motor</TargetName> <TargetName>motor</TargetName>
@ -14,33 +11,33 @@
<uAC6>0</uAC6> <uAC6>0</uAC6>
<TargetOption> <TargetOption>
<TargetCommonOption> <TargetCommonOption>
<Device>CS32F103C8</Device> <Device>STM32F103C8</Device>
<Vendor>AutoChips</Vendor> <Vendor>AutoChips</Vendor>
<PackID>Keil.CS32F1xx_DFP.1.0.0</PackID> <PackID>Keil.CS32F1xx_DFP.1.0.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu> <Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec />
<StartupFile></StartupFile> <StartupFile />
<FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128 -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM))</FlashDriverDll> <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128 -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM))</FlashDriverDll>
<DeviceId>0</DeviceId> <DeviceId>0</DeviceId>
<RegisterFile>$$Device:CS32F103C8$Device\Include\cs32f10x.h</RegisterFile> <RegisterFile>$$Device:CS32F103C8$Device\Include\cs32f10x.h</RegisterFile>
<MemoryEnv></MemoryEnv> <MemoryEnv />
<Cmp></Cmp> <Cmp />
<Asm></Asm> <Asm />
<Linker></Linker> <Linker />
<OHString></OHString> <OHString />
<InfinionOptionDll></InfinionOptionDll> <InfinionOptionDll />
<SLE66CMisc></SLE66CMisc> <SLE66CMisc />
<SLE66AMisc></SLE66AMisc> <SLE66AMisc />
<SLE66LinkerMisc></SLE66LinkerMisc> <SLE66LinkerMisc />
<SFDFile>$$Device:CS32F103C8$SVD\CS32F103xx.svd</SFDFile> <SFDFile>$$Device:CS32F103C8$SVD\CS32F103xx.svd</SFDFile>
<bCustSvd>0</bCustSvd> <bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath></BinPath> <BinPath />
<IncludePath></IncludePath> <IncludePath />
<LibPath></LibPath> <LibPath />
<RegisterFilePath></RegisterFilePath> <RegisterFilePath />
<DBRegisterFilePath></DBRegisterFilePath> <DBRegisterFilePath />
<TargetStatus> <TargetStatus>
<Error>0</Error> <Error>0</Error>
<ExitCodeStop>0</ExitCodeStop> <ExitCodeStop>0</ExitCodeStop>
@ -54,16 +51,16 @@
<CreateLib>0</CreateLib> <CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile> <CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation> <DebugInformation>1</DebugInformation>
<BrowseInformation>0</BrowseInformation> <BrowseInformation>1</BrowseInformation>
<ListingPath></ListingPath> <ListingPath />
<HexFormatSelection>1</HexFormatSelection> <HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K> <Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile> <CreateBatchFile>0</CreateBatchFile>
<BeforeCompile> <BeforeCompile>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X> <nStopU1X>0</nStopU1X>
@ -72,8 +69,8 @@
<BeforeMake> <BeforeMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X> <nStopB1X>0</nStopB1X>
@ -82,15 +79,15 @@
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name />
<UserProg2Name></UserProg2Name> <UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode> <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X> <nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X> <nStopA2X>0</nStopA2X>
</AfterMake> </AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild> <SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString> <SVCSIdString />
</TargetCommonOption> </TargetCommonOption>
<CommonProperty> <CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler> <UseCPPCompiler>0</UseCPPCompiler>
@ -104,17 +101,17 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile> <AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly> <PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument />
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules />
<ComprImg>0</ComprImg> <ComprImg>0</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
<SimDllName>SARMCM3.DLL</SimDllName> <SimDllName>SARMCM3.DLL</SimDllName>
<SimDllArguments> -REMAP</SimDllArguments> <SimDllArguments>-REMAP</SimDllArguments>
<SimDlgDll>DCM.DLL</SimDlgDll> <SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM3</SimDlgDllArguments> <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName> <TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments></TargetDllArguments> <TargetDllArguments />
<TargetDlgDll>TCM.DLL</TargetDlgDll> <TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments> <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
</DllOption> </DllOption>
@ -138,11 +135,11 @@
</Flash1> </Flash1>
<bUseTDR>1</bUseTDR> <bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3></Flash3> <Flash3 />
<Flash4></Flash4> <Flash4 />
<pFcarmOut></pFcarmOut> <pFcarmOut />
<pFcarmGrp></pFcarmGrp> <pFcarmGrp />
<pFcArmRoot></pFcArmRoot> <pFcArmRoot />
<FcArmLst>0</FcArmLst> <FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
@ -175,7 +172,7 @@
<RvctClst>0</RvctClst> <RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst> <GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType> <AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName> <RvctDeviceName />
<mOS>0</mOS> <mOS>0</mOS>
<uocRom>0</uocRom> <uocRom>0</uocRom>
<uocRam>0</uocRam> <uocRam>0</uocRam>
@ -309,7 +306,7 @@
<Size>0x0</Size> <Size>0x0</Size>
</OCR_RVCT10> </OCR_RVCT10>
</OnChipMemories> </OnChipMemories>
<RvctStartVector></RvctStartVector> <RvctStartVector />
</ArmAdsMisc> </ArmAdsMisc>
<Cads> <Cads>
<interw>1</interw> <interw>1</interw>
@ -336,9 +333,9 @@
