diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 00c58d7..928c782 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/.vscode/settings.json b/.vscode/settings.json index 45563fa..be9b1a6 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -75,7 +75,12 @@ "stop_token": "cpp", "thread": "cpp", "early_ticket.h": "c", - "chrono": "cpp" + "chrono": "cpp", + "charconv": "cpp", + "cstring": "cpp", + "optional": "cpp", + "ranges": "cpp", + "span": "cpp" }, "files.autoGuessEncoding": false, "files.encoding": "gbk" diff --git a/sdk b/sdk index 8cf48f3..9de9f89 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 8cf48f33ade97f6e95c654429722b06f6818ccc3 +Subproject commit 9de9f8940b0013d7a97db35e0acad9a4e072015a diff --git a/usrc/main.cpp b/usrc/main.cpp index e747f84..b6efddc 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -11,6 +11,7 @@ #include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp" #include "sdk\components\tmc\ic\ztmc4361A.hpp" #include "sdk\components\tmc\ic\ztmc5130.hpp" +#include "sdk\components\step_motor_ctrl_module\tmc51x0_motor.hpp" #define TAG "main" using namespace iflytop; @@ -54,7 +55,7 @@ static void initsubmodule() { osDelay(1000); { static TMC5130 g_motor; - static StepMotorCtrlModule g_stepMotorCtrlModule; + static TMC51X0Motor g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, // .csgpio = MOTOR0_CSN, // @@ -69,8 +70,8 @@ static void initsubmodule() { input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); - StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; - StepMotorCtrlModule::create_default_cfg(smcm_cfg); + TMC51X0Motor::flash_config_t smcm_cfg = {0}; + TMC51X0Motor::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; diff --git a/电机底层开发要求.md b/电机底层开发要求.md new file mode 100644 index 0000000..abde013 --- /dev/null +++ b/电机底层开发要求.md @@ -0,0 +1,78 @@ +1. ͬĵͬĸأͬٶȣҪòͬIJ + -----> +2. һб +1. ʱ +2. +------------------------------------------------------------------------------- + + + + 1. ʼԵŻ + 2. ȦãҪڵɡ + 3. һָϣlist + 4. IJԸĿд + +ɺĿ: + 1. һȦӦö롣絥λmm,ߵλ0.01 + 2. ϲ˵͸ģʹ˱ϱʵλá + 3. ײԼ鶪¼¼ʱϱ¼¼ļ ɵײ + 4. ϲ㲻ҪԵκãֱʹᣴ룬ʱDzֲ + 5. ֻҪϲ·һָ + 6. ڹ㳬ʱɵײԼ + +ƬҪú: + 1. Ĭٶȣ٣٣٣ + 2. ϲ޸ٶȵȼ٣٣٣ + 3. ÿٶȵȼҪ΢ֲ + ٶȣٶ........ + ÿٶʹһIJ + + 4. + +λҪֽ֧űء + + + + cmdType, regadd regval speedlevel + local_reg 0/default + subdevice_reg + + +------------------------------------------------------------------------ +ȥֳ汾: + 1. λ& + 2. + +ȥֳ汾: + 1. ȡʵλ() + 1. ȡλ() + 2. , + 3. õıֵúתӣ + + + 1. ͬǰһ + 2. һset_cover_regָ + 3. readposȡλDZλãб + 4. ײλǷƫƫ򱨴 + 5. ϲԶȡƫֵ + 6. ϲñƫֵ + 7. յ⣬ҪϲԼ顣ϲӦóָţţԶָ + 8. ʱλá + 9. ϲԶֵ + + + +------------------------------------------------------------------------ + + + +setspeedlevel + Dz + +òֲ() + +move_to_zero + + + + \ No newline at end of file