455 lines
13 KiB
C
455 lines
13 KiB
C
#include "tmc2240.h"
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tmc2240_t _tmc2240[TMC2240_MAX];
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static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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{
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tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
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}
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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}
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static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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{
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rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
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}
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tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
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__NOP();
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__NOP();
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__NOP();
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tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
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for (uint16_t i = 0; i < 5; i++)
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{
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rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
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}
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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uint8_t wdata[5] = {0};
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wdata[0] = TMC2240_HIGHT_BIT | reg;
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wdata[1] = (data >> 24) & 0xFF;
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wdata[2] = (data >> 16) & 0xFF;
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wdata[3] = (data >> 8) & 0xFF;
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wdata[4] = data & 0xFF;
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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uint8_t wdata[5] = {0};
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uint8_t rdata[5] = {0};
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wdata[0] = reg;
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tmc2240_read(index, wdata, rdata);
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return (rdata[1] << 24) | (rdata[2] << 16) | (rdata[3] << 8) | rdata[4];
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}
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/**
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* @brief 配置TMC2240步进电机驱动器
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*
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* 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。
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*
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* @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
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*/
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static void tmc2240_config_write(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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tmc->config.gconf.data = 0x00000000;
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tmc->config.chopconf.data = 0x00410153;
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tmc->config.chopconf.bits.mres = TMC2240_MRES_8;
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tmc->config.drvconf.data = 0x00000021;
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tmc->config.global_scaler.data = 0x00000000;
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tmc->config.ihold_irun.bits.ihold = 31;
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tmc->config.ihold_irun.bits.irun = 31;
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tmc->config.ihold_irun.bits.iholddelay = 0;
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tmc->config.ihold_irun.bits.irundelay = 0;
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tmc->config.pwmconf.data = 0xC44C261E;
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tmc->config.gstat.data = 0x00000007;
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tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
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tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
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tmc2240_reg_write(index, TMC2240_DRV_CONF, tmc->config.drvconf.data);
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tmc2240_reg_write(index, TMC2240_GLOBAL_SCALER, tmc->config.global_scaler.data);
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tmc2240_reg_write(index, TMC2240_IHOLD_IRUN, tmc->config.ihold_irun.data);
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tmc2240_reg_write(index, TMC2240_PWMCONF, tmc->config.pwmconf.data);
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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switch (tmc->config.chopconf.bits.mres)
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{
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case TMC2240_MRES_256:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 256;
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break;
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case TMC2240_MRES_128:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 128;
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break;
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case TMC2240_MRES_64:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 64;
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break;
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case TMC2240_MRES_32:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 32;
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break;
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case TMC2240_MRES_16:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 16;
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break;
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case TMC2240_MRES_8:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 8;
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break;
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case TMC2240_MRES_4:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 4;
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break;
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case TMC2240_MRES_2:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 2;
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break;
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case TMC2240_MRES_1:
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tmc->motor.step_angle = MOTOR_42_STEP_ANGLE;
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break;
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default:
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break;
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}
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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BOOL state = tmc->en->read(*tmc->en) == 0 ? TRUE : FALSE;
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if (state == enable)
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{
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return;
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}
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if (enable == TRUE)
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{
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PWM_START(tmc->timer, tmc->time_ch);
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tmc->en->reset(*tmc->en);
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tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
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}
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else
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{
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PWM_STOP(tmc->timer, tmc->time_ch);
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tmc->en->set(*tmc->en);
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chopconf_u chopconf;
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osel_memset((uint8_t *)&chopconf, 0, sizeof(chopconf_u));
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chopconf.bits.mres = TMC2240_MRES_1;
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tmc2240_reg_write(index, TMC2240_CHOPCONF, chopconf.data);
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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if (dir == TMC2240_FORWARD)
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{
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tmc->dir->reset(*tmc->dir);
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}
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else
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{
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tmc->dir->set(*tmc->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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tmc2240_t *tmc = &_tmc2240[index];
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osel_memset((uint8_t *)tmc, 0, sizeof(tmc2240_t));
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tmc->timer = timer;
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tmc->time_ch = time_ch;
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tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
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DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
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tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
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{
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tmc->default_tm.sysclk = SystemCoreClock / 1000;
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tmc->default_tm.psc = PWM_GET_PSC(tmc->timer);
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tmc->default_tm.arr = PWM_GET_ARR(tmc->timer);
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tmc->default_tm.freq = PWM_GET_FREQ(tmc->timer);
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}
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tmc->params.percent = TMC2240_PWM_DUTY_DEFAULT;
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tmc->params.arr = 0;
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tmc->params.freq = 0;
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tmc->params.enable = FALSE;
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tmc->params.direction = TMC2240_FORWARD;
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tmc2240_config_write(index);
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_tmc2240_motor_update(index);
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}
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tmc2240_t *tmc2240_get(tmc2240_index_e index)
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{
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DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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tmc->read_config.gconf.data = tmc2240_reg_read(index, TMC2240_GCONF);
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tmc->read_config.chopconf.data = tmc2240_reg_read(index, TMC2240_CHOPCONF);
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tmc->read_config.drvconf.data = tmc2240_reg_read(index, TMC2240_DRV_CONF);
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tmc->read_config.global_scaler.data = tmc2240_reg_read(index, TMC2240_GLOBAL_SCALER);
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tmc->read_config.ihold_irun.data = tmc2240_reg_read(index, TMC2240_IHOLD_IRUN);
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tmc->read_config.pwmconf.data = tmc2240_reg_read(index, TMC2240_PWMCONF);
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tmc->read_config.gstat.data = tmc2240_reg_read(index, TMC2240_GSTAT);
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tmc->data.tmc2240_adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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_tmc2240_enable(index, tmc->params.enable);
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if (tmc->params.enable == TRUE)
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{
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_tmc2240_direction(index, tmc->params.direction);
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if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
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{
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if (tmc->params.arr == 0)
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{
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tmc->params.arr = tmc->default_tm.arr;
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}
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PWM_SET_ARR(tmc->timer, tmc->params.arr);
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tmc->params.freq = PWM_GET_FREQ(tmc->timer);
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}
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tmc2240_percent(index, tmc->params.percent);
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if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
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{
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tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
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_tmc2240_motor_update(index);
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}
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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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tmc2240_t *tmc = &_tmc2240[index];
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DBG_ASSERT(tmc != NULL __DBG_LINE);
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if (angle == 0)
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{
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return;
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}
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if (angle > 0)
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{
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tmc->params.direction = TMC2240_FORWARD;
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}
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else
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{
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tmc->params.direction = TMC2240_BACKWARD;
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}
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tmc->motor.pulse_count = ABS(angle) / tmc->motor.step_angle;
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tmc->motor.step_angle_count = 0;
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tmc->params.enable = TRUE;
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_tmc2240_direction(index, tmc->params.direction);
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if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
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{
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if (tmc->params.arr == 0)
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{
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tmc->params.arr = tmc->default_tm.arr;
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}
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PWM_SET_ARR(tmc->timer, tmc->params.arr);
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tmc->params.freq = PWM_GET_FREQ(tmc->timer);
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}
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tmc2240_percent(index, tmc->params.percent);
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if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
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{
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tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
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_tmc2240_motor_update(index);
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}
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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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* @param index TMC2240步进电机的索引
|
||
*/
|
||
void tmc2240_motor_update(tmc2240_index_e index)
|
||
{
|
||
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
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tmc2240_t *tmc = &_tmc2240[index];
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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);
|
||
}
|
||
}
|