.gitignore

@@ -28,4 +28,3 @@ dist
 /MDK-ARM/*.bin
 /MDK-ARM/.pack
 .vscode/settings.json
-

Core/Inc/main.h

@@ -23,11 +23,10 @@
 #define __MAIN_H
 
 #ifdef __cplusplus
-extern "C"
+extern "C" {
-{
 #endif
 
-    /* Includes ------------------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
 
 #include "stm32f1xx_ll_dma.h"
 #include "stm32f1xx_ll_rcc.h"
@@ -50,29 +49,28 @@ extern "C"
 /* USER CODE BEGIN Includes */
 #include "sys.h"
 #include "delay.h"
-#include "btn.h"
 #include "lib.h"
 #include "bsp.h"
 
-    /* USER CODE END Includes */
+/* USER CODE END Includes */
 
-    /* Exported types ------------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
-    /* USER CODE BEGIN ET */
+/* USER CODE BEGIN ET */
 
-    /* USER CODE END ET */
+/* USER CODE END ET */
 
-    /* Exported constants --------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
-    /* USER CODE BEGIN EC */
+/* USER CODE BEGIN EC */
 
-    /* USER CODE END EC */
+/* USER CODE END EC */
 
-    /* Exported macro ------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
-    /* USER CODE BEGIN EM */
+/* USER CODE BEGIN EM */
 
-    /* USER CODE END EM */
+/* USER CODE END EM */
 
-    /* Exported functions prototypes ---------------------------------------------*/
+/* Exported functions prototypes ---------------------------------------------*/
-    void Error_Handler(void);
+void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
 
@@ -91,32 +89,26 @@ extern "C"
 #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
 #define OLDE_SCK_GPIO_Port GPIOB
-#define KEY_1_Pin LL_GPIO_PIN_14
-#define KEY_1_GPIO_Port GPIOB
 #ifndef NVIC_PRIORITYGROUP_0
-#define NVIC_PRIORITYGROUP_0 ((uint32_t)0x00000007) /*!< 0 bit  for pre-emption priority, \
+#define NVIC_PRIORITYGROUP_0         ((uint32_t)0x00000007) /*!< 0 bit  for pre-emption priority,
-                                                         4 bits for subpriority */
+                                                                 4 bits for subpriority */
-#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit  for pre-emption priority, \
+#define NVIC_PRIORITYGROUP_1         ((uint32_t)0x00000006) /*!< 1 bit  for pre-emption priority,
-                                                         3 bits for subpriority */
+                                                                 3 bits for subpriority */
-#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority, \
+#define NVIC_PRIORITYGROUP_2         ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority,
-                                                         2 bits for subpriority */
+                                                                 2 bits for subpriority */
-#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority, \
+#define NVIC_PRIORITYGROUP_3         ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority,
-                                                         1 bit  for subpriority */
+                                                                 1 bit  for subpriority */
-#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority, \
+#define NVIC_PRIORITYGROUP_4         ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority,
-                                                         0 bit  for subpriority */
+                                                                 0 bit  for subpriority */
 #endif
 
-    /* USER CODE BEGIN Private defines */
+/* USER CODE BEGIN Private defines */
 
-    /* USER CODE END Private defines */
+/* USER CODE END Private defines */
 
 #ifdef __cplusplus
 }

Core/Inc/tim.h

@@ -37,6 +37,7 @@ 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 */

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, TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
+  LL_GPIO_ResetOutputPin(GPIOB, 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_1|LL_GPIO_PIN_2|LL_GPIO_PIN_8
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
-                          |LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
+                          |LL_GPIO_PIN_12|LL_GPIO_PIN_15;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
@@ -87,16 +87,10 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = TMC2240_DIR_Pin;
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+                          |LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+                          |LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
-  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+                          |LL_GPIO_PIN_8|LL_GPIO_PIN_9;
-  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_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);
 
@@ -108,12 +102,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-  /**/
-  GPIO_InitStruct.Pin = KEY_1_Pin;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
-  LL_GPIO_Init(KEY_1_GPIO_Port, &GPIO_InitStruct);
-
 }
 
 /* USER CODE BEGIN 2 */

Core/Src/main.c

@@ -99,6 +99,7 @@ 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();

