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tmc5160_motor_driver_stand_alone
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zhaohe 2 years ago
parent
a93c42cce1
commit
f635f4655e
10 changed files with 114 additions and 38 deletions
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  1. 2
      .settings/com.st.stm32cube.ide.mcu.sfrview.prefs
  2. 2
      .settings/stm32cubeide.project.prefs
  3. 3
      Core/Inc/stm32f4xx_it.h
  4. 45
      Core/Src/stm32f4xx_it.c
  5. 14
      Core/Src/tim.c
  6. 5
      Core/Src/usart.c
  7. 2
      sdk
  8. 3
      tmc5160_motor_driver_stand_alone.ioc
  9. 61
      usrc/main.cpp
  10. 15
      usrc/project_configs.h

2
.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

2
.settings/stm32cubeide.project.prefs
View File

@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=4E298DF08B22D87FABACC213C3DEB1B4
66BE74F758C12D739921AEA421D593D3=0
8DF89ED150041C4CBC7CB9A9CAA90856=AC75FFA836ABF92D776AF65FD0504403
8DF89ED150041C4CBC7CB9A9CAA90856=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
DC22A860405A8BF2F2C095E5B6529F12=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
eclipse.preferences.version=1

3
Core/Inc/stm32f4xx_it.h
View File

@ -57,7 +57,10 @@ void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void CAN1_SCE_IRQHandler(void);
void TIM1_TRG_COM_TIM11_IRQHandler(void);
void USART1_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

45
Core/Src/stm32f4xx_it.c
View File

@ -57,6 +57,9 @@
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim11;
@ -234,6 +237,20 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
@ -247,6 +264,34 @@ void USART3_IRQHandler(void)
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

14
Core/Src/tim.c
View File

@ -213,6 +213,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspInit 0 */
/* TIM6 clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
@ -224,6 +228,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspInit 0 */
/* TIM7 clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* TIM7 interrupt Init */
HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
@ -265,6 +273,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */
@ -276,6 +287,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM7_CLK_DISABLE();
/* TIM7 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspDeInit 1 */
/* USER CODE END TIM7_MspDeInit 1 */

5
Core/Src/usart.c
View File

@ -140,6 +140,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@ -214,6 +217,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */

2
sdk

@ -1 +1 @@
Subproject commit 80de216afbb14467ae6d21a83bf935fe91b78d2b
Subproject commit 5314f26b61cf37283c9dfc9caf57b116a590829c

3
tmc5160_motor_driver_stand_alone.ioc
View File

@ -93,8 +93,11 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
NVIC.TimeBaseIP=TIM11
NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA10.Mode=Asynchronous

61
usrc/main.cpp
View File

@ -38,6 +38,8 @@ static chip_cfg_t chipcfg = {
.huart = &DEBUG_UART,
.debuglight = DEBUG_LIGHT_GPIO,
};
TMC5130 m_motor1;
static int32_t m_velocity;
/*******************************************************************************
* 代码 *
@ -56,7 +58,6 @@ void regfn() {
osDelay(atoi(argv[1]));
});
#if 0
/*******************************************************************************
* 步进电机 *
*******************************************************************************/
@ -76,52 +77,40 @@ void regfn() {
*/
cmdScheduler.registerCmd("step_motor_setvelocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setVelocity(atoi(argv[2]));
int motorid = atoi(argv[1]);
m_velocity = atoi(argv[2]);
});
cmdScheduler.registerCmd("step_motor_set_acc", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setAcc(atoi(argv[2]));
m_motor1.setAcceleration(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_set_dec", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->setDec(atoi(argv[2]));
m_motor1.setDeceleration(atoi(argv[2]));
});
cmdScheduler.registerCmd("step_motor_moveto", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveTo(atoi(argv[2]));
ZLOGI(TAG, "step_motor_moveto %d %d", atoi(argv[2]), m_velocity);
m_motor1.moveTo(atoi(argv[2]), m_velocity);
});
cmdScheduler.registerCmd("step_motor_moveby", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->moveBy(atoi(argv[2]));
ZLOGI(TAG, "step_motor_moveby %d %d", atoi(argv[2]), m_velocity);
m_motor1.moveBy(atoi(argv[2]), m_velocity);
});
cmdScheduler.registerCmd("step_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
StepMotor* motor = NULL;
GET_MOTOR(motor);
motor->rotate(atoi(argv[2]));
ZLOGI(TAG, "step_motor_rotate %d %d", atoi(argv[2]), m_velocity);
if (atoi(argv[2]) > 0) {
m_motor1.rotate(m_velocity);
} else if (atoi(argv[2]) == 0) {
m_motor1.stop();
} else {
m_motor1.rotate(-m_velocity);
}
});
#if 0
cmdScheduler.registerCmd("step_motor_movetozero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
@ -173,8 +162,6 @@ void regfn() {
#define MOTOR1_SPI_MODE_SELECT PB4
// TMC5130HImpl m_tmc5130motor;
TMC5130 m_motor1;
void Main::run() {
/*******************************************************************************
* 系统初始化 *
@ -197,9 +184,11 @@ void Main::run() {
m_motor1.setIHOLD_IRUN(1, 20, 0);
m_motor1.setMotorShaft(true);
m_motor1.setAcceleration(300000);
m_motor1.setDeceleration(300000);
m_motor1.setIHOLD_IRUN(MOTOR_IHOLD, MOTOR_IRUN, 0);
m_motor1.setAcceleration(CFG_ACC);
m_motor1.setDeceleration(CFG_DEC);
m_velocity = CFG_VELOCITY;
}
int i = 1;

15
usrc/project_configs.h
View File

@ -16,3 +16,18 @@
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
#define MOTOR_SHAFT (false) // 电机是否反向
#define MOTOR_IRUN (8)
#define MOTOR_IHOLD (1)
#define CFG_ACC (300000) // 加速度
#define CFG_DEC (300000) // 减速度
#define CFG_VELOCITY (20000) // 位置模式时运行的速度
#define CFG_ZERO_SHIFT (0) // 回零时的偏移量
#define CFG_RUNHOME_VELOCITY (50000) // 回零速度
#define CFG_RUNTOHOME_DEC (100000) // 回零减速度
#define CFG_MIN_POS (INT32_MIN) // 最小位置
#define CFG_MAX_POS (INT32_MAX) // 最大位置
#define CFG_RUNTOHOME_MAX_DISTANCE (INT32_MAX) // 回零时移动的最大位移
#define CFG_RUNTOHOME_LEAVE_ZERO_POINT_DISTANCE (256 * 200 * 5) // 回零时离开零点的距离
#define CFG_RUNTOHOME_KEEP_MOVE_DISTANCE (256 * 25 * 1) // 回零时保持运动的距离
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