From a0914f54c0bd3d7983049ecad26d6d00d01bee1c Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 11 Apr 2023 14:58:03 +0800 Subject: [PATCH] =?UTF-8?q?tmc4361=E9=97=AD=E7=8E=AF=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E7=94=B5=E6=9C=BAOK?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/MDK-ARM/app.uvguix.h_zha | 60 ++++++++++++++++++++++---------------------- app/MDK-ARM/app.uvoptx | 2 +- dep/libtrinamic | 2 +- src/umain.cpp | 18 ++++++++++--- 4 files changed, 46 insertions(+), 36 deletions(-) diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index b441606..5b94d17 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha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ile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uild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ore/Src/main.c 0 @@ -3660,18 +3660,18 @@ ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp - 0 - 76 - 102 + 21 + 49 + 76 1 0 ..\..\src\umain.cpp - 0 - 13 - 36 + 25 + 23 + 48 1 0 @@ -3679,7 +3679,7 @@ ..\..\src\port.cpp 4 - 21 + 22 47 1 @@ -3706,8 +3706,8 @@ ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp 0 - 21 - 22 + 97 + 98 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index d7a2fb5..0043e92 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -140,7 +140,7 @@ 0 JL2CM3 - -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($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) + -U23520538 -O78 -S5 -ZTIFSpeedSel1000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) 0 diff --git a/dep/libtrinamic b/dep/libtrinamic index 1665bb7..f1a6550 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit 1665bb75e0e73e8fe76e2f5bbc81a5e10c2942d1 +Subproject commit f1a65503a8e2af9a02dbd46c8b5aac138faf9865 diff --git a/src/umain.cpp b/src/umain.cpp index 320234c..87d1f11 100644 --- a/src/umain.cpp +++ b/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; }