<v6WtE>0</v6WtE> <v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti> <v6Rtti>0</v6Rtti>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls />
<Define>STM32,STM32F103xB,USE_FULL_LL_DRIVER,HSE_VALUE=8000000,HSE_STARTUP_TIMEOUT=100,LSE_STARTUP_TIMEOUT=5000,LSE_VALUE=32768,HSI_VALUE=8000000,LSI_VALUE=40000,VDD_VALUE=3300,PREFETCH_ENABLE=1</Define> <Define>STM32,STM32F103xB,USE_FULL_LL_DRIVER,HSE_VALUE=8000000,HSE_STARTUP_TIMEOUT=100,LSE_STARTUP_TIMEOUT=5000,LSE_VALUE=32768,HSI_VALUE=8000000,LSI_VALUE=40000,VDD_VALUE=3300,PREFETCH_ENABLE=1</Define>
<Undefine></Undefine> <Undefine />
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User;../User/application;../User/board;../User/system/inc;../User/system/bsp;../User/lib/inc;../User/lib/flow;../User/lib/control/inc;../User/lib/driver</IncludePath> <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User;../User/application;../User/board;../User/system/inc;../User/system/bsp;../User/lib/inc;../User/lib/flow;../User/lib/control/inc;../User/lib/driver</IncludePath>
</VariousControls> </VariousControls>
</Cads> </Cads>
@ -354,10 +351,10 @@
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt> <ClangAsOpt>1</ClangAsOpt>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls />
<Define></Define> <Define />
<Undefine></Undefine> <Undefine />
<IncludePath></IncludePath> <IncludePath />
</VariousControls> </VariousControls>
</Aads> </Aads>
<LDads> <LDads>
@ -367,15 +364,15 @@
<noStLib>0</noStLib> <noStLib>0</noStLib>
<RepFail>1</RepFail> <RepFail>1</RepFail>
<useFile>0</useFile> <useFile>0</useFile>
<TextAddressRange></TextAddressRange> <TextAddressRange />
<DataAddressRange></DataAddressRange> <DataAddressRange />
<pXoBase></pXoBase> <pXoBase />
<ScatterFile></ScatterFile> <ScatterFile />
<IncludeLibs></IncludeLibs> <IncludeLibs />
<IncludeLibsPath></IncludeLibsPath> <IncludeLibsPath />
<Misc></Misc> <Misc />
<LinkerInputFile></LinkerInputFile> <LinkerInputFile />
<DisabledWarnings></DisabledWarnings> <DisabledWarnings />
</LDads> </LDads>
</TargetArmAds> </TargetArmAds>
</TargetOption> </TargetOption>
@ -420,8 +417,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -449,12 +444,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -476,8 +465,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -505,12 +492,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -532,8 +513,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -561,12 +540,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -588,8 +561,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -617,12 +588,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -799,8 +764,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<GroupArmAds> <GroupArmAds>
@ -828,12 +791,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
<Aads> <Aads>
<interw>2</interw> <interw>2</interw>
@ -846,12 +803,6 @@
<uSurpInc>2</uSurpInc> <uSurpInc>2</uSurpInc>
<useXO>2</useXO> <useXO>2</useXO>
<ClangAsOpt>1</ClangAsOpt> <ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads> </Aads>
</GroupArmAds> </GroupArmAds>
</GroupOption> </GroupOption>
@ -873,8 +824,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -902,12 +851,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -929,8 +872,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -958,12 +899,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -985,8 +920,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1014,12 +947,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1041,8 +968,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1070,12 +995,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1097,8 +1016,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1126,12 +1043,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1153,8 +1064,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1182,12 +1091,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1209,8 +1112,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1238,12 +1139,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1265,8 +1160,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1294,12 +1187,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1321,8 +1208,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile> <AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly> <PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg> <ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
@ -1350,12 +1235,6 @@
<v6Lto>2</v6Lto> <v6Lto>2</v6Lto>
<v6WtE>2</v6WtE> <v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti> <v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads> </Cads>
</FileArmAds> </FileArmAds>
</FileOption> </FileOption>
@ -1418,20 +1297,18 @@
</Groups> </Groups>
</Target> </Target>
</Targets> </Targets>
<RTE> <RTE>
<apis/> <apis />
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/> <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0" />
<targetInfos> <targetInfos>
<targetInfo name="motor"/> <targetInfo name="motor" />
</targetInfos> </targetInfos>
</component> </component>
</components> </components>
<files/> <files />
</RTE> </RTE>
<LayerInfo> <LayerInfo>
<Layers> <Layers>
<Layer> <Layer>
@ -1440,5 +1317,5 @@
</Layer> </Layer>
</Layers> </Layers>
</LayerInfo> </LayerInfo>
</Project> </Project>

