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optical/NxFuncs/stepdriver/tmc260.c

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调试完成
2025-09-04 01:45:08 +00:00
#define _IN_TMC260_C
#include "tmc260.h"
//-------------------------------------------------------------------------
#if (TMC260_DRV_NUM != 0)
//-------------------------------------------------------------------------
#include "trigger.h"
#include "shell.h"
#include "inout.h"
//-------------------------------------------------------------------------
//------------------------------------------------------------------------
typedef struct
{
TSpiCtrlConfig spiCtrlConfig;
TStepDirConfig stepDirConfig;
TChopperConfig chopperConfig;
TSmartEnergyControl smartEnergyControl;
TStallGuardConfig stallGuardConfig;
TDriverConfig driverConfig;
TReadStatus readStatus;
u32 readData;
}TCConfig;
//------------------------------------------------------------------------
TCConfig g_tcConfig[TMC260_DRV_NUM];
//------------------------------------------------------------------------
#define SReadWrite(cs, dat) SpiReadWrite(cs, dat, 20) // <20><>д20λ<30><CEBB><EFBFBD><EFBFBD>
void SpiCsOff(SpiCs cs)
{
#if (TMC260_DRV_NUM >= 1)
SetDriver1CsOff();
#endif
#if (TMC260_DRV_NUM >= 2)
SetDriver2CsOff();
#endif
#if (TMC260_DRV_NUM >= 3)
SetDriver3CsOff();
#endif
#if (TMC260_DRV_NUM >= 4)
SetDriver4CsOff();
#endif
#if (TMC260_DRV_NUM >= 5)
SetDriver5CsOff();
#endif
#if (TMC260_DRV_NUM >= 6)
SetDriver6CsOff();
#endif
}
void SpiCsOn(SpiCs cs)
{
SpiCsOff(cs);
switch(cs)
{
case SC_MOTO1:
#if (TMC260_DRV_NUM >= 1)
SetDriver1CsOn();
#endif
break;
case SC_MOTO2:
#if (TMC260_DRV_NUM >= 2)
SetDriver2CsOn();
#endif
break;
case SC_MOTO3:
#if (TMC260_DRV_NUM >= 3)
SetDriver3CsOn();
#endif
break;
case SC_MOTO4:
#if (TMC260_DRV_NUM >= 4)
SetDriver4CsOn();
#endif
break;
case SC_MOTO5:
#if (TMC260_DRV_NUM >= 5)
SetDriver5CsOn();
#endif
break;
case SC_MOTO6:
#if (TMC260_DRV_NUM >= 6)
SetDriver6CsOn();
#endif
break;
default:
break;
}
}
// <20><><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3> SPI <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֧<EFBFBD><D6A7>64λ
uint64_t SpiReadWrite(SpiCs cs, uint64_t dat, u8 bitlen)
{
int i;
uint64_t rslt;
uint64_t mod;
SClockHigh();
SpiCsOn(cs); // Ƭѡ<C6AC><D1A1>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>ʼִ<CABC>ж<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
rslt = 0;
mod = 0x01;
mod <<= (bitlen-1);
for(i = 0; i < bitlen; i++)
{
// <20><><EFBFBD>ú<EFBFBD><C3BA><EFBFBD><EFBFBD><EFBFBD>
if ((dat&mod) != 0)
{
SMdoDataOne();
}
else
{
SMdoDataZero();
}
SClockLow(); // <20><><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>½<EFBFBD><C2BD><EFBFBD>оƬ׼<C6AC><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SClockHigh(); // <20><><EFBFBD><EFBFBD>Ϊ<EFBFBD>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>оƬ<D0BE><C6AC>ȡ<EFBFBD><C8A1><EFBFBD>úõ<C3BA><C3B5><EFBFBD><EFBFBD><EFBFBD>
if (SMdiRead() != 0) // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
{
rslt |= mod;
}
mod >>= 1;
}
SpiCsOff(cs);
//printf("SPI cs =0x%x, data =0x%x, rslt = 0x%x \r\n",cs,dat,rslt);
return(rslt);
}
//------------------------------------------------------------------------
int GetIdxFormCs(SpiCs moto)
{
int idx = moto - 1;
if (idx < 0 || idx >= TMC260_DRV_NUM)
{
printf("not support moto idx\r\n");
return -1;
}
return idx;
}
//------------------------------------------------------------------------
// ϸ<><CFB8><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD>
void WriteStepDirConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = DRVCTRL0;
if (g_tcConfig[idx].stepDirConfig.intpol != 0)
{
temp |= INTPOL; // ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16<31><36>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>
}
if (g_tcConfig[idx].stepDirConfig.dEdge != 0)
{
temp |= DEDGE; // ʹ<><CAB9>˫<EFBFBD><CBAB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
if (g_tcConfig[idx].stepDirConfig.mRes > MRES1)
{
g_tcConfig[idx].stepDirConfig.mRes = MRES1;
}
temp |= g_tcConfig[idx].stepDirConfig.mRes;
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// SPI <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void WriteSpiCtrlConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = DRVCTRL1;
if (g_tcConfig[idx].spiCtrlConfig.polarityA != 0)
{
temp |= PHA;
}
if (g_tcConfig[idx].spiCtrlConfig.currentA > 255)
{
g_tcConfig[idx].spiCtrlConfig.currentA = 255;
}
temp |= ((u32)g_tcConfig[idx].spiCtrlConfig.currentA) << 9;
if (g_tcConfig[idx].spiCtrlConfig.polarityB != 0)
{
temp |= PHB;
}
if (g_tcConfig[idx].spiCtrlConfig.currentB > 255)
{
g_tcConfig[idx].spiCtrlConfig.currentB = 255;
}
temp |= ((u32)g_tcConfig[idx].spiCtrlConfig.currentB);
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// ն<><D5B6><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void WriteChopperConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = CHOPCONF;
if (g_tcConfig[idx].chopperConfig.blankTime > 3)
{
g_tcConfig[idx].chopperConfig.blankTime = 3;
}
if (g_tcConfig[idx].chopperConfig.hysteresisDecay > 3)
{
g_tcConfig[idx].chopperConfig.hysteresisDecay = 3;
}
if (g_tcConfig[idx].chopperConfig.hysteresisEnd > 15)
{
g_tcConfig[idx].chopperConfig.hysteresisEnd = 15;
}
if (g_tcConfig[idx].chopperConfig.hysteresisStart > 7)
{
g_tcConfig[idx].chopperConfig.hysteresisStart = 7;
}
if (g_tcConfig[idx].chopperConfig.tOff > 15)
{
g_tcConfig[idx].chopperConfig.tOff = 15;
}
temp |= ((u32)g_tcConfig[idx].chopperConfig.blankTime) << 15;
if (g_tcConfig[idx].chopperConfig.chopperMode != 0)
{
temp |= CHM;
}
if (g_tcConfig[idx].chopperConfig.randomTOff != 0)
{
temp |= RNDTF;
}
temp |= ((u32)g_tcConfig[idx].chopperConfig.hysteresisDecay) << 11;
temp |= ((u32)g_tcConfig[idx].chopperConfig.hysteresisEnd) << 7;
temp |= ((u32)g_tcConfig[idx].chopperConfig.hysteresisStart) << 4;
if (g_tcConfig[idx].chopperConfig.enable != 0)
{
temp |= ((u32)g_tcConfig[idx].chopperConfig.tOff);
}
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD>
void WriteStallGuardConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = SGCSCONF;
// 8 λ<>з<EFBFBD><D0B7><EFBFBD><EFBFBD><EFBFBD>תΪ7λ<37>з<EFBFBD><D0B7><EFBFBD><EFBFBD><EFBFBD>, 7λ<37>з<EFBFBD><D0B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>7λ<37>ͷ<EFBFBD><CDB7><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>(-64--63<36><33>֮<EFBFBD><D6AE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬ<EFBFBD><CDAC>
if (g_tcConfig[idx].stallGuardConfig.stallGuardThreshold > 63)
{
g_tcConfig[idx].stallGuardConfig.stallGuardThreshold = 63;
}
else if (g_tcConfig[idx].stallGuardConfig.stallGuardThreshold < -64)
{
g_tcConfig[idx].stallGuardConfig.stallGuardThreshold = -64;
}
if(g_tcConfig[idx].stallGuardConfig.filterEnable != 0)
{
temp |= SFILT;
}
temp |= (((u32) g_tcConfig[idx].stallGuardConfig.stallGuardThreshold & 0x7f) << 8);
temp |= (g_tcConfig[idx].stallGuardConfig.currentScale & 0x1F);
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void WriteSmartEnergyConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = SMARTEN;
