project_boditech_vidas_a8000_v3
/
a8000_subboard_sdk
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 1 year ago
parent
64fcdac4e9
commit
7dae22500d
5 changed files with 107 additions and 94 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 1
      components/tmc/basic/tmc_ic_interface.hpp
  3. 191
      components/tmc/ic/ztmc4361A.cpp
  4. 4
      components/tmc/ic/ztmc5130.cpp
  5. 3
      components/tmc/ic/ztmc5130.hpp

2
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -371,7 +371,7 @@ bool StepMotorCtrlModule::check_when_run() {
}
TMC51X0* tmc5130 = dynamic_cast<TMC51X0*>(m_stepM1);
if (tmc5130) {
if (tmc5130 && tmc5130->isTMC5130()) {
auto state = tmc5130->getGState();
auto devStatus = tmc5130->getDevStatus();
if (state.reset) {

1
components/tmc/basic/tmc_ic_interface.hpp
View File

@ -20,6 +20,7 @@ typedef enum {
kTMC4361A = 0x2,
kTMC2160 = 0x30,
kTMC5130 = 0x11,
// kTMC5160 = 0x30,
} tmcic_id_t;
class IStepperMotor {

191
components/tmc/ic/ztmc4361A.cpp
View File

@ -202,69 +202,30 @@ void TMC4361A::init() {
driverIC_writeInt(0x81, 0x07);
driverIC_writeInt(0x80, 0x12200);
driverIC_writeInt(0x90, 0x00071600);
driverIC_writeInt(0x91, 0x0a);
driverIC_writeInt(0x94, 200);
driverIC_writeInt(0x95, 50);
driverIC_writeInt(0xEE, 0x70025);
driverIC_writeInt(0xF0, 0x404FF);
driverIC_writeInt(0xEC, 0x03010223);
driverIC_writeInt(0xED, 0x100a220);
tmc4361_writeInt(0x24, 0);
tmc4361_writeInt(0x21, 0);
tmc4361_writeInt(0x37, 0);
driverIC_writeInt(0x6D, 0x6d);
driverIC_writeInt(0x6c, 0);
#if 0
tmc4361_writeInt(0x54, 4000); // Encoder resolution = 4000/rev
tmc4361_writeInt(0x1C, 0xff00ff); // CL_BETA=CL_GAMMA=255
tmc4361_writeInt(0x5C, 0x10000); // cl_p = 1.0
// cl calibration:
tmc4361_writeInt(0x20, 0x06); // hold+pos mode
tmc4361_writeInt(0x24, 0x100000); // slow vel
tmc4361_writeInt(0x07, 0x400000); // turn on cl
tmc4361_writeInt(0x37, 0x80); // move to FS position
tmc4361_writeInt(0x07, 0x1400000); // turn on cl calibration
osDelay(100);
tmc4361_writeInt(0x07, 0x400000); // turn off cl calibration
tmc4361_writeInt(0x24, 0); // v=0
#endif
// S-shaped Ramps setup:
tmc4361_writeInt(0x20, 0x06); // s-ramp + pos mode
tmc4361_writeInt(0x24, 0x31A8000); // vmax=800kpps
tmc4361_writeInt(0x28, 30000); // amax
tmc4361_writeInt(0x29, 15000); // dmax
tmc4361_writeInt(0x2D, 0x100); // bow1
tmc4361_writeInt(0x2E, 0x100); // bow2
tmc4361_writeInt(0x2F, 0x100); // bow3
tmc4361_writeInt(0x30, 0x100); // bow4
// cl operation setup:
#if 0
tmc4361_writeInt(0x60, 250000); // emf_vmin =
tmc4361_writeInt(0x61, 450000); // emf_vadd = -> emf_vmax =
tmc4361_writeInt(0x62, 0xffffff); // emf_vel0_timer
tmc4361_writeInt(0x63, 0x2000864); // enc vel filter settings