Core/Src/spi.c

@@ -47,7 +47,7 @@ void MX_SPI1_Init(void)
   */
   GPIO_InitStruct.Pin = TMC2240_SCK_Pin|TMC2240_MOSI_Pin;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
-  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_MEDIUM;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
   GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
@@ -64,7 +64,7 @@ void MX_SPI1_Init(void)
   SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_HIGH;
   SPI_InitStruct.ClockPhase = LL_SPI_PHASE_2EDGE;
   SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
-  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV16;
+  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV32;
   SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
   SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
   SPI_InitStruct.CRCPoly = 10;

Core/Src/stm32f1xx_it.c

@@ -25,7 +25,7 @@
 #include "sys.h"
 #include "flow.h"
 #include "board.h"
-#include "btn.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -243,7 +243,6 @@ void TIM1_UP_IRQHandler(void)
   {
     TIM_IRQ_HANDLER(TASK_TIM);
     LL_IncTick();
-    button_ticks();
     FLOW_TICK_UPDATE();
   }
   /* USER CODE END TIM1_UP_IRQn 1 */
@@ -258,13 +257,9 @@ void TIM3_IRQHandler(void)
 
   /* USER CODE END TIM3_IRQn 0 */
   /* USER CODE BEGIN TIM3_IRQn 1 */
-  if (IS_TIM_IT_FLAG(TMC2240_TIM))
+  if (IS_TIM_IT_FLAG(WORK_TIM))
   {
-    if (LL_TIM_IsActiveFlag_CC3(TMC2240_TIM))
+    TIM_IRQ_HANDLER(WORK_TIM);
-    {
-      tmc2240_motor_update(TMC2240_1);
-    }
-    TIM_IRQ_HANDLER(TMC2240_TIM);
   }
   /* USER CODE END TIM3_IRQn 1 */
 }

Core/Src/tim.c

@@ -58,6 +58,55 @@ 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)
@@ -68,47 +117,29 @@ 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);
 
   /* TIM3 interrupt Init */
-  NVIC_SetPriority(TIM3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_SetPriority(TIM3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),3, 0));
   NVIC_EnableIRQ(TIM3_IRQn);
 
   /* USER CODE BEGIN TIM3_Init 1 */
 
   /* USER CODE END TIM3_Init 1 */
-  TIM_InitStruct.Prescaler = 71;
+  TIM_InitStruct.Prescaler = 7199;
   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-  TIM_InitStruct.Autoreload = 1000;
+  TIM_InitStruct.Autoreload = 99;
   TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
   LL_TIM_Init(TIM3, &TIM_InitStruct);
   LL_TIM_DisableARRPreload(TIM3);
-  LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
+  LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
-  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);
 
 }
 

MDK-ARM/motor.uvoptx

@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -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($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
+          <Name>-X"" -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -153,19 +153,64 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>_tmc2240,0x0A</ItemText>
+          <ItemText>buffer</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
           <ItemText>app,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>work,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ch</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dd</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>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
           <WinNumber>1</WinNumber>
           <SubType>0</SubType>
-          <ItemText>0x20003450</ItemText>
+          <ItemText>0x20003440</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow1>
@@ -364,18 +409,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>4</GroupNumber>
-      <FileNumber>11</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\application\key.c</PathWithFileName>
-      <FilenameWithoutPath>key.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
   <Group>
@@ -386,7 +419,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -398,7 +431,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -410,7 +443,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -422,7 +455,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -434,7 +467,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -446,7 +479,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -458,7 +491,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -470,7 +503,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -482,7 +515,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -495,11 +528,23 @@
   </Group>
 
   <Group>
-    <GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
+    <GroupName>User/lib</GroupName>
     <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>20</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\lib\src\aes.c</PathWithFileName>
+      <FilenameWithoutPath>aes.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
     <File>
       <GroupNumber>6</GroupNumber>
       <FileNumber>21</FileNumber>
@@ -507,8 +552,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_gpio.c</PathWithFileName>
+      <PathWithFileName>..\User\lib\src\clist.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f1xx_ll_gpio.c</FilenameWithoutPath>
+      <FilenameWithoutPath>clist.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -519,8 +564,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_dma.c</PathWithFileName>
+      <PathWithFileName>..\User\lib\src\cmac.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f1xx_ll_dma.c</FilenameWithoutPath>
+      <FilenameWithoutPath>cmac.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -531,8 +576,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_spi.c</PathWithFileName>
+      <PathWithFileName>..\User\lib\src\cmd.c</PathWithFileName>
-      <FilenameWithoutPath>stm32f1xx_ll_spi.c</FilenameWithoutPath>
+      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -543,8 +588,8 @@
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@@ -612,13 +833,13 @@
 