if (g_tcConfig[idx].smartEnergyControl.smartIMin != 0)
{
temp |= SEIMIN;
}
if (g_tcConfig[idx].smartEnergyControl.smartDownStep > 3)
{
g_tcConfig[idx].smartEnergyControl.smartDownStep = 3;
}
if (g_tcConfig[idx].smartEnergyControl.smartStallLevelMax > 15)
{
g_tcConfig[idx].smartEnergyControl.smartStallLevelMax = 15;
}
if (g_tcConfig[idx].smartEnergyControl.smartUpStep > 3)
{
g_tcConfig[idx].smartEnergyControl.smartUpStep = 3;
}
if (g_tcConfig[idx].smartEnergyControl.smartStallLevelMin > 15)
{
g_tcConfig[idx].smartEnergyControl.smartStallLevelMin = 15;
}
temp |= ((u32)g_tcConfig[idx].smartEnergyControl.smartDownStep) << 13;
temp |= ((u32)g_tcConfig[idx].smartEnergyControl.smartStallLevelMax) << 8;
temp |= ((u32)g_tcConfig[idx].smartEnergyControl.smartUpStep) << 5;
temp |= ((u32)g_tcConfig[idx].smartEnergyControl.smartStallLevelMin);
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void WriteDriverConfig(SpiCs moto)
{
u32 temp;
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
temp = DRVCONF;
if (g_tcConfig[idx].driverConfig.testMode != 0)
{
temp |= TST;
}
temp |= ((u32)g_tcConfig[idx].driverConfig.slopeHighSide & 0x03) << 14;
temp |= ((u32)g_tcConfig[idx].driverConfig.slopeLowSide & 0x03) << 12;
if (g_tcConfig[idx].driverConfig.protectionDisable != 0)
{
temp |= DISS2G;
}
temp |= ((u32)g_tcConfig[idx].driverConfig.protectionTimer & 0x03) << 8;
if (g_tcConfig[idx].driverConfig.stepDirDisable != 0)
{
temp |= SDOFF;
}
if (g_tcConfig[idx].driverConfig.vSenseScale != 0)
{
temp |= VSENSE;
}
temp |= ((u32) g_tcConfig[idx].driverConfig.readBackSelect & 0x03) << 4;
g_tcConfig[idx].readData = SReadWrite(moto, temp);
}
//------------------------------------------------------------------------
// <20><>ȡ״̬<D7B4><CCAC><EFBFBD><EFBFBD>ֵ
void ReadDriverState(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
WriteDriverConfig(moto);
switch(g_tcConfig[idx].driverConfig.readBackSelect) // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,0:΢<><CEA2>λ<EFBFBD><CEBB>,1:<3A><><EFBFBD><EFBFBD>ֵ0--9λ, 2:<3A><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>5λ(5--9λ)<29><><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>С
{
case 0: // 0 A<><41>΢<EFBFBD><CEA2>λ<EFBFBD><CEBB>
{
g_tcConfig[idx].readStatus.phases = (g_tcConfig[idx].readData >> 18) & 0x01; // STEP/DIRģʽ<C4A3>µļ<C2B5><C4BC><EFBFBD>λ; 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OA1<41><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OA2<41><32><EFBFBD>š<EFBFBD> 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OA2<41><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OA1<41><31><EFBFBD>š<EFBFBD>
g_tcConfig[idx].readStatus.mSteps = (g_tcConfig[idx].readData >> 10) & 0x1FF; // <20><>ȦA<C8A6><41><EFBFBD><EFBFBD><EFBFBD>ұ<EFBFBD><D2B1>е<EFBFBD>΢<EFBFBD><CEA2>λ<EFBFBD><CEBB>
break;
}
case 1: // 1 <20><><EFBFBD><EFBFBD>ֵ
{
g_tcConfig[idx].readStatus.stallGuard = (g_tcConfig[idx].readData >> 10) & 0x3FF;
break;
}
case 2: // 2<><32><EFBFBD>ظ<EFBFBD>5λ<35><CEBB><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>С
{
g_tcConfig[idx].readStatus.stallGuard &= 0x1f;
g_tcConfig[idx].readStatus.stallGuard |= (g_tcConfig[idx].readData >> 10) & 0x3E0;
g_tcConfig[idx].readStatus.smartEnergy = (g_tcConfig[idx].readData >> 10) & 0x1f;
break;
}
}
g_tcConfig[idx].readStatus.flags = g_tcConfig[idx].readData & 0xff; // ͣ<>ٱ<EFBFBD>־λ<D6BE><CEBB><EFBFBD><EFBFBD>, STEP<45><50><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void InitMotorDrivers(SpiCs moto)
