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11 Commits
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Author SHA1 Message Date
许晟昊 424a1df2e4 1 2025-01-14 13:21:18 +08:00
许晟昊 37c1b4e343 细分设置1/8 2024-12-24 16:04:35 +08:00
许晟昊 ce04a54b9d 加入按键 2024-12-24 15:56:49 +08:00
许晟昊 7ac6baf560 步进电机驱动完成 2024-12-24 15:12:22 +08:00
许晟昊 e4a9aff8b3 更新驱动 2024-12-24 13:09:52 +08:00
许晟昊 4313204135 转移lib 2024-12-24 13:08:15 +08:00
许晟昊 08e310c72a 步进电机转动完成 2024-12-24 12:59:11 +08:00
许晟昊 76736247f5 重写驱动 2024-12-24 09:10:11 +08:00
许晟昊 5dd03a2628 可以读取到SPI数据了 2024-12-23 15:17:31 +08:00
许晟昊 87a7d76f6d 222 2024-12-23 13:59:08 +08:00
许晟昊 a8ca2d69f1 1 2024-12-23 08:09:52 +08:00
117 changed files with 3118 additions and 2388 deletions
Show Stats Expand all files Collapse all files

1
.gitignore vendored
View File

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

60
Core/Inc/main.h
View File

@ -23,10 +23,11 @@
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
/* Includes ------------------------------------------------------------------*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_ll_dma.h"
#include "stm32f1xx_ll_rcc.h"
@ -49,28 +50,29 @@ 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 ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
/* USER CODE END EM */
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
@ -89,26 +91,32 @@ void Error_Handler(void);
#define TMC2240_MISO_GPIO_Port GPIOA
#define TMC2240_MOSI_Pin LL_GPIO_PIN_7
#define TMC2240_MOSI_GPIO_Port GPIOA
#define TMC2240_STEP_Pin LL_GPIO_PIN_0
#define TMC2240_STEP_GPIO_Port GPIOB
#define TMC2240_DIR_Pin LL_GPIO_PIN_1
#define TMC2240_DIR_GPIO_Port GPIOB
#define OLED_SDA_Pin LL_GPIO_PIN_12
#define OLED_SDA_GPIO_Port GPIOB
#define OLDE_SCK_Pin LL_GPIO_PIN_13
#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,
4 bits for subpriority */
#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit for pre-emption priority,
3 bits for subpriority */
#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority,
2 bits for subpriority */
#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority,
1 bit for subpriority */
#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority,
0 bit for subpriority */
#define NVIC_PRIORITYGROUP_0 ((uint32_t)0x00000007) /*!< 0 bit for pre-emption priority, \
4 bits for subpriority */
#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit for pre-emption priority, \
3 bits for subpriority */
#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority, \
2 bits for subpriority */
#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority, \
1 bit for subpriority */
#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority, \
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
}

1
Core/Inc/tim.h
View File

@ -37,7 +37,6 @@ extern "C" {
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
/* USER CODE BEGIN Prototypes */

26
Core/Src/gpio.c
View File

@ -59,7 +59,7 @@ void MX_GPIO_Init(void)
LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
/**/
LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
LL_GPIO_ResetOutputPin(GPIOB, TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
/**/
GPIO_InitStruct.Pin = LED_BLUE_Pin;
@ -74,8 +74,8 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_2|LL_GPIO_PIN_8|LL_GPIO_PIN_11
|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_8
|LL_GPIO_PIN_11|LL_GPIO_PIN_12|LL_GPIO_PIN_15;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@ -87,10 +87,16 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
|LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
|LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
GPIO_InitStruct.Pin = TMC2240_DIR_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_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);
@ -102,6 +108,12 @@ 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 */

1
Core/Src/main.c
View File

@ -99,7 +99,6 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
MX_TIM3_Init();

4
Core/Src/spi.c
View File

@ -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_HIGH;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_MEDIUM;
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_DIV32;
SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV16;
SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
SPI_InitStruct.CRCPoly = 10;

11
Core/Src/stm32f1xx_it.c
View File

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

75
Core/Src/tim.c
View File

@ -58,55 +58,6 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
LL_TIM_InitTypeDef TIM_InitStruct = {0};
LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
TIM_InitStruct.Prescaler = 0;
TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
TIM_InitStruct.Autoreload = 7199;
TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
LL_TIM_Init(TIM2, &TIM_InitStruct);
LL_TIM_EnableARRPreload(TIM2);
LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH2);
TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM2;
TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
TIM_OC_InitStruct.CompareValue = 0;
TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_LOW;
LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &TIM_OC_InitStruct);
LL_TIM_OC_EnableFast(TIM2, LL_TIM_CHANNEL_CH2);
LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
LL_TIM_DisableMasterSlaveMode(TIM2);
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/* TIM3 init function */
void MX_TIM3_Init(void)
@ -117,29 +68,47 @@ 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(),3, 0));
NVIC_SetPriority(TIM3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
TIM_InitStruct.Prescaler = 7199;
TIM_InitStruct.Prescaler = 71;
TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
TIM_InitStruct.Autoreload = 99;
TIM_InitStruct.Autoreload = 1000;
TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
LL_TIM_Init(TIM3, &TIM_InitStruct);
LL_TIM_DisableARRPreload(TIM3);
LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
TIM_OC_InitStruct.CompareValue = 0;
TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH3);
LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
LL_TIM_DisableMasterSlaveMode(TIM3);
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
/**TIM3 GPIO Configuration
PB0 ------> TIM3_CH3
*/
GPIO_InitStruct.Pin = TMC2240_STEP_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(TMC2240_STEP_GPIO_Port, &GPIO_InitStruct);
}