tmc4361_writeInt(0x5F, 5); // cl_tolerance=20
tmc4361_writeInt(0x5C, 0x10000); // cl_p=1.0
tmc4361_writeInt(0x5A, 3000); // cl_vlimit_p=200
tmc4361_writeInt(0x5B, 300); // cl_vlimit_i=50
tmc4361_writeInt(0x5D, 1000); // cl_vlimit_diclip=1000
tmc4361_writeInt(0x5E, 200000); // cl_vlimit=200kpps
tmc4361_writeInt(0x06, 0x32ff64); // cl scaling values
tmc4361_writeInt(0x18, 600); // cl_upscale=1000
tmc4361_writeInt(0x19, 200000); // cl_dnscale=10000
tmc4361_writeInt(0x07, 0xa400000); // cl with gamma correction and vlimit
tmc4361_writeInt(0x05, 0x80); // cl scaling on
#endif
driverIC_writeInt(0x90, 0x00070700); // ihold=20, iholddelay=5, irun=20
driverIC_writeInt(0x91, 0x0a); // TZEROWAIT=10
driverIC_writeInt(0x94, 200); // TCOOLTHRS
driverIC_writeInt(0x95, 50); // THIGH
driverIC_writeInt(0xEE, 0x70025); // DCCTRLSG=5, DC_TIME=37
driverIC_writeInt(0xF0, 0x404FF); // PWMCONF
driverIC_writeInt(0xEC, 0x00010223); // CHOPCONF
driverIC_writeInt(0xED, 0x100a220); // COOLCONF
driverIC_writeInt(0x8b, 0x00); // global scaler = 0
tmc4361_writeInt(0x24, 0); // v=0
tmc4361_writeInt(0x21, 0); // xact=0
tmc4361_writeInt(0x37, 0); // xtarg=0
tmc4361_writeInt(0x6D, 0x80); // GCONF
tmc4361_writeInt(0x6C, 0x00); // 0x12200 diag1=index, pushpull, direct_mode = off --> SD mode
tmc4361_writeInt(0x20, 0x06); // s-ramp + pos mode
tmc4361_writeInt(0x2D, 0x100); // bow1
tmc4361_writeInt(0x2E, 0x100); // bow2
tmc4361_writeInt(0x2F, 0x100); // bow3
tmc4361_writeInt(0x30, 0x100); // bow4
tmc4361_writeInt(TMC4361A_AMAX, 10000); // amax
tmc4361_writeInt(TMC4361A_DMAX, 10000); // dmax
}
uint8_t TMC4361A::reset() {
@ -279,41 +240,87 @@ uint8_t TMC4361A::reset() {
zchip_clock_early_delayus(1000);
tmc4361_writeInt(TMC4361A_RESET_REG, 0);
init();
// 发送 0x4440128C to SPI_OUT_CONF 寄存器 0x04。
// 发送 0xEC 到 COVER_HIGH 寄存器 0x6D 及 0x000100C3 到 COVER_LOW 寄存器 0x6C。
// 发送 0x90 到 COVER_HIGH 寄存器 0x6D 及 0x00061F0A 到 COVER_LOW 寄存器 0x6C。
// 发送 0x91 到 COVER_HIGH 寄存器 0x6D 及 0x0000000A 到 COVER_LOW 寄存器 0x6C。
// 发送 0x80 到 COVER_HIGH 寄存器 0x6D 及 0x00000004 到 COVER_LOW 寄存器 0x6C。
// 发送 0x93 到 COVER_HIGH 寄存器 0x6D 及 0x000001F4 到 COVER_LOW 寄存器 0x6C。
#if 0
tmc4361_writeInt(0x04, 0x4440128C);
tmc4361_writeInt(0x6D, 0xEC);
tmc4361_writeInt(0x6C, 0x000100C3);
tmc4361_writeInt(0x6D, 0x90);
tmc4361_writeInt(0x6C, 0x00061F0A);
tmc4361_writeInt(0x6D, 0x91);
tmc4361_writeInt(0x6C, 0x0000000A);
tmc4361_writeInt(0x6D, 0x80);
tmc4361_writeInt(0x6C, 0x00000004);
tmc4361_writeInt(0x6D, 0x93);
tmc4361_writeInt(0x6C, 0x000001F4);
#endif
#if 0
//  将 0x4440128D 发送至 SPI_OUT_CONF 寄存器 0x04。
//  发送 0x80 至 COVER_HIGH 寄存器 0x6D，发送 0x00010000 至 COVER_LOW 寄存器 0x6C。
//  发送 0xEC 至 COVER_HIGH 寄存器 0x6D，发送 0x000100C3 至 COVER_LOW 寄存器 0x6C。