2246
MDK-ARM/motor/motor.hex
View File

File diff suppressed because it is too large Load Diff

3
User/application/app.c
View File

@ -13,6 +13,7 @@ static uint8_t business_inspection(struct flow *fl)
FL_HEAD(fl); FL_HEAD(fl);
for (;;) for (;;)
{ {
tmc2240_config(TMC2240_1);
tmc2240_position_read(TMC2240_1); tmc2240_position_read(TMC2240_1);
FL_LOCK_DELAY(fl, FL_CLOCK_SEC); FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
} }
@ -36,6 +37,8 @@ static uint8_t idle_inspection(struct flow *fl)
GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin); GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
ssd1306_f6x8_string(0, 2, " tick:"); ssd1306_f6x8_string(0, 2, " tick:");
ssd1306_f6x8_number(40, 2, tick++, 0); 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_update_screen(); ssd1306_update_screen();
FL_LOCK_DELAY(fl, FL_CLOCK_SEC); FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
} }

7
User/board/board.c
View File

@ -42,7 +42,8 @@ void board_init(void)
ssd1306_init(); ssd1306_init();
{ {
GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin); GPIO_SET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
delay_ms(100);
spi_gpio_group_t gpios; spi_gpio_group_t gpios;
gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin); gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin); gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin);
@ -50,8 +51,6 @@ void board_init(void)
gpios.miso = gpio_create(TMC2240_MISO_GPIO_Port, TMC2240_MISO_Pin); gpios.miso = gpio_create(TMC2240_MISO_GPIO_Port, TMC2240_MISO_Pin);
gpios.rst = gpio_create(NULL, 0); gpios.rst = gpio_create(NULL, 0);
gpios.rdy = gpio_create(NULL, 0); gpios.rdy = gpio_create(NULL, 0);
tmc2240_init(TMC2240_1, &gpios); tmc2240_init(TMC2240_1, SPI1, &gpios);
tmc2240_get(TMC2240_1)->spi->interface.hardware_enable(tmc2240_get(TMC2240_1)->spi, SPI1);
tmc2240_config(TMC2240_1);
} }
} }

55
User/lib/driver/tmc2240.c
View File

@ -6,13 +6,11 @@ static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
{ {
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE); DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index]; tmc2240_t *tmc = &_tmc2240[index];
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs); tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++) for (uint16_t i = 0; i < 5; i++)
{ {
tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]); tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
} }
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs); tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
} }
@ -27,37 +25,9 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]); rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
} }
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs); tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
__NOP();
__NOP();
__NOP();
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++) // 循环读取数据
{
rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
}
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
} }
void tmc2240_config(tmc2240_index_e index) void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
{
uint8_t wdata[5];
wdata[0] = 0x80 | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
wdata[1] = 0x00;
wdata[2] = 0x00;
wdata[3] = 0x00;
wdata[4] = 0x01;
tmc2240_write(index, wdata);
// 读取 GCONF 寄存器
uint8_t rdata[5] = {0};
wdata[0] = TMC2240_REG_GCONF;
tmc2240_read(index, wdata, rdata);
_tmc2240[index].data.gconf = rdata[4];
}
void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios)
{ {
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE); DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index]; tmc2240_t *tmc = &_tmc2240[index];
@ -72,6 +42,29 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
return &_tmc2240[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] = 0x04;
tmc2240_write(index, wdata);
osel_memset(wdata, 0, 5);
__NOP();
__NOP();
__NOP();
__NOP();
__NOP();
__NOP();
// 读取 GCONF 寄存器
uint8_t rdata[5] = {0};
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) int32_t tmc2240_position_read(tmc2240_index_e index)
{ {
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE); DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);

