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125 lines
5.0 KiB
125 lines
5.0 KiB
#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "stm32basic/zbasic.h"
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#include "stm32basic/zgpio.hpp"
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//
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#include "../tmc/tmc_type.h"
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#include "reg/TMC5130_Type.h"
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#include "stm32basic/mutex.hpp"
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namespace iflytop {
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/**
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* @brief
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* 注意事项
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*
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* 1. 6点加速控制只在位置模式下有效，在速度模式下无效
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* 2. 速度模式下只有AMAX有效
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*
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*/
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class TMC51X0Cfg {
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public:
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SPI_HandleTypeDef *hspi = NULL;
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Pin_t csnpin;
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Pin_t ennpin;
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TMC51X0Cfg(SPI_HandleTypeDef *hspi, Pin_t csnpin, Pin_t ennpin) : hspi(hspi), csnpin(csnpin), ennpin(ennpin) {}
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TMC51X0Cfg() {}
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};
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class TMC51X0 {
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protected:
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TMC51X0Cfg m_cfg;
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SPI_HandleTypeDef *m_hspi = NULL;
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ZGPIO m_csnpin;
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ZGPIO m_ennpin;
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int32_t m_scale = 10000;
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int32_t m_scale_deceleration = 1;
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mres_type_t m_MRES = kmres_256;
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double m_onecirclepulse = 51200;
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int32_t m_enc_resolution = 0; // 编码器分辨率，默认只有在256细分的情况下有效
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zmutex m_mutex;
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bool m_driErr = false;
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public:
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void initialize(TMC51X0Cfg cfg);
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private:
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/*******************************************************************************
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* 驱动器寄存器读写方法 *
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*******************************************************************************/
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void readWriteArray(uint8_t *data, size_t length);
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void writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
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void writeInt(uint8_t address, int32_t value);
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void writeField(uint8_t add, uint32_t mask, uint32_t shift, uint32_t value);
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int32_t readInt(uint8_t address);
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uint32_t readUInt(uint8_t address);
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public:
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bool ping();
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void enable(bool enable);
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void setdriErr(bool val) { m_driErr = val; }
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bool getdriErr() { return m_driErr; }
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/***********************************************************************************************************************
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* ctrl *
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***********************************************************************************************************************/
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void rotate(int32_t velocity);
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void moveTo(int32_t position, uint32_t velocityMax);
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void moveToEnd(int32_t direction, uint32_t velocityMax);
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void moveBy(int32_t relativePosition, uint32_t velocityMax);
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void stop();
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/***********************************************************************************************************************
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* get state *
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***********************************************************************************************************************/
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int32_t getXACTUAL(); // 当前位置
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int32_t getVACTUAL(); // 当前速度
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int32_t getEncVal(); // ENCVAL
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TMC5130RampStat getRampStat();
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TMC5130DevStatusReg_t getDevStatus(); // R 读后不清
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TMC5130GState_t getGState(); // R+C 读后自动清除
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int32_t readICVersion();
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bool isReachTarget(TMC5130RampStat *state); // 是否到达目标位置
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bool isTMC5130();
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/***********************************************************************************************************************
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* set state *
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***********************************************************************************************************************/
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void setXACTUAL(int32_t value); // 设置当前位置
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void setMotorShaft(bool reverse);
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void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
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void setGlobalScale(uint8_t globalscale); // ONLY for 5160
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void setScale(int32_t scale);
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void setScaleDenominator(int32_t scale);
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void setVstart(int32_t val);
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void setA1(int32_t val);
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void setAmax(int32_t val);
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void setV1(int32_t val);
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void setDmax(int32_t val);
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void setD1(int32_t val);
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void setVstop(int32_t val);
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void setTzerowait(int32_t val);
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bool setEncResolution(int32_t enc_resolution);
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void setEncVal(int32_t enc_val);
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/***********************************************************************************************************************
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* reg operation *
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***********************************************************************************************************************/
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void writeIntExt(uint8_t address, int32_t value);
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int32_t readIntExt(uint8_t address);
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private:
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int32_t to_motor_acc(int32_t acc); // rpm/s^2
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int32_t to_motor_vel(int32_t vel); // rpm
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int32_t to_motor_pos(int32_t pos); //
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int32_t to_user_pos(int32_t pos); //
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int32_t to_user_vel(int32_t vel);
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};
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} // namespace iflytop
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