668
MDK-ARM/motor.uvguix.xushenghao
View File

File diff suppressed because one or more lines are too long

557
MDK-ARM/motor.uvoptx
View File

@ -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($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -153,64 +153,19 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>buffer</ItemText>
<ItemText>_tmc2240,0x0A</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>0x20003440</ItemText>
<ItemText>0x20003450</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
@ -409,6 +364,18 @@
<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>
@ -419,7 +386,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>11</FileNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -431,7 +398,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>12</FileNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -443,7 +410,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>13</FileNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -455,7 +422,7 @@
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<File>
<GroupNumber>5</GroupNumber>
<FileNumber>14</FileNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -467,7 +434,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>15</FileNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -479,7 +446,7 @@
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<File>
<GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -491,7 +458,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>17</FileNumber>
<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -503,7 +470,7 @@
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<File>
<GroupNumber>5</GroupNumber>
<FileNumber>18</FileNumber>
<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -515,7 +482,7 @@
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<File>
<GroupNumber>5</GroupNumber>
<FileNumber>19</FileNumber>
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -527,194 +494,6 @@
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</Group>
<Group>
<GroupName>User/lib</GroupName>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
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<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>
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<GroupNumber>6</GroupNumber>
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
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<bDave2>0</bDave2>
<PathWithFileName>..\User\lib\src\clist.c</PathWithFileName>
<FilenameWithoutPath>clist.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
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<FilenameWithoutPath>cmac.c</FilenameWithoutPath>
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<PathWithFileName>..\User\lib\src\cmd.c</PathWithFileName>
<FilenameWithoutPath>cmd.c</FilenameWithoutPath>
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<FilenameWithoutPath>data_analysis.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
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165
MDK-ARM/motor.uvprojx
View File

@ -134,7 +134,7 @@
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<FilePath>..\User\lib\control\src\pid_neural.c</FilePath>
<FilePath>..\User\system\lib\src\data_analysis.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>

2801
MDK-ARM/motor/motor.hex
View File

File diff suppressed because it is too large Load Diff

BIN
Public/ADI-TMC2240-CN.pdf Normal file
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Binary file not shown.

BIN
Public/ADI-TMC2240.pdf Normal file
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Binary file not shown.

BIN
Public/TMC2240_datasheet_rev1_20231.pdf
View File

Binary file not shown.

24
User/application/app.c
View File

@ -2,18 +2,28 @@
#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 (;;)
{
tmc2240_position_read(TMC2240_1);
if (app.angel != 0)
{
tmc2240_motor_set_angle(TMC2240_1, app.angel);
app.angel = 0;
}
FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
}
FL_TAIL(fl);
@ -34,8 +44,11 @@ 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);
}
@ -70,12 +83,11 @@ 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(WORK_TIM);
ssd1306_clear();
ENABLE_TIM(TMC2240_TIM);
}

2
User/application/app.h
View File

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

57
User/application/key.c Normal file
View File

@ -0,0 +1,57 @@
#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);
}

13
User/application/key.h Normal file
View File

@ -0,0 +1,13 @@
#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_

7
User/board/board.c
View File

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

6
User/board/board.h
View File

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

96
User/lib/driver/tmc2240.c
View File

@ -1,96 +0,0 @@
#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;
}

28
User/lib/driver/tmc2240.h
View File

@ -1,28 +0,0 @@
#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

0
User/lib/flow/.vscode/c_cpp_properties.json → User/system/.vscode/c_cpp_properties.json vendored
View File

4
User/lib/flow/.vscode/launch.json → User/system/.vscode/launch.json vendored
View File

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

5
User/lib/flow/.vscode/settings.json → User/system/.vscode/settings.json vendored
View File

@ -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/2022/Community/VC/Auxiliary/Build/vcvarsall.bat",
"C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
"C_Cpp_Runner.useMsvc": false,
"C_Cpp_Runner.warnings": [
"-Wall",
@ -54,5 +54,6 @@
"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
}