{
int idx;
idx = moto-1;
if (idx < 0 || idx >= TMC260_DRV_NUM)
{
return;
}
memset(&(g_tcConfig[idx]), 0, sizeof(TCConfig));
g_tcConfig[idx].stallGuardConfig.filterEnable = 1; // ʧ<><CAA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD> 0:<3A><>׼ģʽ<C4A3><CABD>1: 4<><34>fullstep<65>˲<EFBFBD>
g_tcConfig[idx].stallGuardConfig.stallGuardThreshold = 2; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-64~63<36><33>ֵԽ<D6B5><D4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1>-10
g_tcConfig[idx].stallGuardConfig.currentScale = 1; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0~31
WriteStallGuardConfig(moto); // 0xd020a
g_tcConfig[idx].driverConfig.slopeHighSide = 2; // <20>Ϲ<EFBFBD><CFB9>ʹܿ<CAB9><DCBF><EFBFBD>б<EFBFBD><D0B1>0:<3A><>С3: <20><><EFBFBD><EFBFBD>
g_tcConfig[idx].driverConfig.slopeLowSide = 2; // <20>¹<EFBFBD><C2B9>ʹܿ<CAB9><DCBF><EFBFBD>б<EFBFBD><D0B1>0:<3A><>С3: <20><><EFBFBD><EFBFBD>
g_tcConfig[idx].driverConfig.protectionDisable = 0; // 0:<3A><>·<EFBFBD><C2B7><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> 1:<3A><>ʹ<EFBFBD><CAB9>
g_tcConfig[idx].driverConfig.protectionTimer = 0; // <20><>·<EFBFBD><C2B7><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>0: 3.2uS, 1: 1.6uS, 2: 1.2uS, 3: 0.8uS
g_tcConfig[idx].driverConfig.stepDirDisable = 0; // 0: <20><><EFBFBD>巽<EFBFBD><E5B7BD>ģʽ<C4A3><CABD>1:SPIģʽ
g_tcConfig[idx].driverConfig.vSenseScale = 0; // <20><><EFBFBD><EFBFBD><EFBFBD>ο<EFBFBD><CEBF><EFBFBD>ѹ<EFBFBD><D1B9>0: 305mV, 1: 165mV
g_tcConfig[idx].driverConfig.readBackSelect = 1; // <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,0:΢<><CEA2>λ<EFBFBD><CEBB>,1:<3A><><EFBFBD><EFBFBD>ֵ0--9λ, 2:<3A><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>5λ(5--9λ)<29><><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>С
WriteDriverConfig(moto); // 0xea010
g_tcConfig[idx].smartEnergyControl.smartIMin = 1; // <20><><EFBFBD>ܿ<EFBFBD><DCBF><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>0: 1/2, 1: 1/4
g_tcConfig[idx].smartEnergyControl.smartDownStep = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>0: 32, 1: 8, 2: 2, 3: 1
g_tcConfig[idx].smartEnergyControl.smartStallLevelMax = 0; // <20><>λ<EFBFBD><CEBB>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD>0~15
g_tcConfig[idx].smartEnergyControl.smartUpStep = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>0: 1, 1: 2, 2: 4, 3: 8
g_tcConfig[idx].smartEnergyControl.smartStallLevelMin = 0; // <20><>λ<EFBFBD><CEBB>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD>0~15
WriteSmartEnergyConfig(moto); // 0xa8000
g_tcConfig[idx].stepDirConfig.intpol = 0; // 16<31><36>Ƶģʽ
g_tcConfig[idx].stepDirConfig.dEdge = 0; // ˫<><CBAB><EFBFBD><EFBFBD>ģʽ
g_tcConfig[idx].stepDirConfig.mRes = MRES4; // ϸ<><CFB8><EFBFBD><EFBFBD>
WriteStepDirConfig(moto); // 0x0
g_tcConfig[idx].chopperConfig.blankTime = 1; // ն<><D5B6><EFBFBD>հ<EFBFBD>ʱ<EFBFBD>䣬Ҳ<E4A3AC><D2B2><EFBFBD>ǹض<C7B9>ʱ<EFBFBD>䣬0: 16, 1: 24, 2: 36, 3: 54
g_tcConfig[idx].chopperConfig.chopperMode = 0; // 0: ն<><D5B6>ģʽ, 1: <20><>ϵ<EFBFBD><CFB5>ģʽ<C4A3><CABD>һ<EFBFBD><D2BB>ѡ<EFBFBD><D1A1>0
g_tcConfig[idx].chopperConfig.hysteresisDecay = 0; // ˥<><CBA5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0...3, 0:fast decrement 3:very slow decrement
g_tcConfig[idx].chopperConfig.hysteresisEnd = 3; // <20><><EFBFBD><EFBFBD>˥<EFBFBD><CBA5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD> 0...15
g_tcConfig[idx].chopperConfig.hysteresisStart = 3; // <20><><EFBFBD><EFBFBD>˥<EFBFBD><CBA5><EFBFBD><EFBFBD>ʼֵ<CABC><D6B5><EFBFBD><EFBFBD> 0...7
