tmc4361闭环控制电机OK

app/MDK-ARM/app.uvoptx

@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U23520538 -O78 -S4 -ZTIFSpeedSel2000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
+          <Name>-U23520538 -O78 -S5 -ZTIFSpeedSel1000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>

dep/libtrinamic

@@ -1 +1 @@
-Subproject commit 1665bb75e0e73e8fe76e2f5bbc81a5e10c2942d1
+Subproject commit f1a65503a8e2af9a02dbd46c8b5aac138faf9865

src/umain.cpp

@@ -12,6 +12,7 @@
 //
 // port_tmc_DRV_ENN_pin_set_state
 
+using namespace iflytop;
 class TMC4361AImpl : public TMC4361A {
  protected:
   virtual void setResetPinState(bool state) { port_tmc_nRESET_pin_set_state(m_channel, state); };
@@ -37,7 +38,6 @@ class TMC2160Impl : public TMC2160 {
   virtual void sleepus(int32_t us) { port_delay_us(us); };
   virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); };
 };
-
 static TMC4361AImpl tmc4361motor1;
 static TMC2160Impl  tmc2160motor1;
 
@@ -48,8 +48,14 @@ int umain(int argc, char const *argv[]) {
   port_tmc_extern_clk_enable();
   // tmc4361motor1.init();
 
-  tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160);
+  TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig();
+
+  tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig);
   tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1);
+
+  // 2160初始化
+  tmc2160motor1.setMaximumCurrent(3);
+
   HAL_Delay(100);
   tmc4361motor1.enableIC(true);
   tmc2160motor1.enableIC(true);
@@ -60,14 +66,18 @@ int umain(int argc, char const *argv[]) {
   int32_t ic4361Version = tmc4361motor1.readICVersion();
   int32_t ic2160Version = tmc2160motor1.readICVersion();
   // 期望 4361Version:2  ic2160Version:30
-  ZLOGI(TAG, "4361Version:%x  ic2160Version:%x", ic4361Version, ic2160Version);
+  ZLOGI(TAG, "TMC4361Version:%x  TMC2160VERSION:%x", ic4361Version, ic2160Version);
 
   tmc4361motor1.setMaximumAcceleration(300000);
   tmc4361motor1.setMaximumDeceleration(300000);
-  tmc4361motor1.rotate(100000);
+  tmc4361motor1.moveTo(41370340, 500000);
 
   while (true) {
     port_do_debug_light_state();
+    HAL_Delay(30);
+    int32_t encpos  = tmc4361motor1.getENC_POS();
+    int32_t xactual = tmc4361motor1.getXACTUAL();
+    ZLOGI(TAG, "encpos:%d  xactual:%d  %d", encpos, xactual, tmc4361motor1.getENC_POS_DEV());
   }
   return 0;
 }