5
User/lib/driver/tmc2240.h
View File

@ -2,7 +2,10 @@
#define __TMC2240_H #define __TMC2240_H
#include "main.h" #include "main.h"
#include "spis.h" #include "spis.h"
#define TMC2240_HIGHT_BIT 0x80
#define TMC2240_REG_GCONF 0x00 #define TMC2240_REG_GCONF 0x00
#define TMC2240_REG_XACTUAL 0x21
typedef enum typedef enum
{ {
@ -20,7 +23,7 @@ typedef struct
} data; } data;
} tmc2240_t; } tmc2240_t;
void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios); void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios);
void tmc2240_config(tmc2240_index_e index); void tmc2240_config(tmc2240_index_e index);
tmc2240_t *tmc2240_get(tmc2240_index_e index); tmc2240_t *tmc2240_get(tmc2240_index_e index);

11
User/system/bsp/spis.c
View File

@ -1,7 +1,7 @@
#include "spis.h" #include "spis.h"
#include "delay.h" #include "delay.h"
#define SPI_TIMEOUT 2000 #define SPI_TIMEOUT 0xffffffff
#define CMD_RDSR 0x05 /*!< Read Status Register instruction */ #define CMD_RDSR 0x05 /*!< Read Status Register instruction */
#define CMD_WRSR 0x01 /*!< Write Status Register instruction */ #define CMD_WRSR 0x01 /*!< Write Status Register instruction */
@ -461,11 +461,18 @@ static uint8_t spi_read_write_byte(spi_t *handle, uint8_t tx_data)
else else
{ {
LL_SPI_TransmitData8(handle->spi, tx_data); LL_SPI_TransmitData8(handle->spi, tx_data);
if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
{
return 0xff;
}
if (spi_wait_flag(handle, LL_SPI_SR_RXNE, SPI_TIMEOUT) == FALSE) if (spi_wait_flag(handle, LL_SPI_SR_RXNE, SPI_TIMEOUT) == FALSE)
{ {
return 0xff; return 0xff;
} }
if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
{
return 0xff;
}
rdata = LL_SPI_ReceiveData8(handle->spi); rdata = LL_SPI_ReceiveData8(handle->spi);
return rdata; return rdata;
} }

8
motor.ioc
View File

@ -89,11 +89,13 @@ PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK PA14.Signal=SYS_JTCK-SWCLK
PA3.GPIOParameters=GPIO_Label PA3.GPIOParameters=GPIO_PuPd,GPIO_Label
PA3.GPIO_Label=TMC2240_EN PA3.GPIO_Label=TMC2240_EN
PA3.GPIO_PuPd=GPIO_PULLDOWN
PA3.Signal=GPIO_Output PA3.Signal=GPIO_Output
PA4.GPIOParameters=GPIO_Label PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=TMC2240_CS PA4.GPIO_Label=TMC2240_CS
PA4.GPIO_PuPd=GPIO_PULLUP
PA4.Signal=GPIO_Output PA4.Signal=GPIO_Output
PA5.GPIOParameters=GPIO_Label PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=TMC2240_SCK PA5.GPIO_Label=TMC2240_SCK
@ -198,7 +200,7 @@ SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH SPI1.CLKPolarity=SPI_POLARITY_HIGH
SPI1.CalculateBaudRate=2.25 MBits/s SPI1.CalculateBaudRate=2.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,CLKPolarity,CLKPhase SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI1.Mode=SPI_MODE_MASTER SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER SPI1.VirtualType=VM_MASTER
TIM1.IPParameters=Prescaler,Period TIM1.IPParameters=Prescaler,Period