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更新TMC驱动代码

master
zhaohe 2 years ago
parent
ce97b66ff5
commit
96b3421768
4 changed files with 50 additions and 50 deletions
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  1. 26
      components/tmc/basic/tmc_ic_interface.hpp
  2. 12
      components/tmc/ic/tmc_driver_ic.hpp
  3. 32
      components/tmc/ic/ztmc4361A.cpp
  4. 30
      components/tmc/ic/ztmc4361A.hpp

26
components/tmc/basic/tmc_ic_interface.hpp
View File

@ -16,33 +16,33 @@ class IStepperMotor {
// virtual void registerListener(MotorEventListener* listener) = 0; // virtual void registerListener(MotorEventListener* listener) = 0;
/**************************************************** /****************************************************
* 閫熷害妯″紡 *
* 速度模式 *
****************************************************/ ****************************************************/
/** /**
* @brief 鏃嬭浆鐢垫満锛屾�杞�负姝ｅ€硷紝璐熻浆涓鸿礋鍊�
* @brief 旋转电机，正转为正值，负转为负值
* *
* @param velocity 鐢垫満鏃嬭浆閫熷害锛屽崟浣嶄负pps
* @param velocity 电机旋转速度，单位为pps
*/ */
virtual void rotate(int32_t velocity) = 0; virtual void rotate(int32_t velocity) = 0;
/**************************************************** /****************************************************
* 浣嶇疆妯″紡 *
* 位置模式 *
****************************************************/ ****************************************************/
/** /**
* @brief 鐢垫満杩愬姩鍒版寚瀹氫綅缃�
* @brief 电机运动到指定位置
* *
* @param position 鐩�爣浣嶇疆
* @param velocityMax 鏈€澶ч€熷害 鐢垫満鏃嬭浆閫熷害锛屽崟浣嶄负pps
* @param position 目标位置
* @param velocityMax 最大速度 电机旋转速度，单位为pps
*/ */
virtual void moveTo(int32_t position, uint32_t velocityMax) = 0; virtual void moveTo(int32_t position, uint32_t velocityMax) = 0;
/** /**
* @brief 鐢垫満鐩稿�浜庡綋鍓嶄綅缃�Щ鍔ㄦ寚瀹氱殑璺濈�
* @brief 电机相对于当前位置移动指定的距离
* *
* @param relativePosition 鐩稿�浜庡綋鍓嶄綅缃�殑璺濈�
* @param velocityMax 鏈€澶ч€熷害 鐢垫満鏃嬭浆閫熷害锛屽崟浣嶄负pps
* @param relativePosition 相对于当前位置的距离
* @param velocityMax 最大速度 电机旋转速度，单位为pps
*/ */
virtual void moveBy(int32_t relativePosition, uint32_t velocityMax) = 0; virtual void moveBy(int32_t relativePosition, uint32_t velocityMax) = 0;
/** /**
* @brief 鍋滄�鐢垫満
* @brief 停止电机
*/ */
virtual void stop() = 0; virtual void stop() = 0;
@ -54,8 +54,8 @@ class IStepperMotor {
virtual int32_t getENC_POS() = 0; virtual int32_t getENC_POS() = 0;
virtual void setENC_POS(int32_t value) = 0; virtual void setENC_POS(int32_t value) = 0;
virtual void setAcceleration(float accelerationpps2) = 0; // 璁剧疆鏈€澶у姞閫熷害
virtual void setDeceleration(float accelerationpps2) = 0; // 璁剧疆鏈€澶у噺閫熷害
virtual void setAcceleration(float accelerationpps2) = 0; // 设置最大加速度
virtual void setDeceleration(float accelerationpps2) = 0; // 设置最大减速度
virtual bool isReachTarget() = 0; virtual bool isReachTarget() = 0;
virtual bool isStoped() = 0; virtual bool isStoped() = 0;

