update

dep/libtrinamic

@@ -1 +1 @@
-Subproject commit cab741ca3a6c542ebf25e6ef3a1d46766d035f55
+Subproject commit 02807418568c7fdb1bee192424af3ad274b06269

src/board/device_io_service.cpp

@@ -169,8 +169,9 @@ void DeviceIoService::tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) {
     HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET);
   }
 }
-void DeviceIoService::tmc_ENN_pin_set_state(uint8_t channel, bool state) {
-  if (channel == MOTOR_1_TMC2160_CHANNEL) {
+void DeviceIoService::tmc_ENN_pin_set_state(uint8_t channel, bool state) {}
+void DeviceIoService::tmc_subic_ENN_pin_set_state(uint8_t channel, bool state) {
+  if (channel == MOTOR_1_TMC4361A_CHANNEL) {
     HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, state ? GPIO_PIN_SET : GPIO_PIN_RESET);
   }
 }

src/board/device_io_service.hpp

@@ -53,6 +53,7 @@ class DeviceIoService : public IflytopMicroOS {
   void tmc_extern_clk_enable();
   void tmc_nFREEZE_pin_set_state(uint8_t channel, bool state);
   void tmc_ENN_pin_set_state(uint8_t channel, bool state);
+  void tmc_subic_ENN_pin_set_state(uint8_t channel, bool state);
   void tmc_nRESET_pin_set_state(uint8_t channel, bool state);
 
   /*******************************************************************************

src/board/hardware.cpp

@@ -3,7 +3,7 @@
 #include "i2c.h"
 using namespace iflytop;
 #define TAG        "hardware"
-#define ENABLE_CAN 1
+#define ENABLE_CAN 0
 
 int32_t Hardware::port_tmc4361_get_version(uint8_t channel) {
   int     value;
@@ -56,6 +56,7 @@ void Hardware::hardwareinit() {
   // 4361初始化
   TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig       = TMC4361AImpl::createDeafultTMC4361AConfig();
   tmc4361aconfig->encoder_config.diff_enc_in_disable   = false;
+  tmc4361aconfig->encoder_config.invert_enc_dir        = true;  // 如果编码器方向和期望方向相反，设置为true
   tmc4361aconfig->encoder_config.enc_in_res            = 4000;
   tmc4361aconfig->close_loop_config.enable_closed_loop = false;
 
@@ -63,27 +64,29 @@ void Hardware::hardwareinit() {
   tmc4361motor1.setMaximumAcceleration(300000);
   tmc4361motor1.setMaximumDeceleration(300000);
 
-  // 2160初始化
-  tmc2160motor1.initialize(&m_deviceIoService, &tmc4361motor1, MOTOR_1_TMC2160_CHANNEL);
-  tmc2160motor1.setMaximumCurrent(3);
-
   HAL_Delay(100);
   // 使能电机
-  tmc2160motor1.enableIC(true);
   tmc4361motor1.enableIC(true);
   /**
    * @brief 通过读取Version寄存器来判断芯片是否正常
    */
   int32_t ic4361Version = tmc4361motor1.readICVersion();
-  int32_t ic2160Version = tmc2160motor1.readICVersion();
-
+  int32_t ic2160Version = tmc4361motor1.read2160ICVersion();
   ZLOGI(TAG, "TMC4361Version:%x  TMC2160VERSION:%x", ic4361Version, ic2160Version);
-  if (ic4361Version != 2 || ic2160Version != 30) {
+  if (ic4361Version != 2) {
     ZLOGE(TAG, "TMC4361 or TMC2160 is not normal");
   }
   // 期望 4361Version:2  ic2160Version:30
+  // tmc4361motor1.stop();
+#if 1
+  // 测试编码器方向
+  tmc4361motor1.rotate(-300000);
+  while (true) {
+    HAL_Delay(100);
+    ZLOGI(TAG, "TMC4361A: XACTUAL:%d ENC_POS:%d DIFF:%d", tmc4361motor1.getXACTUAL(), tmc4361motor1.getENC_POS(), tmc4361motor1.getENC_POS_DEV());
+  }
+#endif
 
-  tmc4361motor1.rotate(300000);
 #endif
 /*******************************************************************************
  *                               风扇初始化                                *

src/board/hardware.hpp

@@ -13,7 +13,6 @@ class Hardware {
 
  public:
   TMC4361AImpl    tmc4361motor1;
-  TMC2160Impl     tmc2160motor1;
   TMP117          tmp117[4];
   FanStateMonitor m_fanStateMonitor[6];
   IflytopCanSlave canSlaveService;

src/board/libtmcimpl.cpp

@@ -10,26 +10,14 @@ using namespace std;
 void TMC4361AImpl::setResetPinState(bool state) { m_deviceIoService->tmc_nRESET_pin_set_state(m_channel, state); };
 void TMC4361AImpl::setFREEZEPinState(bool state) { m_deviceIoService->tmc_nFREEZE_pin_set_state(m_channel, state); };
 void TMC4361AImpl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); };
+void TMC4361AImpl::setSubICENNPinState(bool state) { m_deviceIoService->tmc_subic_ENN_pin_set_state(m_channel, state); }
 bool TMC4361AImpl::getTargetReachedPinState() { return false; };
 void TMC4361AImpl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); };
 void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) {  //
   m_deviceIoService->tmc_motor_spi_write_and_read(m_channel, data, length);
 };
-
 void TMC4361AImpl::initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config) {
   m_deviceIoService = deviceIoService;
   TMC4361A::initialize(channel, driver_ic_type, config);
 }
-
-/*******************************************************************************
- *                                 TMC2160Impl                                 *
- *******************************************************************************/
-void TMC2160Impl::initialize(DeviceIoService *deviceIoService, TMC4361A *tmc4361, uint8_t channelId) {
-  m_tmc4361         = tmc4361;
-  m_deviceIoService = deviceIoService;
-  TMC2160::initialize(channelId);
-}
-void TMC2160Impl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); };
-void TMC2160Impl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); };
-void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); };
 }  // namespace iflytop

