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LW21-02B-DcStep-V1.0
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轻型步进电机使用DcStep，DCO，DCEN，DCIN三个引脚均用上 

备注：作为一个基础修改版，非可用版
This commit is contained in:
REASEARCHER\18383 2025-08-20 10:38:41 +08:00
parent 93071dc6b4
commit 1430888d67
7 changed files with 51 additions and 70 deletions
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26
Hyt2/APP/Device/Device_speed/speed_to_step.c
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@ -8,8 +8,8 @@
#ifdef PTZ_STEP_MOTOR #ifdef PTZ_STEP_MOTOR
#define DCSTEP_SPEED_LIMIT_HORI 3.3//19.8°以下不使用DCSTEP #define DCSTEP_SPEED_LIMIT_HORI 3.3//19.8°以下不使用DCSTEP
#define DCSTEP_SPEED_LIMIT_VERT 3.3//俯仰 #define DCSTEP_SPEED_LIMIT_VERT 3.3//俯仰
#define DCSTEP_HORI_EN 1 #define DCSTEP_HORI_EN 0
#define DCSTEP_VERT_EN 1 #define DCSTEP_VERT_EN 0
static BSP_OS_SEM ptz_ftm_mutex;//共享资源锁 static BSP_OS_SEM ptz_ftm_mutex;//共享资源锁
@ -177,8 +177,8 @@ static void ptz_vert_step_speed_task()
while(1) while(1)
{ {
// if ( GetVertDcoStatus() ) if ( GetVertDcoStatus() )
// { {
if(g_ptz.vert_start_stop_set == PTZ_VERT_START) if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
{ {
g_ptz.vert_tmc2160.set_f = ptz_vert_step_v_to_f((g_ptz.vert_speed_set * PTZ_VERT_RATIO), g_ptz.vert_tmc2160.microstep_vlue); g_ptz.vert_tmc2160.set_f = ptz_vert_step_v_to_f((g_ptz.vert_speed_set * PTZ_VERT_RATIO), g_ptz.vert_tmc2160.microstep_vlue);
@ -250,23 +250,7 @@ static void ptz_vert_step_speed_task()
g_ptz.vert_speed_actual = 0; g_ptz.vert_speed_actual = 0;
g_ptz.vert_tmc2160.f = 0; g_ptz.vert_tmc2160.f = 0;
} }
// } }
// else
// {
// if ( GetDcstepPulseFlag() )
// {
//// gpio_bit_set(GPIOD, GPIO_PIN_12);
//// OSTimeDlyHMSM(0u, 0u, 0u, 1u);
//// gpio_bit_reset(GPIOD, GPIO_PIN_12);
//// ptz_vert_timer_start((unsigned int)(g_ptz.vert_tmc2160.f + 0.5));
//// OSTimeDlyHMSM(0u, 0u, 0u, 1u);
// ResetDcstepPulseFlag();
// }
// else
// {
//// ptz_vert_timer_stop();
// }
// }
OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_ACC_DEC_INC_T); OSTimeDlyHMSM(0u, 0u, 0u, PTZ_VERT_ACC_DEC_INC_T);
} }

10
Hyt2/APP/Device/device_Other/device_interrupt.c
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@ -11,22 +11,12 @@
#if DCSTEP_FUN_EN #if DCSTEP_FUN_EN
uint8_t g_dcStepVert = 1; uint8_t g_dcStepVert = 1;
uint8_t g_dcStepVertPulseFlag = 0;
uint8_t GetVertDcoStatus(void) uint8_t GetVertDcoStatus(void)
{ {
return g_dcStepVert; return g_dcStepVert;
} }
uint8_t GetDcstepPulseFlag(void)
{
return g_dcStepVertPulseFlag;
}
void ResetDcstepPulseFlag(void)
{
g_dcStepVertPulseFlag = 0;
}
#endif #endif
/// @brief 外部中断初始化 /// @brief 外部中断初始化

10
Hyt2/APP/Device/device_Other/device_interrupt.h
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@ -3,13 +3,11 @@
#include "ptz_type_select.h" #include "ptz_type_select.h"
#include "gd32f4xx.h" #include "gd32f4xx.h"
#define DCSTEP_FUN_EN 0 #define DCSTEP_FUN_EN 1
//#if DCSTEP_FUN_EN #if DCSTEP_FUN_EN
//uint8_t GetVertDcoStatus(void); uint8_t GetVertDcoStatus(void);
//uint8_t GetDcstepPulseFlag(void); #endif
//void ResetDcstepPulseFlag(void);
//#endif
#ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D #ifdef PTZ_LIGHT_GEAR_L6235D_AS5047D
//使用L6235D驱动电机，并打开霍尔反馈 //使用L6235D驱动电机，并打开霍尔反馈

