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@ -9,19 +9,20 @@ |
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#define TAG "main"
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//
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// port_tmc_DRV_ENN_pin_set_state
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class TMC4361AImpl : public TMC4361A { |
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virtual void setResetPinState(bool state){}; |
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virtual void setFREEZEPinState(bool state){}; |
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virtual void setENNPinState(bool state){}; |
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protected: |
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virtual void setResetPinState(bool state) { port_tmc_nRESET_pin_set_state(m_channel, state); }; |
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virtual void setFREEZEPinState(bool state) { port_tmc_nFREEZE_pin_set_state(m_channel, state); }; |
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virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; |
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virtual bool getTargetReachedPinState() { return false; }; |
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virtual void sleepus(int32_t us) { port_delay_us(us); }; |
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virtual void readWriteArray(uint8_t *data, size_t length) { //
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if (m_channel == MOTOR_1_TMC4361A_CHANNEL) { |
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port_tmc4361_spi_write_and_read(data, length); |
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} |
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port_tmc_motor_spi_write_and_read(m_channel, data, length); |
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}; |
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}; |
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class TMC2160Impl : public TMC2160 { |
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TMC4361A *m_tmc4361; |
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@ -31,8 +32,9 @@ class TMC2160Impl : public TMC2160 { |
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TMC2160::initialize(channel); |
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} |
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virtual void setENNPinState(bool state){}; |
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virtual void sleepus(int32_t us){}; |
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protected: |
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virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; |
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virtual void sleepus(int32_t us) { port_delay_us(us); }; |
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virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; |
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}; |
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@ -48,13 +50,23 @@ int umain(int argc, char const *argv[]) { |
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tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160); |
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tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1); |
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HAL_Delay(100); |
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tmc4361motor1.enableIC(true); |
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tmc2160motor1.enableIC(true); |
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/**
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* @brief 通过读取Version寄存器来判断芯片是否正常 |
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*/ |
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int32_t ic4361Version = tmc4361motor1.readICVersion(); |
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int32_t ic2160Version = tmc2160motor1.readICVersion(); |
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// 期望 4361Version:2 ic2160Version:30
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ZLOGI(TAG, "4361Version:%x ic2160Version:%x", ic4361Version, ic2160Version); |
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tmc4361motor1.setMaximumAcceleration(300000); |
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tmc4361motor1.setMaximumDeceleration(300000); |
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tmc4361motor1.rotate(100000); |
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while (true) { |
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int32_t ic4361Version = tmc4361motor1.readICVersion(); |
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int32_t ic2160Version = tmc2160motor1.readICVersion(); |
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ZLOGI(TAG, "4361Version:%x ic2160Version:%x", ic4361Version, ic2160Version); |
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port_do_debug_light_state(); |
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} |
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return 0; |
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