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178 lines
6.0 KiB
178 lines
6.0 KiB
#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "../basic/tmc_ic_interface.hpp"
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#include "sdk/os/zos.hpp"
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extern "C" {
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#include "TMC5130\TMC5130.h"
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}
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#ifdef HAL_SPI_MODULE_ENABLED
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namespace iflytop {
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#define TMC5130_LISTENER_MAX 5
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/**
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* @brief
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*
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* 注意事项：
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* 1. 速度单位
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* velocity的单位是:p/t
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* t = 2^24/fin (fin为外接时钟，当时钟频率为16MHz时，t = 1.048576s)
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* 此时 ppt约等于pps
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*
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* 参考TMC5130A_datasheet_rev1.20%20(1)%20(3).pdf 38页 蓝框中的字
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*
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* 2. 芯片复位方法
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* reset(); 复位芯片，同时会将芯片的寄存器设置为默认值。一般情况下不需要用户主动调用该方法，因为在初始化时会自动调用该方法。
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*
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*/
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class Tmc5130RampStat {
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public:
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uint32_t m_state;
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// 参考TMC5130A_datasheet_rev1.20%20(1).pdf 40页
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typedef enum {
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/**
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* @brief
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* R ：只读
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* R+C：只读，但读后会自动清零
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*/
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ktmc5130_rs_stopl = TMC5130_RS_STOPL, // (R )
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ktmc5130_rs_stopr = TMC5130_RS_STOPR, // (R )
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ktmc5130_rs_latchl = TMC5130_RS_LATCHL, // (R+C)
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ktmc5130_rs_latchr = TMC5130_RS_LATCHR, // (R+C)
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ktmc5130_rs_ev_stopl = TMC5130_RS_EV_STOPL, // (R )
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ktmc5130_rs_ev_stopr = TMC5130_RS_EV_STOPR, // (R )
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ktmc5130_rs_ev_stop_sg = TMC5130_RS_EV_STOP_SG, // (R+C)
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ktmc5130_rs_ev_posreached = TMC5130_RS_EV_POSREACHED, // (R+C)
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ktmc5130_rs_velreached = TMC5130_RS_VELREACHED, // (R )
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ktmc5130_rs_posreached = TMC5130_RS_POSREACHED, // (R ) 是否到达目标位置
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ktmc5130_rs_vzero = TMC5130_RS_VZERO, // (R )
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ktmc5130_rs_zerowait = TMC5130_RS_ZEROWAIT, // (R )
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ktmc5130_rs_secondmove = TMC5130_RS_SECONDMOVE, // (R+C)
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ktmc5130_rs_sg = TMC5130_RS_SG, // (R )
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} ramp_stat_bit_t;
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Tmc5130RampStat(uint32_t state) : m_state(state) {}
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bool isSetted(ramp_stat_bit_t bit) { return (m_state & bit) != 0; }
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};
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class TMC5130 : public IStepperMotor {
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public:
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typedef struct {
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SPI_HandleTypeDef *spi;
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Pin_t csgpio = PinNull; //
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Pin_t resetPin = PinNull; //
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Pin_t fREEZEPin = PinNull; //
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Pin_t ennPin = PinNull; //
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Pin_t spi_mode_select = PinNull; //
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} cfg_t;
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protected:
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// TMC5130Port *m_port;
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// TMC5130Config_t *m_config;
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cfg_t m_cfg;
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ZGPIO *m_csnpin = NULL;
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ZGPIO *m_ennpin = NULL;
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ZGPIO *m_spi_mode_select_gpio = NULL;
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SPI_HandleTypeDef *m_hspi = NULL;
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// uint8_t m_channel;
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uint32_t m_lastCallPeriodicJobTick;
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int32_t m_shadowRegister[TMC_REGISTER_COUNT];
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const uint8_t *m_registerAccessTable;
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const int32_t *m_defaultRegisterResetState;
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int32_t m_scale = 51200;
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int32_t m_scale_deceleration = 1;
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mres_type_t m_MRES = kmres_256;
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double m_onecirclepulse = 51200;
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public:
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TMC5130(/* args */);
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// static void createDeafultTMC5130Config(TMC5130Config_t *config, TMC5130Port *m_port);
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void initialize(cfg_t *cfg);
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void enableIC(bool enable);
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virtual void enable(bool enable) { enableIC(enable); }
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uint8_t reset();
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/*******************************************************************************
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* 常用寄存器读写方法 *
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*******************************************************************************/
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uint32_t readICVersion(); // 5130:0x11 5160:0x30
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virtual int32_t getXACTUAL(); // 读取电机当前位置,与编码器的位置值不同，该值是电机在不丢步的情况下的位置
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virtual void setXACTUAL(int32_t value); // 设置电机当前位置,与编码器的位置值不同，该值是电机在不丢步的情况下的位置
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virtual int32_t getVACTUAL(); // 读取电机当前位置,与编码器的位置值不同，该值是电机在不丢步的情况下的位置
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uint32_t readXTARGET(); // 读取驱动器目标位置
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virtual int32_t getENC_POS() { return 0; } // TODO impl it
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virtual void setENC_POS(int32_t value) {} // TODO impl it
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virtual void setScale(int32_t scale);
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virtual void setScaleDenominator(int32_t scale);
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virtual void setAcceleration(float accelerationpps2);
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virtual void setDeceleration(float accelerationpps2);
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void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
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void setGlobalScale(uint8_t globalscale);
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uint8_t getGlobalScale();
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// void setSubdivision(uint8_t subdivision);
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void setMotorShaft(bool reverse); // 设置电机旋转方向
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uint32_t getTMC5130_RAMPSTAT(); // 这个寄存器读取的是TMC5130的状态寄存器
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Tmc5130RampStat getTMC5130_RAMPSTAT2();
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virtual void rotate(int32_t velocity);
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virtual void right(int32_t velocity);
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virtual void left(int32_t velocity);
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virtual void moveTo(int32_t position, uint32_t velocityMax);
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virtual void moveBy(int32_t relativePosition, uint32_t velocityMax);
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virtual void stop();
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virtual bool isReachTarget(); // 是否到达目标位置
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virtual bool isStoped() { return isReachTarget(); }
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/*******************************************************************************
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* 驱动器寄存器读写方法 *
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*******************************************************************************/
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// void writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);
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void readWriteArray(uint8_t *data, size_t length);
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void writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
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void writeInt(uint8_t address, int32_t value);
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int32_t readInt(uint8_t address);
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void setNoAccLimit(bool enable) override;
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/**
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* @brief 设置电机细分
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*
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* @param value
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*/
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void setMRES(mres_type_t value);
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private:
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uint32_t haspassedms(uint32_t now, uint32_t last);
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int32_t to_motor_acc(int32_t acc); // rpm/s^2
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int32_t to_motor_vel(int32_t vel); // rpm
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int32_t to_motor_pos(int32_t pos); //
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int32_t to_user_pos(int32_t pos); //
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int32_t to_user_vel(int32_t vel);
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};
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} // namespace iflytop
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#endif
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