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MDK-ARM/motor.uvprojx

@@ -134,7 +134,7 @@
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           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
@@ -339,7 +339,7 @@
               <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>
-              <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/system/lib/inc;../User/system/lib/flow;../User/system/lib/control/inc;../User/system/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>
           </Cads>
           <Aads>
@@ -652,11 +652,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\application\app.c</FilePath>
             </File>
-            <File>
-              <FileName>key.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\application\key.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>
@@ -709,6 +704,86 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>User/lib</GroupName>
+          <Files>
+            <File>
+              <FileName>aes.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\aes.c</FilePath>
+            </File>
+            <File>
+              <FileName>clist.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\clist.c</FilePath>
+            </File>
+            <File>
+              <FileName>cmac.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\cmac.c</FilePath>
+            </File>
+            <File>
+              <FileName>cmd.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\cmd.c</FilePath>
+            </File>
+            <File>
+              <FileName>data_analysis.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\data_analysis.c</FilePath>
+            </File>
+            <File>
+              <FileName>debug.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\debug.c</FilePath>
+            </File>
+            <File>
+              <FileName>filter.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\filter.c</FilePath>
+            </File>
+            <File>
+              <FileName>lib.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\lib.c</FilePath>
+            </File>
+            <File>
+              <FileName>malloc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\malloc.c</FilePath>
+            </File>
+            <File>
+              <FileName>mlist.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\mlist.c</FilePath>
+            </File>
+            <File>
+              <FileName>pbuf.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\pbuf.c</FilePath>
+            </File>
+            <File>
+              <FileName>sqqueue.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\sqqueue.c</FilePath>
+            </File>
+            <File>
+              <FileName>storage.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\storage.c</FilePath>
+            </File>
+            <File>
+              <FileName>wl_flash.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\src\wl_flash.c</FilePath>
+            </File>
+            <File>
+              <FileName>flow_core.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\lib\flow\flow_core.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
           <GroupOption>
@@ -1298,92 +1373,42 @@
             <File>
               <FileName>ssd1306_oled.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\driver\ssd1306_oled.c</FilePath>
+              <FilePath>..\User\lib\driver\ssd1306_oled.c</FilePath>
             </File>
             <File>
               <FileName>tmc2240.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\driver\tmc2240.c</FilePath>
+              <FilePath>..\User\lib\driver\tmc2240.c</FilePath>
             </File>
           </Files>
         </Group>
         <Group>
-          <GroupName>User/system/lib</GroupName>
+          <GroupName>User/lib/control</GroupName>
           <Files>
             <File>
-              <FileName>aes.c</FileName>
+              <FileName>pid.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\aes.c</FilePath>
+              <FilePath>..\User\lib\control\src\pid.c</FilePath>
             </File>
             <File>
-              <FileName>clist.c</FileName>
+              <FileName>pid_auto_tune.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\clist.c</FilePath>
+              <FilePath>..\User\lib\control\src\pid_auto_tune.c</FilePath>
             </File>
             <File>
-              <FileName>cmac.c</FileName>
+              <FileName>pid_common.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\cmac.c</FilePath>
+              <FilePath>..\User\lib\control\src\pid_common.c</FilePath>
             </File>
             <File>
-              <FileName>cmd.c</FileName>
+              <FileName>pid_fuzzy.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\cmd.c</FilePath>
+              <FilePath>..\User\lib\control\src\pid_fuzzy.c</FilePath>
             </File>
             <File>
-              <FileName>data_analysis.c</FileName>
+              <FileName>pid_neural.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\data_analysis.c</FilePath>
+              <FilePath>..\User\lib\control\src\pid_neural.c</FilePath>
-            </File>
-            <File>
-              <FileName>debug.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\debug.c</FilePath>
-            </File>
-            <File>
-              <FileName>filter.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\filter.c</FilePath>
-            </File>
-            <File>
-              <FileName>lib.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\lib.c</FilePath>
-            </File>
-            <File>
-              <FileName>malloc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\malloc.c</FilePath>
-            </File>
-            <File>
-              <FileName>mlist.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\mlist.c</FilePath>
-            </File>
-            <File>
-              <FileName>pbuf.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\pbuf.c</FilePath>
-            </File>
-            <File>
-              <FileName>sqqueue.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\sqqueue.c</FilePath>
-            </File>
-            <File>
-              <FileName>storage.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\storage.c</FilePath>
-            </File>
-            <File>
-              <FileName>wl_flash.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\src\wl_flash.c</FilePath>
-            </File>
-            <File>
-              <FileName>flow_core.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\system\lib\flow\flow_core.c</FilePath>
             </File>
           </Files>
         </Group>