12
components/tmc/ic/tmc_driver_ic.hpp
View File

@ -5,25 +5,25 @@ class TMCDriverICPort {
public: public:
public: public:
/** /**
* @brief 澶嶄綅寮曡剼锛屼綆鏈夋晥銆�
* @brief 复位引脚，低有效。
* *
* @param state * @param state
*/ */
virtual void TMCDriverICPort_setResetPinState(uint16_t channel, bool state) = 0; virtual void TMCDriverICPort_setResetPinState(uint16_t channel, bool state) = 0;
/** /**
* @brief 浣胯兘寮曡剼锛屼綆鏈夋晥銆�
* @brief 使能引脚，低有效。
* *
* @param state * @param state
*/ */
virtual void TMCDriverICPort_setENNPinState(uint16_t channel, bool state) = 0; virtual void TMCDriverICPort_setENNPinState(uint16_t channel, bool state) = 0;
/** /**
* @brief us绾у埆寤舵椂鍑芥暟銆�
* @brief us级别延时函数。
* *
* @param us * @param us
*/ */
virtual void TMCDriverICPort_sleepus(int32_t us) = 0; virtual void TMCDriverICPort_sleepus(int32_t us) = 0;
/** /**
* @brief SPI璇诲啓鎺ュ彛
* @brief SPI读写接口
* *
* @param data * @param data
* @param length * @param length
@ -45,9 +45,9 @@ class TMCDriverICInterface {
virtual void writeInt(uint8_t address, int32_t value) = 0; virtual void writeInt(uint8_t address, int32_t value) = 0;
virtual int32_t readInt(uint8_t address) = 0; virtual int32_t readInt(uint8_t address) = 0;
/** /**
* @brief 璇诲彇鑺�墖鐗堟湰
* @brief 读取芯片版本
* *
* @return int32_t 榛樿�涓�0x30
* @return int32_t 默认为0x30
*/ */
virtual int32_t readICVersion() = 0; virtual int32_t readICVersion() = 0;