src/board/libtmcimpl.hpp

@@ -19,23 +19,9 @@ class TMC4361AImpl : public TMC4361A {
   virtual bool getTargetReachedPinState();
   virtual void sleepus(int32_t us);
   virtual void readWriteArray(uint8_t *data, size_t length);
+  virtual void setSubICENNPinState(bool state);
 
  public:
   void initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config);
 };
-/**
- * @brief 对接TMC2160和硬件的接口
- */
-class TMC2160Impl : public TMC2160 {
-  TMC4361A        *m_tmc4361;
-  DeviceIoService *m_deviceIoService;
-
- public:
-  void initialize(DeviceIoService *deviceIoService, TMC4361A *tmc4361, uint8_t channelId);
-
- protected:
-  virtual void setENNPinState(bool state);
-  virtual void sleepus(int32_t us);
-  virtual void readWriteArray(uint8_t *data, size_t length);
-};
 }  // namespace iflytop

src/lncubator_rotating_control_service.cpp

@@ -2,23 +2,43 @@
 
 using namespace iflytop;
 
+const uint32_t LncubatorRotatingControlService::mc_onecircle_ustep_num = (256 * 200 * 50);
+const uint32_t LncubatorRotatingControlService::mc_default_velocity    = 500000;  // 500k
+
 LncubatorRotatingControlService::LncubatorRotatingControlService() {}
 LncubatorRotatingControlService::~LncubatorRotatingControlService() {}
 
+/**
+ * @brief
+ *
+ *
+ * 1. 定位
+ * 2. 标记零点位置
+ * 3.
+ *
+ */
+
 void LncubatorRotatingControlService::initialize(Hardware* hardware) {  //
-  m_hardware = hardware;
-  m_motor    = &m_hardware->tmc4361motor1;
-  m_os       = &m_hardware->m_deviceIoService;
+  m_hardware     = hardware;
+  m_motor        = &m_hardware->tmc4361motor1;
+  m_os           = &m_hardware->m_deviceIoService;
+  m_workfinished = false;
+  m_dowhat       = kidle;
+  m_maxVelocity  = mc_default_velocity;
 
   /**
    * @brief 电机必须工作在位置模式
    */
   m_motor->setMotorInPositionMode();
 }
-void LncubatorRotatingControlService::setVelocity(uint32_t velocityMax) { m_maxVelocity = velocityMax; }
-void LncubatorRotatingControlService::rotate(uint32_t count) {
-  m_motor->moveBy(count, m_maxVelocity);
-  
-
+void LncubatorRotatingControlService::moveToHome() {
+  m_dowhat = krotateToHome;
+  m_motor->moveTo(mc_onecircle_ustep_num * 2, m_maxVelocity);
+}
 
-}
+void LncubatorRotatingControlService::setVelocity(uint32_t velocityMax) { m_maxVelocity = velocityMax; }
+void LncubatorRotatingControlService::rotate(uint32_t count) { m_motor->moveBy(count, m_maxVelocity); }
+void LncubatorRotatingControlService::periodicJob() {
+  if (krotateToHome) {
+  }
+}

src/lncubator_rotating_control_service.hpp

@@ -27,19 +27,32 @@ class LncubatorRotatingControlService {
     REFPOINT_TYPE_ZERO,        // 零点
   } refpoint_t;
 
+  static const uint32_t mc_onecircle_ustep_num;
+  static const uint32_t mc_default_velocity;
+
  private:
+  typedef enum {
+    kidle,
+    krotateToTarget,
+    krotateToHome,
+  } dowhat_t;
   /* data */
   Hardware*       m_hardware;
   IflytopMicroOS* m_os;
   TMC4361AImpl*   m_motor;
+  dowhat_t        m_dowhat;
 
   // 零点位置
-  uint32_t m_zeroPosition;
+  uint32_t m_homePosition;
   // 便宜修正，第一个仓位中心距离零点的距离
-  uint32_t m_ZeroOffsetCorrection;
+  uint32_t m_homeOffsetCorrection;
 
   uint32_t m_maxVelocity = 0;
 
+  bool m_workfinished;
+
+  bool homeKeyTriggered;
+
  public:
   LncubatorRotatingControlService();
   ~LncubatorRotatingControlService();
@@ -48,8 +61,9 @@ class LncubatorRotatingControlService {
   void setVelocity(uint32_t velocityMax);
   void rotate(uint32_t count);
 
-  void moveToZero();
+  void moveToHome();
   void moveTo(refpoint_t refpoint, uint32_t positionIndex);
+  void stop();
 
   /**
    * @brief 人工校准当前位置为指定位置
@@ -58,5 +72,7 @@ class LncubatorRotatingControlService {
    * @param positionIndex 第几个位置
    */
   void calibrationPosition(refpoint_t refpoint, uint32_t positionIndex);
+
+  void periodicJob();
 };
 }  // namespace iflytop