2
User/system/bsp/pwms.h
View File

@ -40,7 +40,9 @@
} while (__LINE__ == -1)
#define PWM_GET_ARR(TIMx) LL_TIM_GetAutoReload(TIMx)
#define PWM_SET_ARR(TIMx, ARR) LL_TIM_SetAutoReload(TIMx, ARR - 1)
#define PWM_GET_PSC(TIMx) LL_TIM_GetPrescaler(TIMx)
#define PWM_SET_PSC(TIMx, PSC) LL_TIM_SetPrescaler(TIMx, PSC - 1)
/**
* @brief Sets the PWM frequency

6
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 */
@ -460,6 +460,10 @@ static uint8_t spi_read_write_byte(spi_t *handle, uint8_t tx_data)
}
else
{
if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
{
return 0xff;
}
LL_SPI_TransmitData8(handle->spi, tx_data);
if (spi_wait_flag(handle, LL_SPI_SR_RXNE, SPI_TIMEOUT) == FALSE)

0
User/lib/bootload/bootload.c → User/system/lib/bootload/bootload.c
View File

0
User/lib/bootload/bootload.h → User/system/lib/bootload/bootload.h
View File

0
User/lib/bootload/readme.md → User/system/lib/bootload/readme.md
View File

0
User/lib/bootload/test_ymodem.c → User/system/lib/bootload/test_ymodem.c
View File

0
User/lib/bootload/ymodem.c → User/system/lib/bootload/ymodem.c
View File

0
User/lib/bootload/ymodem.h → User/system/lib/bootload/ymodem.h
View File

0
User/lib/control/inc/pid.h → User/system/lib/control/inc/pid.h
View File

0
User/lib/control/inc/pid_auto_tune.h → User/system/lib/control/inc/pid_auto_tune.h
View File

0
User/lib/control/inc/s_curve.h → User/system/lib/control/inc/s_curve.h
View File

0
User/lib/control/src/pid.c → User/system/lib/control/src/pid.c
View File

0
User/lib/control/src/pid_auto_tune.c → User/system/lib/control/src/pid_auto_tune.c
View File

0
User/lib/control/src/pid_common.c → User/system/lib/control/src/pid_common.c
View File

0
User/lib/control/src/pid_fuzzy.c → User/system/lib/control/src/pid_fuzzy.c
View File

0
User/lib/control/src/pid_neural.c → User/system/lib/control/src/pid_neural.c
View File

0
User/lib/control/src/s_curve.c → User/system/lib/control/src/s_curve.c
View File

0
User/lib/control/模糊PID控制器设计文档.md → User/system/lib/control/模糊PID控制器设计文档.md
View File

0
User/lib/control/自整定.md → User/system/lib/control/自整定.md
View File

35
User/lib/driver/dac161p997.c → User/system/lib/driver/dac161p997.c
View File

@ -1,8 +1,14 @@
#include "dac161p997.h"
#include "delay.h"
#include "tims.h"
static dac161p997_t _handle;
static void delay_us(uint32_t us)
{
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()
{
_handle.io->set(*_handle.io);
@ -124,17 +130,8 @@ void dac161p997_swif_write_reg(uint16_t data, uint8_t tag)
*/
void dac161p997_output_current(float32 current)
{
uint8_t adc = (uint16_t)(current * DAC161P997_CURRENT_SLOPE) >> 8;
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);
uint16_t adc = (uint16_t)(current * DAC161P997_CURRENT_SLOPE);
dac161p997_swif_write_reg(adc, DACCODE_WRITE);
}
/**
@ -149,13 +146,9 @@ 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_UNLOCK, CONFIG_WRITE);
dac161p997_swif_write_reg(DAC161P997_CONFIG2_REG +
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);
dac161p997_swif_write_reg(DAC161P997_LCK_REG + DAC161P997_LCK_REG_UNLOCK, CONFIG_WRITE);
dac161p997_swif_write_reg(DAC161P997_CONFIG2_REG, CONFIG_WRITE);
dac161p997_swif_write_reg(DAC161P997_LCK_REG + DAC161P997_LCK_REG_LOCK, CONFIG_WRITE);
}

13
User/lib/driver/dac161p997.h → User/system/lib/driver/dac161p997.h
View File

@ -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)
// cycles
// #define QUARTER_CYCLES (625)
// #define HALF_CYCLES (1250)
// #define THREE_CYCLES (1875)
// #define FULL_CYCLES (2500)
typedef enum
{
DAC161P997_IDLE_SYM,
} dac161p997_e;
typedef struct
{
gpio_t *io;
uint8_t count;
} dac161p997_t;
void dac161p997_output_0(void);
@ -76,6 +76,7 @@ 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

0
User/lib/driver/eeprom_fm24.c → User/system/lib/driver/eeprom_fm24.c
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0
User/lib/driver/eeprom_fm24.h → User/system/lib/driver/eeprom_fm24.h
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0
User/lib/driver/eeprom_lc02b.c → User/system/lib/driver/eeprom_lc02b.c
View File

0
User/lib/driver/eeprom_lc02b.h → User/system/lib/driver/eeprom_lc02b.h
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0
User/lib/driver/eeprom_m95.c → User/system/lib/driver/eeprom_m95.c
View File