//  发送 0x90 至 COVER_HIGH 寄存器 0x6D，发送 0x00000A0A 至 COVER_LOW 寄存器 0x6C。
tmc4361_writeInt(0x04, 0x4440128D);
tmc4361_writeInt(0x6D, 0x80);
tmc4361_writeInt(0x6C, 0x00010000);
tmc4361_writeInt(0x6D, 0xEC);
tmc4361_writeInt(0x6C, 0x000100C3);
tmc4361_writeInt(0x6D, 0x90);
tmc4361_writeInt(0x6C, 0x00000A0A);
#endif
#if 0
/**
* @brief 重置芯片镜像寄存??
*
*/
// for (uint32_t add = 0; add < TMC4361A_REGISTER_COUNT; add++) {
// if (!TMC_IS_RESETTABLE(m_registerAccessTable[add])) {
// continue;
// }
// tmc4361_writeInt(add, m_defaultRegisterResetState[add]);
// }
for (uint32_t add = 0; add < TMC4361A_REGISTER_COUNT; add++) {
if (!TMC_IS_RESETTABLE(m_registerAccessTable[add])) {
continue;
}
tmc4361_writeInt(add, m_defaultRegisterResetState[add]);
}
init();
// init();
// uint8_t driver, dataLength;
// uint32_t value;
// // Setup SPI
// switch (m_driver_ic_type) {
// case IC_TMC2130:
// case IC_TMC2160:
// driver = 0x0C;
// dataLength = 0;
// break;
// case IC_TMC2660:
// driver = 0x0B;
// dataLength = 0;
// break;
// default:
// driver = 0x0F;
// dataLength = 40;
// break;
// }
// value = 0x44400040 | (dataLength << 13) | (driver << 0);
// tmc4361_writeInt(TMC4361A_SPIOUT_CONF, value);
// tmc4361_writeInt(TMC4361A_CURRENT_CONF, 0x00000003);
// tmc4361_writeInt(TMC4361A_SCALE_VALUES, 0x00000000);
uint8_t driver, dataLength;
uint32_t value;
// Setup SPI
switch (m_driver_ic_type) {
case IC_TMC2130:
case IC_TMC2160:
driver = 0x0C;
dataLength = 0;
break;
case IC_TMC2660:
driver = 0x0B;
dataLength = 0;
break;
default:
driver = 0x0F;
dataLength = 40;
break;
}
value = 0x44400040 | (dataLength << 13) | (driver << 0);
tmc4361_writeInt(TMC4361A_SPIOUT_CONF, value);
tmc4361_writeInt(TMC4361A_CURRENT_CONF, 0x00000003);
tmc4361_writeInt(TMC4361A_SCALE_VALUES, 0x00000000);
#endif
return 1;
}
uint8_t TMC4361A::restore() { return 1; }

4
components/tmc/ic/ztmc5130.cpp
View File

@ -136,6 +136,10 @@ void TMC51X0::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay)
#define TMC5160_GLOBAL_SCALER 0x0B
#define TMC5160_GLOBAL_SCALER_MASK 0xFF
#define TMC5160_GLOBAL_SCALER_SHIFT 0
bool TMC51X0::isTMC5130() {
uint32_t chipId = readICVersion();
return chipId == kTMC5130;
}
void TMC51X0::setGlobalScale(uint8_t globalscale) { //

3
components/tmc/ic/ztmc5130.hpp
View File

@ -41,7 +41,6 @@ class Tmc5130RampStat {
Tmc5130RampStat(uint32_t state) : m_state(state) {}
bool isSetted(ramp_stat_bit_t bit) { return (m_state & bit) != 0; }
};
class TMC51X0 : public IStepperMotor {
@ -138,6 +137,8 @@ class TMC51X0 : public IStepperMotor {
return *(GState_t *)&value;
}
bool isTMC5130();
public:
uint8_t reset();
uint32_t readICVersion(); // 5130:0x11 5160:0x30

Write Preview
Loading…
Cancel
Save