User/application/app.c

@@ -2,28 +2,18 @@
 #include "app.h"
 #include "board.h"
 #include "flow.h"
-#include "key.h"
+
 static struct flow business_fw; // 业务流程
 static struct flow idle_fw;     // 空闲任务
 
 app_t app;
 
-void key_1_callback(PressEvent e)
-{
-    app.angel = 360;
-}
-
 static uint8_t business_inspection(struct flow *fl)
 {
     FL_HEAD(fl);
     for (;;)
     {
-        if (app.angel != 0)
+        tmc2240_position_read(TMC2240_1);
-        {
-            tmc2240_motor_set_angle(TMC2240_1, app.angel);
-            app.angel = 0;
-        }
-
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
     FL_TAIL(fl);
@@ -44,11 +34,8 @@ static uint8_t idle_inspection(struct flow *fl)
     for (;;)
     {
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
-        tmc2240_config_read(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)->config.gconf.data, 0);
         ssd1306_update_screen();
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
@@ -83,11 +70,12 @@ void app_init(void)
     {
         ssd1306_draw_progress_bar(i);
     }
-    ssd1306_clear();
+
-    key_init();
     FL_INIT(&business_fw); // 业务流程
     FL_INIT(&idle_fw);     // 空闲任务
 
     ENABLE_TIM(TASK_TIM);
-    ENABLE_TIM(TMC2240_TIM);
+    ENABLE_TIM(WORK_TIM);
+
+    ssd1306_clear();
 }

User/application/app.h

@@ -11,12 +11,10 @@
 
 typedef struct
 {
-    int32_t angel;
 } app_t;
 
 extern app_t app;
 
 void app_init(void);
 void app_run(void);
-
 #endif // APP_H

User/application/key.c

@@ -1,57 +0,0 @@
-#include "key.h"
-#include "btn.h"
-
-#define INVALID_BUTTON_TICKS 200 // 无效按键时间 毫秒
-static uint32_t key_start_ticks = 0;
-/* 按钮 */
-struct Button key_1;
-struct Button key_2;
-struct Button key_3;
-struct Button key_4;
-struct Button key_5;
-struct Button key_6;
-
-static BOOL allow_condition(void)
-{
-    /**
-     * key的初始化在LCD板子上电之前，因为是低电平有效，所以会误判为按键按下
-     */
-    if (sys_millis() - key_start_ticks < INVALID_BUTTON_TICKS) // 仿真的时候按键会有毛刺，在xx秒之后按下有效
-    {
-        return FALSE;
-    }
-    return TRUE;
-}
-
-static uint8_t read_button_gpio(button_id_e button_id)
-{
-    if (allow_condition() == FALSE)
-    {
-        return ACTIVE_LEVEL_HIGH;
-    }
-    switch (button_id)
-    {
-    case KEY_1:
-        return GPIO_READ(KEY_1_GPIO_Port, KEY_1_Pin);
-
-    default:
-        return ACTIVE_LEVEL_LOW;
-    }
-}
-
-static void key_1_press_down_handler(void *btn)
-{
-    key_1_callback(PRESS_DOWN);
-}
-
-void key_init(void)
-{
-    key_start_ticks = sys_millis();
-    GPIO_SET_INPUT(KEY_1_GPIO_Port, KEY_1_Pin);
-
-    button_init(&key_1, read_button_gpio, ACTIVE_LEVEL_LOW, KEY_1, KEY_1);
-
-    button_attach(&key_1, PRESS_DOWN, key_1_press_down_handler);
-
-    button_start(&key_1);
-}