0
User/lib/driver/eeprom_m95.h → User/system/lib/driver/eeprom_m95.h
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0
User/lib/driver/ntc_3950.c → User/system/lib/driver/ntc_3950.c
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0
User/lib/driver/ntc_3950.h → User/system/lib/driver/ntc_3950.h
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0
User/lib/driver/rtc_rx8010.c → User/system/lib/driver/rtc_rx8010.c
View File

0
User/lib/driver/rtc_rx8010.h → User/system/lib/driver/rtc_rx8010.h
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0
User/lib/driver/sht40.c → User/system/lib/driver/sht40.c
View File

0
User/lib/driver/sht40.h → User/system/lib/driver/sht40.h
View File

0
User/lib/driver/ssd1306_oled.c → User/system/lib/driver/ssd1306_oled.c
View File

0
User/lib/driver/ssd1306_oled.h → User/system/lib/driver/ssd1306_oled.h
View File

368
User/system/lib/driver/tmc2240.c Normal file
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@ -0,0 +1,368 @@
#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];
DBG_ASSERT(tmc != NULL __DBG_LINE);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
{
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];
DBG_ASSERT(tmc != NULL __DBG_LINE);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
for (uint16_t i = 0; i < 5; i++)
{
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++)
{
rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
}
tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
}
static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
uint8_t wdata[5] = {0};
wdata[0] = TMC2240_HIGHT_BIT | reg;
wdata[1] = (data >> 24) & 0xFF;
wdata[2] = (data >> 16) & 0xFF;
wdata[3] = (data >> 8) & 0xFF;
wdata[4] = data & 0xFF;
tmc2240_write(index, wdata);
}
static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
uint8_t wdata[5] = {0};
uint8_t rdata[5] = {0};
wdata[0] = reg;
tmc2240_read(index, wdata, rdata);
return (rdata[1] << 24) | (rdata[2] << 16) | (rdata[3] << 8) | rdata[4];
}
/**
* @brief 配置TMC2240步进电机驱动器
*
* 该函数用于配置TMC2240步进电机驱动器的各种参数，包括步进电机的工作模式、加减速曲线等。
*
* @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
*/
static void tmc2240_config_write(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
tmc->config.gconf.data = 0x00000000;
tmc->config.chopconf.data = 0x00410153;
tmc->config.chopconf.bits.mres = TMC2240_MRES_8;
tmc->config.drvconf.data = 0x00000021;
tmc->config.global_scaler.data = 0x00000000;
tmc->config.ihold_irun.bits.ihold = 31;
tmc->config.ihold_irun.bits.irun = 31;
tmc->config.ihold_irun.bits.iholddelay = 0;
tmc->config.ihold_irun.bits.irundelay = 0;
tmc->config.pwmconf.data = 0xC44C261E;
tmc->config.gstat.data = 0x00000007;
tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
tmc2240_reg_write(index, TMC2240_DRV_CONF, tmc->config.drvconf.data);
tmc2240_reg_write(index, TMC2240_GLOBAL_SCALER, tmc->config.global_scaler.data);
tmc2240_reg_write(index, TMC2240_IHOLD_IRUN, tmc->config.ihold_irun.data);
tmc2240_reg_write(index, TMC2240_PWMCONF, tmc->config.pwmconf.data);
tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
}
static void _tmc2240_motor_update(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
switch (tmc->config.chopconf.bits.mres)
{
case TMC2240_MRES_256:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 256;
break;
case TMC2240_MRES_128:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 128;
break;
case TMC2240_MRES_64:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 64;
break;
case TMC2240_MRES_32:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 32;
break;
case TMC2240_MRES_16:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 16;
break;
case TMC2240_MRES_8:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 8;
break;
case TMC2240_MRES_4:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 4;
break;
case TMC2240_MRES_2:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 2;
break;
case TMC2240_MRES_1:
tmc->motor.step_angle = MOTOR_42_STEP_ANGLE;
break;
default:
break;
}
tmc->motor.circle_pulse = 360 / tmc->motor.step_angle;
}
static void _tmc2240_enable(tmc2240_index_e index, BOOL enable)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
BOOL state = tmc->en->read(*tmc->en) == 0 ? TRUE : FALSE;
if (state == enable)
{
return;
}