6
Hyt2/BSP/Driver/tmc2160/tmc2160.c
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@ -180,7 +180,7 @@ void tmc2160_init()
/*垂直DCO触发外部中断*/ /*垂直DCO触发外部中断*/
nvic_irq_enable(EXTI10_15_IRQn, 2U, 2U); nvic_irq_enable(EXTI10_15_IRQn, 2U, 2U);
syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN12); syscfg_exti_line_config(EXTI_SOURCE_GPIOE, EXTI_SOURCE_PIN12);
exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_BOTH); exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
exti_interrupt_flag_clear(EXTI_12); exti_interrupt_flag_clear(EXTI_12);
/*垂直DCO定时器更新中断配置*/ /*垂直DCO定时器更新中断配置*/
timer_parameter_struct timer_initpara;//定时器结构体 timer_parameter_struct timer_initpara;//定时器结构体
@ -191,8 +191,8 @@ void tmc2160_init()
timer_deinit(TIMER7); //复位定时器 timer_deinit(TIMER7); //复位定时器
/* TIMER1 configuration */ /* TIMER1 configuration */
//200M/200/1000 = 1k //200M/20/1000 = 10K
timer_initpara.prescaler = 200-1;//预分频 timer_initpara.prescaler = 20-1;//预分频
timer_initpara.alignedmode = TIMER_COUNTER_EDGE; //边缘对齐 timer_initpara.alignedmode = TIMER_COUNTER_EDGE; //边缘对齐
timer_initpara.counterdirection = TIMER_COUNTER_UP; //向上计数方式 timer_initpara.counterdirection = TIMER_COUNTER_UP; //向上计数方式
timer_initpara.period = 1000-1; //计数值 timer_initpara.period = 1000-1; //计数值

62
Hyt2/GD32F4xx_Firmware_Library/SYSTICK/gd32f4xx_it.c
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@ -37,10 +37,10 @@ OF SUCH DAMAGE.
#include "bsp_os.h" #include "bsp_os.h"
#include "Usart.h" #include "Usart.h"
#include "device_interrupt.h" #include "device_interrupt.h"
#include "Timer.h"
#if DCSTEP_FUN_EN #if DCSTEP_FUN_EN
extern uint8_t g_dcStepVert; extern uint8_t g_dcStepVert;
extern uint8_t g_dcStepVertPulseFlag;
#endif #endif
extern BSP_OS_SEM sem_enet_isr_recv; extern BSP_OS_SEM sem_enet_isr_recv;
@ -286,20 +286,22 @@ void EXTI10_15_IRQHandler(void)
if(RESET != exti_interrupt_flag_get(EXTI_12)) if(RESET != exti_interrupt_flag_get(EXTI_12))
{ {
/*function start*/ /*function start*/
// if (g_dcStepVert) if (g_dcStepVert)
// { {
//// exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断 exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_RISING);//上升沿中断
// timer_enable(TIMER7);//使能定时器 timer_enable(TIMER7);//使能定时器
// timer_counter_value_config(TIMER7, 0u); timer_counter_value_config(TIMER7, 0u);
// g_dcStepVert = 0; ptz_vert_timer_stop();
// } g_dcStepVert = 0;
// else }
// { else
//// exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断 {
// timer_disable(TIMER7);//失能定时器 exti_init(EXTI_12, EXTI_INTERRUPT, EXTI_TRIG_FALLING);//下降沿中断
// timer_counter_value_config(TIMER7, 0u); timer_disable(TIMER7);//失能定时器
// g_dcStepVert = 1; timer_counter_value_config(TIMER7, 0u);
// } ptz_vert_timer_start(20000);
g_dcStepVert = 1;
}
/*function end*/ /*function end*/
exti_interrupt_flag_clear(EXTI_12); exti_interrupt_flag_clear(EXTI_12);
} }
@ -368,20 +370,22 @@ void EXTI2_IRQHandler(void)
*/ */
void TIMER7_UP_TIMER12_IRQHandler(void) void TIMER7_UP_TIMER12_IRQHandler(void)
{ {
// static uint32_t count = 0; static uint16_t count = 0;
// if(SET == timer_interrupt_flag_get(TIMER7,TIMER_INT_UP)) if(SET == timer_interrupt_flag_get(TIMER7,TIMER_INT_UP))
// { {
// count++; count ++;
// if ( count >= 2 ) if ( count >= 10 )
// { {
// count = 0; gpio_bit_set(GPIOD, GPIO_PIN_12);
// g_dcStepVertPulseFlag = 1; }
// timer_disable(TIMER7);//失能定时器 else if( count >= 12 )
// timer_counter_value_config(TIMER7, 0u); {
//// g_dcStepVert = 1; count = 0;
// } timer_disable(TIMER7);//失能定时器
// timer_counter_value_config(TIMER7, 0u);
// } gpio_bit_reset(GPIOD, GPIO_PIN_12);
}
}
/* clear TIMER interrupt flag */ /* clear TIMER interrupt flag */
timer_interrupt_flag_clear(TIMER7,TIMER_INT_UP); timer_interrupt_flag_clear(TIMER7,TIMER_INT_UP);
} }

2
Hyt2/PROJECT/OS2.ewp
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@ -738,7 +738,7 @@
<data> <data>
<extensions></extensions> <extensions></extensions>
<cmdline></cmdline> <cmdline></cmdline>
<hasPrio>184</hasPrio> <hasPrio>1</hasPrio>
<buildSequence>inputOutputBased</buildSequence> <buildSequence>inputOutputBased</buildSequence>
</data> </data>
</settings> </settings>

5
ReadMe.txt Normal file
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@ -0,0 +1,5 @@
V1.0(sourcetree内：相较前一版本优化一些参数)
1，水平和垂直在25°/S噪声明显
2，水平和垂直在40°/S效果较好
3，水平和垂直在高转速下（水平60以上，垂直60），接近目标位置5°内会自动将速度降到1.8°/S
4，俯仰转动在低转速下，-45°位置会有轻微异响