User/application/key.h

@@ -1,13 +0,0 @@
-#ifndef _KEY_H_
-#define _KEY_H_
-#include "main.h"
-
-typedef enum
-{
-    KEY_1 = 1,
-} button_id_e;
-
-void key_1_callback(PressEvent e);
-
-void key_init(void);
-#endif // _KEY_H_

User/board/board.c

@@ -42,6 +42,7 @@ void board_init(void)
     ssd1306_init();
 
     {
+        GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
         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);
@@ -49,8 +50,8 @@ 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, SPI1, TMC2240_TIM, TMC2240_TIM_CH3, &gpios);
+        tmc2240_init(TMC2240_1, &gpios);
-        tmc2240_get(TMC2240_1)->en = gpio_create(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        tmc2240_get(TMC2240_1)->spi->interface.hardware_enable(tmc2240_get(TMC2240_1)->spi, SPI1);
-        tmc2240_get(TMC2240_1)->dir = gpio_create(TMC2240_DIR_GPIO_Port, TMC2240_DIR_Pin);
+        tmc2240_config(TMC2240_1);
     }
 }

User/board/board.h

@@ -7,8 +7,10 @@
 #define UART_TXSIZE (240u) // 发送240个字节
 
 #define TASK_TIM TIM1
-#define TMC2240_TIM TIM3
+#define PWM_TIM TIM2
-#define TMC2240_TIM_CH3 LL_TIM_CHANNEL_CH3
+#define PWM_CHANNEL LL_TIM_CHANNEL_CH2
+#define WORK_TIM TIM3
+
 typedef struct
 {
     /* data */

User/lib/driver/dac161p997.c

@@ -1,13 +1,7 @@
 #include "dac161p997.h"
-#include "tims.h"
+#include "delay.h"
-static dac161p997_t _handle;
 
-static void delay_us(uint32_t us)
+static dac161p997_t _handle;
-{
-    RESET_TIM_COUNT(TIME_1US);
-    while (LL_TIM_GetCounter(TIME_1US) < us)
-        ; // 等待计数器达到指定值
-}
 
 static void dac161p997_output_0()
 {
@@ -130,8 +124,17 @@ void dac161p997_swif_write_reg(uint16_t data, uint8_t tag)
  */
 void dac161p997_output_current(float32 current)
 {
-    uint16_t adc = (uint16_t)(current * DAC161P997_CURRENT_SLOPE);
+    uint8_t adc = (uint16_t)(current * DAC161P997_CURRENT_SLOPE) >> 8;
-    dac161p997_swif_write_reg(adc, DACCODE_WRITE);
+    static uint8_t last_adc;
+    if (adc == last_adc)
+    {
+        last_adc = adc;
+        return;
+    }
+
+    dac161p997_swif_write_reg(DAC161P997_LCK_REG_UNLOCK, CONFIG_WRITE);
+    dac161p997_swif_write_reg(DAC161P997_ERR_LOW_REG + adc, CONFIG_WRITE);
+    dac161p997_swif_write_reg(DAC161P997_LCK_REG_LOCK, CONFIG_WRITE);
 }
 
 /**
@@ -146,9 +149,13 @@ void dac161p997_output_current(float32 current)
  */
 void dac161p997_init()
 {
-    ENABLE_TIM_COUNT(TIME_1US);
     _handle.io = gpio_create(DAC161P997_IO_PORT, DAC161P997_IO_PIN);
-    dac161p997_swif_write_reg(DAC161P997_LCK_REG + DAC161P997_LCK_REG_UNLOCK, CONFIG_WRITE);
+    dac161p997_swif_write_reg(DAC161P997_LCK_REG_UNLOCK, CONFIG_WRITE);
-    dac161p997_swif_write_reg(DAC161P997_CONFIG2_REG, CONFIG_WRITE);
+    dac161p997_swif_write_reg(DAC161P997_CONFIG2_REG +
-    dac161p997_swif_write_reg(DAC161P997_LCK_REG + DAC161P997_LCK_REG_LOCK, CONFIG_WRITE);
+                                  DAC161P997_CONFIG2_REG_LOOP +
+                                  DAC161P997_CONFIG2_REG_CHANNEL +
+                                  DAC161P997_CONFIG2_REG_PARITY +
+                                  DAC161P997_CONFIG2_REG_FRAME,
+                              CONFIG_WRITE);
+    dac161p997_swif_write_reg(DAC161P997_LCK_REG_LOCK, CONFIG_WRITE);
 }