if (enable == TRUE)
{
PWM_START(tmc->timer, tmc->time_ch);
tmc->en->reset(*tmc->en);
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
}
else
{
PWM_STOP(tmc->timer, tmc->time_ch);
tmc->en->set(*tmc->en);
chopconf_u chopconf;
osel_memset((uint8_t *)&chopconf, 0, sizeof(chopconf_u));
chopconf.bits.mres = TMC2240_MRES_1;
tmc2240_reg_write(index, TMC2240_CHOPCONF, chopconf.data);
}
}
static void _tmc2240_direction(tmc2240_index_e index, tmc2240_direction_e dir)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
if (dir == TMC2240_FORWARD)
{
tmc->dir->reset(*tmc->dir);
}
else
{
tmc->dir->set(*tmc->dir);
}
}
void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
osel_memset((uint8_t *)tmc, 0, sizeof(tmc2240_t));
tmc->timer = timer;
tmc->time_ch = time_ch;
tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
{
tmc->default_tm.sysclk = SystemCoreClock / 1000;
tmc->default_tm.psc = PWM_GET_PSC(tmc->timer);
tmc->default_tm.arr = PWM_GET_ARR(tmc->timer);
tmc->default_tm.freq = PWM_GET_FREQ(tmc->timer);
}
tmc->params.percent = TMC2240_PWM_DUTY_DEFAULT;
tmc->params.arr = 0;
tmc->params.freq = 0;
tmc->params.enable = FALSE;
tmc->params.direction = TMC2240_FORWARD;
tmc2240_config_write(index);
_tmc2240_motor_update(index);
}
tmc2240_t *tmc2240_get(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
return &_tmc2240[index];
}
void tmc2240_percent(tmc2240_index_e index, float32 percent)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
PWM_SET_DUTY(tmc->timer, tmc->time_ch, ABS(percent));
}
void tmc2240_config_read(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
tmc->read_config.gconf.data = tmc2240_reg_read(index, TMC2240_GCONF);
tmc->read_config.chopconf.data = tmc2240_reg_read(index, TMC2240_CHOPCONF);
tmc->read_config.drvconf.data = tmc2240_reg_read(index, TMC2240_DRV_CONF);
tmc->read_config.global_scaler.data = tmc2240_reg_read(index, TMC2240_GLOBAL_SCALER);
tmc->read_config.ihold_irun.data = tmc2240_reg_read(index, TMC2240_IHOLD_IRUN);
tmc->read_config.pwmconf.data = tmc2240_reg_read(index, TMC2240_PWMCONF);
tmc->read_config.gstat.data = tmc2240_reg_read(index, TMC2240_GSTAT);
tmc->data.tmc2240_adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
}
void tmc2240_test(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
_tmc2240_enable(index, tmc->params.enable);
if (tmc->params.enable == TRUE)
{
_tmc2240_direction(index, tmc->params.direction);
if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
{
if (tmc->params.arr == 0)
{
tmc->params.arr = tmc->default_tm.arr;
}
PWM_SET_ARR(tmc->timer, tmc->params.arr);
tmc->params.freq = PWM_GET_FREQ(tmc->timer);
}
tmc2240_percent(index, tmc->params.percent);
if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
{
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
_tmc2240_motor_update(index);
}
}
}
void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
if (angle == 0)
{
return;
}
tmc->params.enable = FALSE;
_tmc2240_enable(index, tmc->params.enable);
tmc->motor.pulse_count = 0;
if (angle > 0)
{
tmc->params.direction = TMC2240_FORWARD;
}
else
{
tmc->params.direction = TMC2240_BACKWARD;
}
tmc->motor.pulse_count = ABS(angle) / tmc->motor.step_angle;
tmc->motor.step_angle_count = 0;
tmc->params.enable = TRUE;
_tmc2240_direction(index, tmc->params.direction);
if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
{
if (tmc->params.arr == 0)
{
tmc->params.arr = tmc->default_tm.arr;
}
PWM_SET_ARR(tmc->timer, tmc->params.arr);
tmc->params.freq = PWM_GET_FREQ(tmc->timer);
}
tmc2240_percent(index, tmc->params.percent);
if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
{
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
_tmc2240_motor_update(index);
}
_tmc2240_enable(index, tmc->params.enable);
}
void tmc2240_motor_update(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
DBG_ASSERT(tmc != NULL __DBG_LINE);
if (tmc->motor.pulse_count > 0)
{
tmc->motor.pulse_count--; // 脉冲数
tmc->motor.step_angle_count++; // 步距个数
if (tmc->params.direction == TMC2240_FORWARD)
{
tmc->motor.add_pulse_count++; /* 绝对位置++ */
}
else
{
tmc->motor.add_pulse_count--; /* 绝对位置-- */
}
}
/* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止输出 */
if (tmc->motor.pulse_count <= 0)
{
tmc->params.enable = FALSE;
_tmc2240_enable(index, tmc->params.enable);
}
}

