tianjialong
/
p_boditech_vidas_a8000_Incubator_control_system_copy
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
da77ba6b9d
commit
53cfe58db6
9 changed files with 175 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. 5
      .vscode/settings.json
  2. 2
      README.md
  3. 139
      app/MDK-ARM/app.uvguix.h_zha
  4. 43
      app/MDK-ARM/app.uvoptx
  5. 10
      app/MDK-ARM/app.uvprojx
  6. 2
      dep/libtrinamic
  7. 31
      src/port.cpp
  8. 2
      src/port.hpp
  9. 35
      src/umain.cpp

5
.vscode/settings.json
View File

@ -11,6 +11,9 @@
"port.h": "c",
"compare": "c",
"tmc4361a_register.h": "c",
"spi.h": "c"
"spi.h": "c",
"atomic": "cpp",
"memory": "cpp",
"random": "cpp"
}
}

2
README.md
View File

@ -9,7 +9,7 @@ STM32F407VET6示例工程
```
1. 实现方法写入和读取一个寄存器
1. 实现方法写入和读取一个寄存器 OK
2. 初始化系统实现从tmc2130读取一个数值
3. 控制tmc4361使得电机转起来
4. 配置闭环寄存器使得电机闭环转起来

139
app/MDK-ARM/app.uvguix.h_zha
File diff suppressed because it is too large
View File

43
app/MDK-ARM/app.uvoptx
View File

@ -153,7 +153,24 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>13</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134231382</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\..\src\umain.cpp</Filename>
<ExecCommand></ExecCommand>
<Expression>\\app\../../src/umain.cpp\13</Expression>
</Bp>
</Breakpoint>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -728,6 +745,30 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC2160\TMC2160.c</PathWithFileName>
<FilenameWithoutPath>TMC2160.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>41</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\dep\libtrinamic\src\ic\tmc2160.cpp</PathWithFileName>
<FilenameWithoutPath>tmc2160.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>

10
app/MDK-ARM/app.uvprojx
View File

@ -965,6 +965,16 @@
<FileType>1</FileType>
<FilePath>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c</FilePath>
</File>
<File>
<FileName>TMC2160.c</FileName>
<FileType>1</FileType>
<FilePath>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC2160\TMC2160.c</FilePath>
</File>
<File>
<FileName>tmc2160.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\dep\libtrinamic\src\ic\tmc2160.cpp</FilePath>
</File>
</Files>
</Group>
<Group>

2
dep/libtrinamic

@ -1 +1 @@
Subproject commit fda8617dbb4ad8624cf954e5ccc3e93f5fcb5ac2
Subproject commit 7eb4b595b55d551e62e5686cc5c478a54709787b

31
src/port.cpp
View File

@ -29,29 +29,17 @@ void port_do_debug_light_state() {
HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN);
}
}
void port_spi_cs_select(uint8_t channel, bool select) {
if (channel == MOTOR_1_TMC4361A_CHANNEL) {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET);
} else if (channel == MOTOR_1_TMC2160_CHANNEL) {
/**
* @brief TMC2160 连接到了 TMC4361A 的 SPI 接口上，所以不需要单独的片选
*/
return;
}
}
void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); }
void port_motor_spi_write_and_read(uint8_t channel, uint8_t* data, size_t length) {
void port_spi_cs_select(bool select) { //
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET);
}
void port_tmc4361_spi_write_and_read(uint8_t* data, size_t length) {
//
if (channel == MOTOR_1_TMC4361A_CHANNEL) {
port_spi_cs_select(channel, false);
port_delay_us(1);
HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000);
port_spi_cs_select(channel, true);
} else if (channel == MOTOR_1_TMC2160_CHANNEL) {
}
port_spi_cs_select(false);
port_delay_us(1);
HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000);
port_spi_cs_select(true);
}
void port_tmc_extern_clk_enable() {
@ -65,12 +53,11 @@ void port_tmc_extern_clk_enable() {
HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4);
#endif
}
int32_t port_tmc4361_get_version(uint8_t channel) {
int value;
uint8_t data[5];
data[0] = 0x7f;
port_motor_spi_write_and_read(channel, &data[0], 5);
port_tmc4361_spi_write_and_read(&data[0], 5);
value = ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
return value;
}

2
src/port.hpp
View File

@ -7,6 +7,6 @@ void port_delay_us(uint32_t us);
/*******************************************************************************
* tmc芯片驱动相关 *
*******************************************************************************/
void port_motor_spi_write_and_read(uint8_t channel, uint8_t *data, size_t length);
void port_tmc4361_spi_write_and_read(uint8_t *data, size_t length);
void port_tmc_extern_clk_enable();
int32_t port_tmc4361_get_version(uint8_t channel) ;

35
src/umain.cpp
View File

@ -2,20 +2,51 @@
#include <stdio.h>
#include "libiflytop_micro\stm32\basic\basic.h"
#include "libtrinamic/src/ic/tmc2160.hpp"
#include "libtrinamic\src\ic\tmc4361A.hpp"
#include "port.hpp"
#include "project_board.hpp"
#define TAG "main"
void libtrinamic_readWriteArray(uint8_t channel, uint8_t *data, size_t length) {}
class TMC4361AImpl : public TMC4361A {
virtual void setResetPinState(bool state){};
virtual void setFREEZEPinState(bool state){};
virtual void setENNPinState(bool state){};
virtual bool getTargetReachedPinState() { return false; };
virtual void sleepus(int32_t us){};
virtual void readWriteArray(uint8_t *data, size_t length) { //
if (m_channel == MOTOR_1_TMC4361A_CHANNEL) {
port_tmc4361_spi_write_and_read(data, length);
}
};
};
static TMC4361A tmc4361motor1;
class TMC2160Impl : public TMC2160 {
TMC4361A *m_tmc4361;
public:
void initialize(uint8_t channel, TMC4361A *tmc4361) {
TMC2160::initialize(channel);
m_tmc4361 = tmc4361;
}
virtual void setENNPinState(bool state){};
virtual void sleepus(int32_t us){};
virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); };
};
static TMC4361AImpl tmc4361motor1;
static TMC2160Impl tmc2160motor1;
extern "C" {
int umain(int argc, char const *argv[]) {
sys_loggger_enable(true);
// tmc4361motor1.init();
tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160);
tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1);
ZLOGI(TAG, "VERSION:%s", VERSION);
port_tmc_extern_clk_enable();

Write Preview
Loading…
Cancel
Save