tmc2240加上注释
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@ -38,10 +38,7 @@
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"C_Cpp_Runner.compilerArgs": [],
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"C_Cpp_Runner.linkerArgs": [],
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"C_Cpp_Runner.includePaths": [],
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"C_Cpp_Runner.includeSearch": [
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"*",
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"**/*"
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],
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"C_Cpp_Runner.includeSearch": ["*", "**/*"],
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"C_Cpp_Runner.excludeSearch": [
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"**/build",
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"**/build/**",
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@ -55,5 +52,6 @@
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"C_Cpp_Runner.useLeakSanitizer": false,
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"C_Cpp_Runner.showCompilationTime": false,
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"C_Cpp_Runner.useLinkTimeOptimization": false,
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"C_Cpp_Runner.msvcSecureNoWarnings": false
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"C_Cpp_Runner.msvcSecureNoWarnings": false,
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"C_Cpp.errorSquiggles": "disabled"
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}
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@ -43,6 +43,15 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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}
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/**
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* @brief 向TMC2240寄存器写入数据
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*
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* 向指定TMC2240的指定寄存器写入32位数据。
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*
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* @param index TMC2240索引
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* @param reg 寄存器地址
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* @param data 要写入的数据
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*/
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static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -59,6 +68,16 @@ static void tmc2240_reg_write(tmc2240_index_e index, uint8_t reg, uint32_t data)
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tmc2240_write(index, wdata);
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}
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/**
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* @brief 从TMC2240寄存器中读取数据
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*
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* 从指定的TMC2240驱动器的指定寄存器中读取数据。
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*
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* @param index TMC2240驱动器的索引
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* @param reg 要读取的寄存器地址
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*
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* @return 读取到的32位数据
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*/
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static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -110,6 +129,13 @@ static void tmc2240_config_write(tmc2240_index_e index)
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tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
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}
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/**
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* @brief 更新TMC2240步进电机的步进角度和每圈脉冲数
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*
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* 根据TMC2240的配置更新步进电机的步进角度和每圈脉冲数。
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*
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* @param index TMC2240步进电机的索引
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*/
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static void _tmc2240_motor_update(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -152,6 +178,14 @@ static void _tmc2240_motor_update(tmc2240_index_e index)
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tmc->motor.circle_pulse = 360 / tmc->motor.step_angle;
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}
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/**
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* @brief 启用或禁用TMC2240电机驱动器
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*
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* 根据传入的索引和启用标志启用或禁用TMC2240电机驱动器。
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*
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* @param index TMC2240驱动器的索引
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* @param enable 启用标志，TRUE表示启用，FALSE表示禁用
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*/
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static void _tmc2240_enable(tmc2240_index_e index, BOOL enable)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -182,6 +216,14 @@ static void _tmc2240_enable(tmc2240_index_e index, BOOL enable)
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}
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}
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/**
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* @brief 设置TMC2240驱动器的方向
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*
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* 该函数用于设置TMC2240驱动器的方向。
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*
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* @param index TMC2240驱动器的索引
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* @param dir 方向设置，TMC2240_FORWARD表示正向，TMC2240_BACKWARD表示反向
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*/
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static void _tmc2240_direction(tmc2240_index_e index, tmc2240_direction_e dir)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -198,6 +240,17 @@ static void _tmc2240_direction(tmc2240_index_e index, tmc2240_direction_e dir)
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}
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}
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/**
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* @brief 初始化TMC2240电机驱动器
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*
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* 初始化TMC2240电机驱动器，配置相关硬件资源，包括SPI通信、定时器以及GPIO引脚。
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*
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* @param index TMC2240的索引号
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* @param SPIx SPI外设指针
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* @param timer 定时器外设指针
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* @param time_ch 定时器通道号
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* @param gpios SPI通信相关的GPIO引脚组
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*/
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void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -230,6 +283,14 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
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return &_tmc2240[index];
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}
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/**
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* @brief 设置TMC2240的占空比
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*
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* 根据给定的索引和百分比设置TMC2240的占空比。
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*
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* @param index TMC2240的索引
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* @param percent 占空比的百分比，范围为-100到100
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*/
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void tmc2240_percent(tmc2240_index_e index, float32 percent)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -239,6 +300,13 @@ void tmc2240_percent(tmc2240_index_e index, float32 percent)
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PWM_SET_DUTY(tmc->timer, tmc->time_ch, ABS(percent));
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}
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/**
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* @brief 读取TMC2240的配置参数
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*
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* 从TMC2240电机驱动器的寄存器中读取多个配置参数，并将其存储在相应的结构体中。
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*
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* @param index TMC2240电机驱动器的索引
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*/
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void tmc2240_config_read(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -256,6 +324,13 @@ void tmc2240_config_read(tmc2240_index_e index)
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tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
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}
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/**
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* @brief 测试TMC2240电机驱动器
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*
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* 该函数用于测试TMC2240电机驱动器，并设置相关参数。
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*
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* @param index TMC2240电机驱动器的索引
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*/
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void tmc2240_test(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -288,6 +363,14 @@ void tmc2240_test(tmc2240_index_e index)
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}
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}
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/**
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* @brief 设置TMC2240电机的角度
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*
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* 设置指定TMC2240电机的目标角度。
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*
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* @param index 电机索引
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* @param angle 目标角度，正值表示正向旋转，负值表示反向旋转
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*/
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void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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@ -334,6 +417,13 @@ void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
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_tmc2240_enable(index, tmc->params.enable);
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}
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/**
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* @brief 更新TMC2240步进电机的状态
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*
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* 该函数用于更新TMC2240步进电机的状态，包括脉冲计数、步距计数和绝对位置等。
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*
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* @param index TMC2240步进电机的索引
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*/
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void tmc2240_motor_update(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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