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/**
* @file tmc2240.h
* @author xushenghao
* @brief TMC2240驱动头文件
* @version 0.1
* @note
* 1. 芯片VM需要供电，否则SPI无法正常通信
* 2. 42步进电机每步1.8度，1圈200步。1/8细分，1步=0.225度，电机转一周需要1600个脉冲
*/
#ifndef __TMC2240_H
#define __TMC2240_H
#include "main.h"
#include "spis.h"
#define MOTOR_42_STEP_ANGLE 1.8f // 42步进电机每步1.8度
#define TMC2240_PWM_DUTY_DEFAULT 50 // PWM默认占空比
/*
0x00 = 0x00002108 ;; writing GCONF @ address 0=0x00 with 0x00002108=8456=0.0
0x03 = 0x00000000 ;; writing SLAVECONF @ address 1=0x03 with 0x00000000=0=0.0
0x04 = 0x4001682C ;; writing IOIN @ address 2=0x04 with 0x4001682C=1073834028=0.0
0x0A = 0x00000021 ;; writing DRV_CONF @ address 3=0x0A with 0x00000021=33=0.0
0x0B = 0x00000000 ;; writing GLOBAL_SCALER @ address 4=0x0B with 0x00000000=0=0.0
0x10 = 0x00001208 ;; writing IHOLD_IRUN @ address 5=0x10 with 0x00001208=4616=0.0
0x11 = 0x00000000 ;; writing TPOWERDOWN @ address 6=0x11 with 0x00000000=0=0.0
0x13 = 0x00000000 ;; writing TPWMTHRS @ address 7=0x13 with 0x00000000=0=0.0
0x14 = 0x000003BE ;; writing TCOOLTHRS @ address 8=0x14 with 0x000003BE=958=0.0
0x15 = 0x00000000 ;; writing THIGH @ address 9=0x15 with 0x00000000=0=0.0
0x2D = 0x00000000 ;; writing DIRECT_MODE @ address 10=0x2D with 0x00000000=0=0.0
0x38 = 0x00000000 ;; writing ENCMODE @ address 11=0x38 with 0x00000000=0=0.0
0x39 = 0x00000000 ;; writing X_ENC @ address 12=0x39 with 0x00000000=0=0.0
0x3A = 0x00010000 ;; writing ENC_CONST @ address 13=0x3A with 0x00010000=65536=0.0
0x52 = 0x0B920F25 ;; writing OTW_OV_VTH @ address 14=0x52 with 0x0B920F25=194121509=0.0
0x60 = 0xAAAAB554 ;; writing MSLUT[0] @ address 15=0x60 with 0xAAAAB554=0=0.0
0x61 = 0x4A9554AA ;; writing MSLUT[1] @ address 16=0x61 with 0x4A9554AA=1251300522=0.0
0x62 = 0x24492929 ;; writing MSLUT[2] @ address 17=0x62 with 0x24492929=608774441=0.0
0x63 = 0x10104222 ;; writing MSLUT[3] @ address 18=0x63 with 0x10104222=269500962=0.0
0x64 = 0xFBFFFFFF ;; writing MSLUT[4] @ address 19=0x64 with 0xFBFFFFFF=0=0.0
0x65 = 0xB5BB777D ;; writing MSLUT[5] @ address 20=0x65 with 0xB5BB777D=0=0.0
0x66 = 0x49295556 ;; writing MSLUT[6] @ address 21=0x66 with 0x49295556=1227445590=0.0
0x67 = 0x00404222 ;; writing MSLUT[7] @ address 22=0x67 with 0x00404222=4211234=0.0
0x68 = 0xFFFF8056 ;; writing MSLUTSEL @ address 23=0x68 with 0xFFFF8056=0=0.0
0x69 = 0x00F70000 ;; writing MSLUTSTART @ address 24=0x69 with 0x00F70000=16187392=0.0
0x6C = 0x00410153 ;; writing CHOPCONF @ address 25=0x6C with 0x00410153=4260179=0.0
0x6D = 0x00040000 ;; writing COOLCONF @ address 26=0x6D with 0x00040000=262144=0.0
0x70 = 0xC44C001E ;; writing PWMCONF @ address 27=0x70 with 0xC44C001E=0=0.0
0x74 = 0x00000000 ;; writing SG4_THRS @ address 28=0x74 with 0x00000000=0=0.0
*/
#define TMC2240_GCONF 0x00
#define TMC2240_GSTAT 0x01
#define TMC2240_IFCNT 0x02
#define TMC2240_SLAVECONF 0x03
#define TMC2240_IOIN 0x04
#define TMC2240_DRV_CONF 0x0A
#define TMC2240_GLOBAL_SCALER 0x0B
#define TMC2240_IHOLD_IRUN 0x10
#define TMC2240_TPOWERDOWN 0x11
#define TMC2240_TSTEP 0x12
#define TMC2240_TPWMTHRS 0x13