32
components/tmc/ic/ztmc4361A.cpp
View File

@ -85,7 +85,7 @@ void TMC4361A::readWriteCover(uint8_t *data, size_t length) {
if (length > 4) writeDatagram(TMC4361A_COVER_HIGH_WR, bytes[7], bytes[6], bytes[5], bytes[4]); if (length > 4) writeDatagram(TMC4361A_COVER_HIGH_WR, bytes[7], bytes[6], bytes[5], bytes[4]);
writeDatagram(TMC4361A_COVER_LOW_WR, bytes[3], bytes[2], bytes[1], bytes[0]); writeDatagram(TMC4361A_COVER_LOW_WR, bytes[3], bytes[2], bytes[1], bytes[0]);
zchip_clock_early_delayus(10 * 1000);
zos_delay(10);
// Read the reply // Read the reply
if (length > 4) { if (length > 4) {
@ -118,9 +118,9 @@ TMC4361A::TMC4361A(/* args */) {
} }
/** /**
* @brief * @brief
* 褰撹皟鐢═MC-API涓�殑tmc4361A_reset/restore鏃跺€欙紝TMC-API涓�殑鏂规硶浼氬垵濮嬪寲鏁翠釜鑺�墖鐨勫瘎瀛樺櫒
* 褰撳瘎瀛樺櫒鍒濆�鍖栧畬鎴愪箣鍚庯紝浼氳皟鐢ㄨ繖涓�柟娉曘€?
* 鎴戜滑鍙�互鍦ㄨ繖涓�柟娉曚腑锛屽�鑺�墖鐨勯儴鍒嗗瘎瀛樺櫒杩涜�鍒濆�鍖栥€?
* 当调用TMC-API中的tmc4361A_reset/restore时候，TMC-API中的方法会初始化整个芯片的寄存器
* 当寄存器初始化完成之后，会调用这个方法??
* 我们可以在这个方法中，对芯片的部分寄存器进行初始化??
* @param state * @param state
*/ */
void TMC4361A::tmc4361AConfigCallback(ConfigState state) {} void TMC4361A::tmc4361AConfigCallback(ConfigState state) {}
@ -131,14 +131,14 @@ void TMC4361A::writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift,
void TMC4361A::setAcceleration(float accelerationpps2) { void TMC4361A::setAcceleration(float accelerationpps2) {
/** /**
* @brief * @brief
* TMC4361A_AMAX:鏈変袱绉嶆ā寮忥紝杩欓噷浣跨敤鐨勬槸棰戠巼妯″紡
* TMC4361A_AMAX:有两种模式，这里使用的是频率模式
* *
* Frequency mode: [pulses per sec2] * Frequency mode: [pulses per sec2]
* 22 digits and 2 decimal places: 250 mpps^2 鈮? AMAX 鈮? 4 Mpps^2
* Direct mode: [鈭唙 per clk cycle]
* a[鈭唙 per clk_cycle]= AMAX / 2^37
* AMAX [pps2] = AMAX / 237 鈥? fCLK^2
* 22 digits and 2 decimal places: 250 mpps^2 ?? AMAX ?? 4 Mpps^2
* Direct mode: [?v per clk cycle]
* a[?v per clk_cycle]= AMAX / 2^37
* AMAX [pps2] = AMAX / 237 ?? fCLK^2
*/ */
int32_t acc = (int32_t)accelerationpps2; int32_t acc = (int32_t)accelerationpps2;
@ -147,13 +147,13 @@ void TMC4361A::setAcceleration(float accelerationpps2) {
void TMC4361A::setDeceleration(float accelerationpps2) { void TMC4361A::setDeceleration(float accelerationpps2) {
/** /**
* @brief * @brief
* TMC4361A_DMAX:鏈変袱绉嶆ā寮忥紝杩欓噷浣跨敤鐨勬槸棰戠巼妯″紡
* TMC4361A_DMAX:有两种模式，这里使用的是频率模式
* *
* Frequency mode: [pulses per sec2] * Frequency mode: [pulses per sec2]
* 22 digits and 2 decimal places: 250 mpps^2 鈮? AMAX 鈮? 4 Mpps^2
* Direct mode: [鈭唙 per clk cycle]
* a[鈭唙 per clk_cycle]= AMAX / 2^37
* AMAX [pps2] = AMAX / 237 鈥? fCLK^2
* 22 digits and 2 decimal places: 250 mpps^2 ?? AMAX ?? 4 Mpps^2
* Direct mode: [?v per clk cycle]
* a[?v per clk_cycle]= AMAX / 2^37
* AMAX [pps2] = AMAX / 237 ?? fCLK^2
*/ */
int32_t acc = (int32_t)accelerationpps2; int32_t acc = (int32_t)accelerationpps2;
@ -190,7 +190,7 @@ void TMC4361A::initialize(cfg_t *cfg) {
zchip_clock_early_delayus(300 * 1000); zchip_clock_early_delayus(300 * 1000);
zchip_clock_early_delayus(300 * 1000); zchip_clock_early_delayus(300 * 1000);
driverIC_setIHOLD_IRUN(1, 3, 0); // 娉ㄦ剰瑕佸厛璁剧疆IHOLD鍐嶈�缃甀RUN,鍚﹀垯鐢垫満璺戜笉璧锋潵
driverIC_setIHOLD_IRUN(1, 3, 0); // 注意要先设置IHOLD再设置IRUN,否则电机跑不起来
} }
uint8_t TMC4361A::reset() { uint8_t TMC4361A::reset() {
// Pulse the low-active hardware reset pin // Pulse the low-active hardware reset pin
@ -200,7 +200,7 @@ uint8_t TMC4361A::reset() {
SET_PIN(m_resetPin, true); SET_PIN(m_resetPin, true);
/** /**
* @brief 閲嶇疆鑺�墖闀滃儚瀵勫瓨鍣?
* @brief 重置芯片镜像寄存??
* *
*/ */
for (uint32_t add = 0; add < TMC4361A_REGISTER_COUNT; add++) { for (uint32_t add = 0; add < TMC4361A_REGISTER_COUNT; add++) {