g_tcConfig[idx].chopperConfig.tOff = 5; // ն<><D5B6><EFBFBD><EFBFBD>˥<EFBFBD><CBA5>ʱ<EFBFBD>䣬Ӱ<E4A3AC>쿪<EFBFBD><ECBFAA>Ƶ<EFBFBD><C6B5>
g_tcConfig[idx].chopperConfig.enable = 1; // mosfet<65><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
WriteChopperConfig(moto); // 0x881b5
}
//------------------------------------------------------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------
// ΢ϸ<CEA2><CFB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD>
void SetStepDirMStepRes(SpiCs moto, u32 microstepResolution)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stepDirConfig.mRes = microstepResolution;
WriteStepDirConfig(moto);
}
//
void SetStepDirInterpolation(SpiCs moto, u32 interpolation)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stepDirConfig.intpol = interpolation;
WriteStepDirConfig(moto);
}
//
void SetStepDirDoubleEdge(SpiCs moto, u32 doubleEdge)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stepDirConfig.dEdge = doubleEdge;
WriteStepDirConfig(moto);
}
//
u32 GetStepDirMStepRes(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stepDirConfig.mRes;
}
//
u32 GetStepDirInterpolation(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stepDirConfig.intpol;
}
//
u32 GetStepDirDoubleEdge(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stepDirConfig.dEdge;
}
//------------------------------------------------------------------------
//
void SetChopperBlankTime(SpiCs moto, u32 blankTime)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.blankTime = blankTime;
WriteChopperConfig(moto);
}
//
void SetChopperMode(SpiCs moto, u32 mode)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.chopperMode = mode;
WriteChopperConfig(moto);
}
//
void SetChopperRandomTOff(SpiCs moto, u32 randomTOff)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.randomTOff = randomTOff;
WriteChopperConfig(moto);
}
//
void SetChopperHysteresisDecay(SpiCs moto, u32 hysteresisDecay)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.hysteresisDecay = hysteresisDecay;
WriteChopperConfig(moto);
}
//
void SetChopperHysteresisEnd(SpiCs moto, u32 hysteresisEnd)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.hysteresisEnd = hysteresisEnd;
WriteChopperConfig(moto);
}
//
void SetChopperHysteresisStart(SpiCs moto, u32 hysteresisStart)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.hysteresisStart = hysteresisStart;
WriteChopperConfig(moto);
}
//
void SetChopperTOff(SpiCs moto, u32 tOff)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.tOff = tOff;
WriteChopperConfig(moto);
}
void SetChopperEnable(SpiCs moto, u32 enable)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].chopperConfig.enable = enable;
WriteChopperConfig(moto);
}
//
u32 GetChopperBlankTime(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.blankTime;
}
//
u32 GetChopperMode(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.chopperMode;
}
//
u32 GetChopperRandomTOff(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.randomTOff;
}
//
u32 GetChopperHysteresisDecay(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.hysteresisDecay;
}
//
u32 GetChopperHysteresisEnd(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.hysteresisEnd;
}
//
u32 GetChopperHysteresisStart(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.hysteresisStart;
}
//
u32 GetChopperTOff(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.tOff;
}
u32 GetChopperEnable(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].chopperConfig.enable;
