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motor_cs103
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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
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13
Core/Src/gpio.c
View File

@ -80,11 +80,20 @@ void MX_GPIO_Init(void)
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.Speed = LL_GPIO_SPEED_FREQ_LOW;
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

3655
MDK-ARM/motor.uvguix.xushenghao
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File diff suppressed because one or more lines are too long

91
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">
<SchemaVersion>1.0</SchemaVersion>
@ -26,7 +26,7 @@
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>12000000</CLKADS>
<CLKADS>8000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
@ -45,7 +45,7 @@
<PageWidth>79</PageWidth>
<PageLength>66</PageLength>
<TabStop>8</TabStop>
<ListingPath></ListingPath>
<ListingPath />
</OPTLEX>
<ListingPage>
<CreateCListing>1</CreateCListing>
@ -104,16 +104,16 @@
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
<sDlgPa></sDlgPa>
<sIfile></sIfile>
<tDll></tDll>
<tDllPa></tDllPa>
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<sDll />
<sDllPa />
<sDlgDll />
<sDlgPa />
<sIfile />
<tDll />
<tDllPa />
<tDlgDll />
<tDlgPa />
<tIfile />
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
@ -125,7 +125,7 @@
<SetRegEntry>
<Number>0</Number>
<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>
<Number>0</Number>
@ -140,12 +140,12 @@
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name></Name>
<Name />
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
<Name />
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint />
@ -153,64 +153,39 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>buffer</ItemText>
<ItemText>_tmc2240</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>app,0x0A</ItemText>
<ItemText>rdata</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>work,0x0A</ItemText>
<ItemText>data</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>ch</ItemText>
<ItemText>wdata</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>dd</ItemText>
<ItemText>rdata</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>i,0x0A</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>
<ItemText>tx_data</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>0x20003440</ItemText>
<ItemText>0x20003450</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
@ -243,19 +218,19 @@
<newCpu>0</newCpu>
<uProt>0</uProt>
</DebugFlag>
<LintExecutable></LintExecutable>
<LintConfigFile></LintConfigFile>
<LintExecutable />
<LintConfigFile />
<bLintAuto>0</bLintAuto>
<bAutoGenD>0</bAutoGenD>
<LntExFlags>0</LntExFlags>
<pMisraName></pMisraName>
<pszMrule></pszMrule>
<pSingCmds></pSingCmds>
<pMultCmds></pMultCmds>
<pMisraNamep></pMisraNamep>
<pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<pMisraName />
<pszMrule />
<pSingCmds />
<pMultCmds />
<pMisraNamep />
<pszMrulep />
<pSingCmdsp />
<pMultCmdsp />
</TargetOption>
</Target>