30
components/tmc/ic/ztmc4361A.hpp
View File

@ -68,15 +68,15 @@ class TMC4361A : public IStepperMotor {
TMC4361A(/* args */); TMC4361A(/* args */);
/******************************************************************************* /*******************************************************************************
* 鍒濆�鍖栫浉鍏虫柟娉? *
* 初始化相关方?? *
*******************************************************************************/ *******************************************************************************/
/** /**
* @brief 闈欐€佹柟娉曪紝鍒涘缓榛樿�鐨凾MC4361A閰嶇疆鍙傛暟,浣跨敤鏃跺彧闇€淇�敼鑷�繁闇€瑕佺殑鍙傛暟鍗冲彲
* @brief 静态方法，创建默认的TMC4361A配置参数,使用时只需修改自己需要的参数即可
* *
* 娉ㄦ剰:
* 1. 璇ユ柟娉曞唴閮ㄤ娇鐢ㄧ殑鏄�竴涓�潤鎬佸彉閲忥紝鎵€浠ユ瘡娆¤皟鐢ㄨ�鏂规硶鏃讹紝杩斿洖鐨勯兘鏄�悓涓€涓��璞＄殑鍦板潃銆?
* 2. 璇ユ柟娉曡繑鍥炵殑鏁板€间笉闇€瑕佽�閲婃斁銆?
* 注意:
* 1. 该方法内部使用的是一个静态变量，所以每次调用该方法时，返回的都是同一个对象的地址??
* 2. 该方法返回的数值不需要被释放??
* @param config * @param config
*/ */
@ -96,26 +96,26 @@ class TMC4361A : public IStepperMotor {
virtual int32_t getVACTUAL(); virtual int32_t getVACTUAL();
virtual int32_t getENC_POS(); virtual int32_t getENC_POS();
virtual void setENC_POS(int32_t value); virtual void setENC_POS(int32_t value);
virtual void setAcceleration(float accelerationpps2); // 璁剧疆鏈€澶у姞閫熷害
virtual void setDeceleration(float accelerationpps2); // 璁剧疆鏈€澶у噺閫熷害
virtual void setAcceleration(float accelerationpps2); // 设置最大加速度
virtual void setDeceleration(float accelerationpps2); // 设置最大减速度
/******************************************************************************* /*******************************************************************************
* 椹卞姩鍣ㄥ垵濮嬪寲鏂规硶 *
* 驱动器初始化方法 *
*******************************************************************************/ *******************************************************************************/
/** /**
* @brief 鍒濆�鍖栨柟娉?
* @brief 初始化方??
* *
* @param channel SPI閫氶亾鍙?
* @param driver_ic_type 椹卞姩鑺�墖鐨勭被鍨?
* @param channel SPI通道??
* @param driver_ic_type 驱动芯片的类??
*/ */
int32_t readICVersion(); int32_t readICVersion();
uint8_t reset(); uint8_t reset();
uint8_t restore(); uint8_t restore();
/******************************************************************************* /*******************************************************************************
* 甯哥敤瀵勫瓨鍣ㄨ�鍐欐柟娉? *
* 常用寄存器读写方?? *
*******************************************************************************/ *******************************************************************************/
/******************************************************************************* /*******************************************************************************
* 椹卞姩鍣ㄥ瘎瀛樺櫒璇诲啓鏂规硶 *
* 驱动器寄存器读写方法 *
*******************************************************************************/ *******************************************************************************/
void writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4); void writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
void writeInt(uint8_t address, int32_t value); void writeInt(uint8_t address, int32_t value);
@ -123,8 +123,8 @@ class TMC4361A : public IStepperMotor {
void readWriteCover(uint8_t *data, size_t length); void readWriteCover(uint8_t *data, size_t length);
void writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value); void writeSubRegister(uint8_t address, uint32_t mask, uint32_t shift, uint32_t value);
int32_t getENC_POS_DEV(); // ENC_POS鍜孹ACTUAL鐨勫亸宸�€?
uint32_t readEVENTS(); // 璇诲彇浜嬩欢瀵勫瓨鍣?
int32_t getENC_POS_DEV(); // ENC_POS和XACTUAL的偏差??
uint32_t readEVENTS(); // 读取事件寄存??
/******************************************************* /*******************************************************
* driverIc function * * driverIc function *
*******************************************************/ *******************************************************/

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