#define TMC2240_TCOOLTHRS 0x14
#define TMC2240_THIGH 0x15
#define TMC2240_DIRECT_MODE 0x2D
#define TMC2240_ENCMODE 0x38
#define TMC2240_XENC 0x39
#define TMC2240_ENC_CONST 0x3A
#define TMC2240_ENC_STATUS 0x3B
#define TMC2240_ENC_LATCH 0x3C
#define TMC2240_ADC_VSUPPLY_AIN 0x50
#define TMC2240_ADC_TEMP 0x51
#define TMC2240_OTW_OV_VTH 0x52
#define TMC2240_MSLUT0 0x60
#define TMC2240_MSLUT1 0x61
#define TMC2240_MSLUT2 0x62
#define TMC2240_MSLUT3 0x63
#define TMC2240_MSLUT4 0x64
#define TMC2240_MSLUT5 0x65
#define TMC2240_MSLUT6 0x66
#define TMC2240_MSLUT7 0x67
#define TMC2240_MSLUTSEL 0x68
#define TMC2240_MSLUTSTART 0x69
#define TMC2240_MSCNT 0x6A
#define TMC2240_MSCURACT 0x6B
#define TMC2240_CHOPCONF 0x6C
#define TMC2240_COOLCONF 0x6D
#define TMC2240_DCCTRL 0x6E
#define TMC2240_DRVSTATUS 0x6F
#define TMC2240_PWMCONF 0x70
#define TMC2240_PWMSCALE 0x71
#define TMC2240_PWM_AUTO 0x72
#define TMC2240_SG4_THRS 0x74
#define TMC2240_SG4_RESULT 0x75
#define TMC2240_SG4_IND 0x76
#define TMC2240_HIGHT_BIT 0x80
typedef enum
{
TMC2240_1,
TMC2240_MAX,
} tmc2240_index_e;
typedef enum
{
TMC2240_FORWARD, // 正转
TMC2240_BACKWARD, // 反转
} tmc2240_direction_e;
typedef enum
{
TMC2240_MRES_256,
TMC2240_MRES_128,
TMC2240_MRES_64,
TMC2240_MRES_32,
TMC2240_MRES_16,
TMC2240_MRES_8,
TMC2240_MRES_4,
TMC2240_MRES_2,
TMC2240_MRES_1, // FULL STEP
} tmc2240_mres_e;
// 0x00 GCONF
typedef union
{
uint32_t data;
struct
{
uint32_t reserved1 : 1;
/**
* 停止之前的步骤执行超时检测。
* 0x0：正常时间：2^20个时钟
* 0x1：短时间：2^18个时钟
*/
uint32_t fast_standstill : 1;
/**
* 启用StealthChop2模式。
* 0x0：无StealthChop2
* 0x1：StealthChop2电压PWM模式使能(取决于速度阈值)。从关闭状态切换
在静止状态下和在lHOLD = 时为开状态 仅限额定电流。
*/
uint32_t en_pwm_mode : 1;
/**
* 启用StealthChop2的步进输入筛选
* 0x0：无StealthChop2
* 0x1：StealthChop2电压PWM模式使能
(取决于速度阈值)。从关闭状态切换
在静止状态下和在lHOLD=时为开状态
仅限额定电流。
*/
uint32_t multistep_filt : 1;
/**
* 更改电机方向/方向标志
* 0x0：默认电机方向
* 0x1：电机方向相反
*/
uint32_t shaft : 1;
uint32_t diag0_error : 1;
uint32_t diag0_otpw : 1;
uint32_t diag0_stall : 1;
uint32_t diag1_stall : 1;
uint32_t diag1_index : 1;
uint32_t diag1_onstate : 1;
uint32_t reserved2 : 1;
uint32_t diag0_pushpull : 1;
uint32_t diag1_pushpull : 1;
uint32_t small_hysteresis : 1;
/**
* 电机硬停止功能启用。
* 0x0：正常运行
* 0x1：紧急停止：ENCA停止定序器
当绑得很高时(不执行任何步骤
定序器、电机进入停顿状态)。
*/
uint32_t stop_enable : 1;
/**
* 通过以下方式启用直接motpr相电流控制
* 0x0：正常运行
* 0x1：电机线圈电流和极性直接
通过串口编程：寄存器
直接模式(0x2D)指定带符号线圈A
电流(位8..0)和线圈B电流(位24..16)。在……里面
在此模式下，电流按lHOLD设置进行定标。
基于速度的StealthChop2电流调节
在此模式下不可用。自动的
StealthChop2电流调节仅适用于
步进电机速度低。
*/
uint32_t direct_mode : 1;
} bits;
} gconf_u;
// 0x01 GSTAT
typedef union
{
uint32_t data;
struct
{
uint32_t reset : 1;
uint32_t drv_err : 1;
uint32_t uv_cp : 1;
uint32_t register_reset : 1;
uint32_t vm_uvlo : 1;
} bits;
} gstat_u;
// 0x0A DRVCONF
typedef union
{
uint32_t data;
struct
{
uint32_t current_range : 2; // 0-1
uint32_t reserved1 : 2; // 2-3
uint32_t slope_control : 2; // 4-5
} bits;
} drvconf_u;
// 0x0B GLOBAL_SCALER
typedef union
{
uint32_t data;
struct
{
uint32_t global_scale : 8; // 0-7
} bits;
} global_scaler_u;
// 0x10 IHOLD_IRUN
typedef union
{
uint32_t data;
struct
{
uint32_t ihold : 5; // 0-4
