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修改tmc2240 细分设置1/8

This commit is contained in:
许晟昊 2024-12-24 16:15:44 +08:00
parent 82feca4263
commit d1d2f8e50e
5 changed files with 281 additions and 19 deletions
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18
.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,18 @@
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24
.vscode/launch.json vendored Normal file
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59
.vscode/settings.json vendored Normal file
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@ -0,0 +1,59 @@
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157
lib/driver/tmc2240.c
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@ -93,7 +93,12 @@ static void tmc2240_config_write(tmc2240_index_e index)
tmc->config.drvconf.data = 0x00000021;
tmc->config.global_scaler.data = 0x00000000;
tmc->config.ihold_irun.data = 0x00071f1f;
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);
@ -105,21 +110,75 @@ static void tmc2240_config_write(tmc2240_index_e index)
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)
{
tmc->en->reset(*tmc->en);
PWM_START(tmc->timer, tmc->time_ch);
tmc->en->reset(*tmc->en);
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
}
else
{
tmc->en->set(*tmc->en);
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);
}
}
@ -143,12 +202,12 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer,
{
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);
osel_memset((uint8_t *)&tmc->config, 0, sizeof(tmc2240_config_t));
osel_memset((uint8_t *)&tmc->read_config, 0, sizeof(tmc2240_config_t));
tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
{
tmc->default_tm.sysclk = SystemCoreClock / 1000;
@ -162,6 +221,7 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer,
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)
@ -196,13 +256,16 @@ void tmc2240_config_read(tmc2240_index_e index)
tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
}
void tmc2240_process(tmc2240_index_e index)
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)
@ -216,4 +279,86 @@ void tmc2240_process(tmc2240_index_e index)
}
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;
}
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);
}
}

34
lib/driver/tmc2240.h
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@ -5,6 +5,7 @@
* @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
@ -12,6 +13,7 @@
#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
/*
@ -327,30 +329,44 @@ typedef struct
// PRIVATE
struct
{
uint32_t sysclk;
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;
uint32_t freq; // 频率
} default_tm;
struct
{
BOOL enable; // 使能
tmc2240_direction_e direction;
float32 percent;
uint16_t arr;
uint32_t freq;
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
{
uint16_t tmc2240_adc_temp;
float32 tmc2240_temperature;
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_process(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