231
MDK-ARM/motor.uvprojx
View File

@ -1,10 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
<?xml version="1.0" encoding="UTF-8"?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header>
<Targets>
<Target>
<TargetName>motor</TargetName>
@ -14,33 +11,33 @@
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>CS32F103C8</Device>
<Device>STM32F103C8</Device>
<Vendor>AutoChips</Vendor>
<PackID>Keil.CS32F1xx_DFP.1.0.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashUtilSpec />
<StartupFile />
<FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128 -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM))</FlashDriverDll>
<DeviceId>0</DeviceId>
<RegisterFile>$$Device:CS32F103C8$Device\Include\cs32f10x.h</RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<MemoryEnv />
<Cmp />
<Asm />
<Linker />
<OHString />
<InfinionOptionDll />
<SLE66CMisc />
<SLE66AMisc />
<SLE66LinkerMisc />
<SFDFile>$$Device:CS32F103C8$SVD\CS32F103xx.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<BinPath />
<IncludePath />
<LibPath />
<RegisterFilePath />
<DBRegisterFilePath />
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
@ -54,16 +51,16 @@
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>0</BrowseInformation>
<ListingPath></ListingPath>
<BrowseInformation>1</BrowseInformation>
<ListingPath />
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
@ -72,8 +69,8 @@
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
@ -82,15 +79,15 @@
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
<SVCSIdString />
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
@ -104,8 +101,8 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<CustomArgument />
<IncludeLibraryModules />
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
@ -114,7 +111,7 @@
<SimDlgDll>DCM.DLL</SimDlgDll>
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
<TargetDllName>SARMCM3.DLL</TargetDllName>
<TargetDllArguments></TargetDllArguments>
<TargetDllArguments />
<TargetDlgDll>TCM.DLL</TargetDlgDll>
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
</DllOption>
@ -138,11 +135,11 @@
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3></Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<Flash3 />
<Flash4 />
<pFcarmOut />
<pFcarmGrp />
<pFcArmRoot />
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
@ -175,7 +172,7 @@
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M3"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
<RvctDeviceName />
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
@ -309,7 +306,7 @@
<Size>0x0</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
<RvctStartVector />
</ArmAdsMisc>
<Cads>
<interw>1</interw>
@ -336,9 +333,9 @@
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<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>
<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>
</VariousControls>
</Cads>
@ -354,10 +351,10 @@
<useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
<MiscControls />
<Define />
<Undefine />
<IncludePath />
</VariousControls>
</Aads>
<LDads>
@ -367,15 +364,15 @@
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange></TextAddressRange>
<DataAddressRange></DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
<TextAddressRange />
<DataAddressRange />
<pXoBase />
<ScatterFile />
<IncludeLibs />
<IncludeLibsPath />
<Misc />
<LinkerInputFile />
<DisabledWarnings />
</LDads>
</TargetArmAds>
</TargetOption>
@ -420,8 +417,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -449,12 +444,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -476,8 +465,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -505,12 +492,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -532,8 +513,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -561,12 +540,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -588,8 +561,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -617,12 +588,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -799,8 +764,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<GroupArmAds>
@ -828,12 +791,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
<Aads>
<interw>2</interw>
@ -846,12 +803,6 @@
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Aads>
</GroupArmAds>
</GroupOption>
@ -873,8 +824,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -902,12 +851,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -929,8 +872,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -958,12 +899,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -985,8 +920,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1014,12 +947,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1041,8 +968,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1070,12 +995,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1097,8 +1016,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1126,12 +1043,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1153,8 +1064,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1182,12 +1091,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1209,8 +1112,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1238,12 +1139,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1265,8 +1160,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1294,12 +1187,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1321,8 +1208,6 @@
<AssembleAssemblyFile>2</AssembleAssemblyFile>
<PublicsOnly>2</PublicsOnly>
<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty>
<FileArmAds>
@ -1350,12 +1235,6 @@
<v6Lto>2</v6Lto>
<v6WtE>2</v6WtE>
<v6Rtti>2</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
@ -1418,7 +1297,6 @@
</Groups>
</Target>
</Targets>
<RTE>
<apis />
<components>
@ -1431,7 +1309,6 @@
</components>
<files />
</RTE>
<LayerInfo>
<Layers>
<Layer>
@ -1440,5 +1317,5 @@
</Layer>
</Layers>
</LayerInfo>
</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);
for (;;)
{
tmc2240_config(TMC2240_1);
tmc2240_position_read(TMC2240_1);
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);
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_update_screen();
FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
}

7
User/board/board.c
View File

@ -42,7 +42,8 @@ void board_init(void)
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;
gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_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.rst = gpio_create(NULL, 0);
gpios.rdy = gpio_create(NULL, 0);
tmc2240_init(TMC2240_1, &gpios);
tmc2240_get(TMC2240_1)->spi->interface.hardware_enable(tmc2240_get(TMC2240_1)->spi, SPI1);
tmc2240_config(TMC2240_1);
tmc2240_init(TMC2240_1, SPI1, &gpios);
}
}

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);
tmc2240_t *tmc = &_tmc2240[index];
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
{
tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
}
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]);
}
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)
{
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)
void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
@ -72,6 +42,29 @@ 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] = 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)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);

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

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

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

@ -1,7 +1,7 @@
#include "spis.h"
#include "delay.h"
#define SPI_TIMEOUT 2000
#define SPI_TIMEOUT 0xffffffff
#define CMD_RDSR 0x05 /*!< Read 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
{
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)
{
return 0xff;
}
if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
{
return 0xff;
}
rdata = LL_SPI_ReceiveData8(handle->spi);
return rdata;
}

8
motor.ioc
View File

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