}
//------------------------------------------------------------------------
//
void SetSmartEnergyIMin(SpiCs moto, u32 smartIMin)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].smartEnergyControl.smartIMin = smartIMin;
WriteSmartEnergyConfig(moto);
}
//
void SetSmartEnergyDownStep(SpiCs moto, u32 smartDownStep)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].smartEnergyControl.smartDownStep = smartDownStep;
WriteSmartEnergyConfig(moto);
}
//
void SetSmartEnergyStallLevelMax(SpiCs moto, u32 stallLevelMax)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].smartEnergyControl.smartStallLevelMax = stallLevelMax;
WriteSmartEnergyConfig(moto);
}
//
void SetSmartEnergyUpStep(SpiCs moto, u32 smartUpStep)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].smartEnergyControl.smartUpStep = smartUpStep;
WriteSmartEnergyConfig(moto);
}
//
void SetSmartEnergyStallLevelMin(SpiCs moto, u32 stallLevelMin)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].smartEnergyControl.smartStallLevelMin = stallLevelMin;
WriteSmartEnergyConfig(moto);
}
//
u32 GetSmartEnergyIMin(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].smartEnergyControl.smartIMin;
}
//
u32 GetSmartEnergyDownStep(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].smartEnergyControl.smartDownStep;
}
//
u32 GetSmartEnergyStallLevelMax(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].smartEnergyControl.smartStallLevelMax;
}
//
u32 GetSmartEnergyUpStep(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].smartEnergyControl.smartUpStep;
}
//
u32 GetSmartEnergyStallLevelMin(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].smartEnergyControl.smartStallLevelMin;
}
//------------------------------------------------------------------------
//
void SetStallGuardFilter(SpiCs moto, u32 enable)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stallGuardConfig.filterEnable = enable;
WriteStallGuardConfig(moto);
}
//
void SetStallGuardThreshold(SpiCs moto, s32 threshold)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stallGuardConfig.stallGuardThreshold = threshold;
WriteStallGuardConfig(moto);
}
//
void SetStallGuardCurrentScale(SpiCs moto, u32 currentScale)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].stallGuardConfig.currentScale = currentScale;
WriteStallGuardConfig(moto);
}
//
u32 GetStallGuardFilter(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stallGuardConfig.filterEnable;
}
//
s32 GetStallGuardThreshold(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stallGuardConfig.stallGuardThreshold;
}
//
u32 GetStallGuardCurrentScale(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].stallGuardConfig.currentScale;
}
//------------------------------------------------------------------------
//
void SetDriverSlopeHighSide(SpiCs moto, u32 slopeHighSide)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.slopeHighSide = slopeHighSide;
WriteDriverConfig(moto);
}
//
void SetDriverSlopeLowSide(SpiCs moto, u32 slopeLowSide)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.slopeHighSide = slopeLowSide;
WriteDriverConfig(moto);
}
//
void SetDriverDisableProtection(SpiCs moto, u32 disableProtection)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.protectionDisable = disableProtection;
WriteDriverConfig(moto);
}
//
void SetDriverProtectionTimer(SpiCs moto, u32 protectionTimer)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.protectionTimer = protectionTimer;
WriteDriverConfig(moto);
}
//
