update

.vscode/settings.json

@@ -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"
     }
 }

README.md

@@ -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

app/MDK-ARM/app.uvoptx

@@ -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>

app/MDK-ARM/app.uvprojx

@@ -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>

dep/libtrinamic

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

src/port.cpp

@@ -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;
 }

src/port.hpp

@@ -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) ;

src/umain.cpp

@@ -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();