User/lib/driver/dac161p997.h

@@ -2,7 +2,7 @@
 #define __DAC161P997_H__
 #include "main.h"
 #include "gpios.h"
-#define TIME_1US TIM1
+
 #define DAC161P997_IO_PORT (DAC161P997_GPIO_Port)
 #define DAC161P997_IO_PIN (DAC161P997_Pin)
 
@@ -60,15 +60,15 @@
 #define DACCODE_20mA (0xD555)
 #define DACCODE_24mA (0xFFFF)
 
-typedef enum
+// cycles
-{
+// #define QUARTER_CYCLES (625)
-    DAC161P997_IDLE_SYM,
+// #define HALF_CYCLES (1250)
+// #define THREE_CYCLES (1875)
+// #define FULL_CYCLES (2500)
 
-} dac161p997_e;
 typedef struct
 {
     gpio_t *io;
-    uint8_t count;
 } dac161p997_t;
 
 void dac161p997_output_0(void);
@@ -76,7 +76,6 @@ void dac161p997_output_1(void);
 void dac161p997_output_d(void);
 void dac161p997_output_symbol(uint8_t sym);
 void dac161p997_swif_write_reg(uint16_t data, uint8_t tag);
-
 extern void dac161p997_output_current(float32 current);
 extern void dac161p997_init(void);
 #endif

User/lib/driver/tmc2240.c

@@ -0,0 +1,96 @@
+#include "tmc2240.h"
+
+tmc2240_t _tmc2240[TMC2240_MAX];
+
+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);
+}
+
+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];
+
+    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);
+
+    __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)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+
+    tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
+    DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
+}
+
+tmc2240_t *tmc2240_get(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    return &_tmc2240[index];
+}
+
+int32_t tmc2240_position_read(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    uint8_t wdata[5] = {0};
+    uint8_t rdata[5] = {0};
+
+    wdata[0] = 0x21; // 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;
+}

User/lib/driver/tmc2240.h

@@ -0,0 +1,28 @@
+#ifndef __TMC2240_H
+#define __TMC2240_H
+#include "main.h"
+#include "spis.h"
+#define TMC2240_REG_GCONF 0x00
+
+typedef enum
+{
+    TMC2240_1,
+    TMC2240_MAX,
+} tmc2240_index_e;
+
+typedef struct
+{
+    spi_t *spi;
+    struct
+    {
+        int32_t gconf;
+        int32_t position;
+    } data;
+} tmc2240_t;
+
+void tmc2240_init(tmc2240_index_e index, 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);
+#endif // __TMC2240_H

User/lib/flow/.vscode/launch.json

@@ -8,8 +8,8 @@
       "args": [],
       "stopAtEntry": false,
       "externalConsole": true,
-      "cwd": "e:/work/stm32/study/motor_cs103/User/system/lib/driver",
+      "cwd": "e:/work/stm32/epm/User/lib/flow",
-      "program": "e:/work/stm32/study/motor_cs103/User/system/lib/driver/build/Debug/outDebug",
+      "program": "e:/work/stm32/epm/User/lib/flow/build/Debug/outDebug",
       "MIMode": "gdb",
       "miDebuggerPath": "gdb",
       "setupCommands": [

User/lib/flow/.vscode/settings.json

@@ -4,7 +4,7 @@
   "C_Cpp_Runner.debuggerPath": "gdb",
   "C_Cpp_Runner.cStandard": "",
   "C_Cpp_Runner.cppStandard": "",
-  "C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
+  "C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/2022/Community/VC/Auxiliary/Build/vcvarsall.bat",
   "C_Cpp_Runner.useMsvc": false,
   "C_Cpp_Runner.warnings": [
     "-Wall",
@@ -54,6 +54,5 @@
   "C_Cpp_Runner.useUndefinedSanitizer": false,
   "C_Cpp_Runner.useLeakSanitizer": false,
   "C_Cpp_Runner.showCompilationTime": false,
-  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false
-  "C_Cpp_Runner.msvcSecureNoWarnings": false
 }