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583 @@ -3603,12 +3603,12 @@ 0 100 - 7 + 0 ..\..\src\board\libtmcimpl.cpp - 0 + 23 1 - 10 + 23 1 0 @@ -3669,9 +3669,9 @@ ..\..\src\umain.cpp - 4 - 14 - 39 + 56 + 15 + 27 1 0 diff --git a/dep/libtrinamic b/dep/libtrinamic index cab741c..0280741 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit cab741ca3a6c542ebf25e6ef3a1d46766d035f55 +Subproject commit 02807418568c7fdb1bee192424af3ad274b06269 diff --git a/src/board/device_io_service.cpp b/src/board/device_io_service.cpp index 279f18a..ea59b8a 100644 --- a/src/board/device_io_service.cpp +++ b/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); } } diff --git a/src/board/device_io_service.hpp b/src/board/device_io_service.hpp index 1a577c8..c638ba5 100644 --- a/src/board/device_io_service.hpp +++ b/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); /******************************************************************************* diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp index 67e1101..2fce8f4 100644 --- a/src/board/hardware.cpp +++ b/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 * diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp index b6571d6..1e51920 100644 --- a/src/board/hardware.hpp +++ b/src/board/hardware.hpp @@ -13,7 +13,6 @@ class Hardware { public: TMC4361AImpl tmc4361motor1; - TMC2160Impl tmc2160motor1; TMP117 tmp117[4]; FanStateMonitor m_fanStateMonitor[6]; IflytopCanSlave canSlaveService; diff --git a/src/board/libtmcimpl.cpp b/src/board/libtmcimpl.cpp index d517932..f00f343 100644 --- a/src/board/libtmcimpl.cpp +++ b/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 \ No newline at end of file diff --git a/src/board/libtmcimpl.hpp b/src/board/libtmcimpl.hpp index 47eaa0a..f0ad986 100644 --- a/src/board/libtmcimpl.hpp +++ b/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 \ No newline at end of file diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp index 6abc5ee..d539a3d 100644 --- a/src/lncubator_rotating_control_service.cpp +++ b/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); +} -} \ No newline at end of file +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) { + } +} diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp index 99d96e1..27f644b 100644 --- a/src/lncubator_rotating_control_service.hpp +++ b/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