uint32_t reserved1 : 3; // 5-7
uint32_t irun : 5; // 8-12
uint32_t reserved2 : 3; // 13-15
uint32_t iholddelay : 4; // 16-19
uint32_t reserved3 : 4; // 20-23
uint32_t irundelay : 4; // 24-27
} bits;
} ihold_irun_u;
// 0x6C CHOPCONF
typedef union
{
uint32_t data;
struct
{
uint32_t toff : 4; // 0-3
uint32_t hstrt : 3; // 4-6
uint32_t hend : 4; // 7-10
uint32_t fd3 : 1; // 11
uint32_t disfdcc : 1; // 12
uint32_t reserved1 : 1;
uint32_t chm : 1; // 14
uint32_t tbl : 2; // 15-16
uint32_t reserved2 : 1;
uint32_t vhighfs : 1; // 18
uint32_t vhighchm : 1; // 19
uint32_t tpfd : 4; // 20-23
uint32_t mres : 4; // 24-27
uint32_t intpol : 1; // 28
uint32_t dedge : 1; // 29
uint32_t diss2g : 1; // 30
uint32_t diss2vs : 1; // 31
} bits;
} chopconf_u;
// 0x70 PWMCONF
typedef union
{
uint32_t data;
struct
{
/**
* 用户定义的 PWM 幅度偏移（0-255）与静止状态下的全电机电流（CS_ACTUAL=31）相关。 （重置默认值=30） 使用 PWM_OFS 作为自动缩放的初始值，
* 以加快自动调谐过程。为此，请将 PWM_OFS 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
* 完成后启用 StealthChop2。 PWM_OFS = 0 将禁用将电机电流缩放到低于电机特定的较低测量阈值。此设置应仅在某些条件下使用，
* 例如当电源电压可以上下变化两倍或更多时。它可以防止电机超出调节范围，但也会防止电流降到调节限制以下。 PWM_OFS > 0 允许自动缩放到低 PWM 占空比，
* 甚至低于较低的调节阈值。这允许基于实际（保持）电流比例（寄存器 IHOLD_IRUN）的低（静止）电流设置。
*/
uint32_t pwm_ofs : 8;
/**
* PWM 幅度的速度依赖梯度： PWM_GRAD x 256 / TSTEP 此值加到 PWM_OFS 以补偿速度依赖的电机反电动势。 使用 PWM_GRAD 作为自动缩放的初始值，
* 以加快自动调谐过程。为此，请将 PWM_GRAD 设置为确定的、特定于应用的值，并将 pwm_autoscale 设置为 0。之后，将 pwm_autoscale 设置为 1。
* 完成后启用 StealthChop2。 提示： 初始调谐后，可以从 PWM_GRAD_AUTO 中读取所需的初始值。
*/
uint32_t pwm_grad : 8;
uint32_t pwm_freq : 2;
uint32_t pwm_autoscale : 1;
uint32_t pwm_autograd : 1;
} bits;
} pwmconf_u;
typedef struct
{
gconf_u gconf; // 0x00 GCONF
gstat_u gstat; // 0x01 GSTAT
drvconf_u drvconf; // 0x0A DRVCONF
global_scaler_u global_scaler; // 0x0B GLOBAL_SCALER
ihold_irun_u ihold_irun; // 0x10 IHOLD_IRUN
chopconf_u chopconf; // 0x6C CHOPCONF
pwmconf_u pwmconf; // 0x70 PWMCONF
} tmc2240_config_t;
typedef struct
{
gpio_t *en; ///< EN_PIN
gpio_t *dir; ///< DIR_PIN
TIM_TypeDef *timer;
uint32_t time_ch;
spi_t *spi;
tmc2240_config_t config;
tmc2240_config_t read_config;
uint32_t step;
__IO uint32_t step_count;
// PRIVATE
struct
{
uint32_t sysclk; // 系统时钟
uint32_t psc; // 预分频系数
uint16_t arr; // 自动重装值 auto reload value
uint32_t freq; // 频率
} default_tm;
struct
{
BOOL enable; // 使能
tmc2240_direction_e direction; // 方向
float32 percent; // 占空比
uint16_t arr; // 自动重装值(改变速度)
uint32_t freq; // 频率
} params;
struct
{
float32 step_angle; // 步进角度
uint16_t circle_pulse; // 一圈脉冲数
__IO int32_t add_pulse_count; /* 脉冲个数累计 */
__IO uint32_t pulse_count; /* 脉冲个数记录 */
__IO uint32_t step_angle_count; /* 步距个数 */
} motor;
struct
{
uint16_t tmc2240_adc_temp; // 温度ADC值
float32 tmc2240_temperature; // 温度
} data;
} tmc2240_t;
void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios);
tmc2240_t *tmc2240_get(tmc2240_index_e index);
void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle);
void tmc2240_motor_update(tmc2240_index_e index);
void tmc2240_test(tmc2240_index_e index);
void tmc2240_config_read(tmc2240_index_e index);
#endif // __TMC2240_H

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