void SetDriverStepDirectionOff(SpiCs moto, u32 sDOff)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.stepDirDisable = sDOff;
WriteDriverConfig(moto);
}
//
void SetDriverVSenseScale(SpiCs moto, u32 scale)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.vSenseScale = scale;
WriteDriverConfig(moto);
}
//
void SetDriverReadSelect(SpiCs moto, u32 readSelect)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.readBackSelect = readSelect;
WriteDriverConfig(moto);
}
//
void SetDriverTestMode(SpiCs moto, u32 testMode)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return;
}
g_tcConfig[idx].driverConfig.testMode = testMode;
WriteDriverConfig(moto);
}
//
u32 GetDriverSlopeHighSide(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.slopeHighSide;
}
//
u32 GetDriverSlopeLowSide(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.slopeLowSide;
}
//
u32 GetDriverDisableProtection(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.protectionDisable;
}
//
u32 GetDriverProtectionTimer(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.protectionTimer;
}
//
u32 GetDriverStepDirectionOff(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.stepDirDisable;
}
//
u32 GetDriverVSenseScale(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.vSenseScale;
}
//
u32 GetDriverReadSelect(SpiCs moto)
{
int idx;
idx = moto-1;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.readBackSelect;
}
//
u32 GetDriverTestMode(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].driverConfig.testMode;
}
//------------------------------------------------------------------------
u32 GetPhases(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].readStatus.phases;
}
//------------------------------------------------------------------------
u32 GetMStepPos(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].readStatus.mSteps;
}
//------------------------------------------------------------------------
u32 GetStallGuard(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].readStatus.stallGuard;
}
//------------------------------------------------------------------------
u32 GetSmartEnergy(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].readStatus.smartEnergy;
}
//------------------------------------------------------------------------
//
u32 GetDriverFlag(SpiCs moto)
{
int idx;
idx = GetIdxFormCs(moto);
if (idx < 0)
{
return 0;
}
return g_tcConfig[idx].readStatus.flags;
}
//
void DriveDisable(SpiCs moto)
{
SetChopperEnable(moto, 0);
}
//
void DriveEnable(SpiCs moto)
{
SetChopperEnable(moto, 1);
}
//----------------------------------------------------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------
//------------------------------------------------------------------------
void InitTmc260(void)
{
InitMotorDrivers(SC_MOTO1);
InitMotorDrivers(SC_MOTO2);
InitMotorDrivers(SC_MOTO3);
InitMotorDrivers(SC_MOTO4);
InitMotorDrivers(SC_MOTO5);
InitMotorDrivers(SC_MOTO6);
}
//------------------------------------------------------------------------
int GetResConfigFromLvnum(int subd)
{
switch(subd)
{
case 1: // 1ϸ<31><CFB8>
return MRES1;
case 2: // 2ϸ<32><CFB8>
return MRES2;
case 4: // 4ϸ<34><CFB8>
return MRES4;
case 8: // 8ϸ<38><CFB8>
return MRES8;
case 16: // 16ϸ<36><CFB8>
return MRES16;
case 32: // 32ϸ<32><CFB8>
return MRES32;
case 64: // 64ϸ<34><CFB8>
return MRES64;
case 128: // 128ϸ<38><CFB8>
return MRES128;
case 256: // 256ϸ<36><CFB8>
return MRES256;
default:
return MRES256;
};
}
#endif
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