修改磁编为TMR3109
This commit is contained in:
起床就犯困
parent
9d5b77c9e1
commit
5aceb95bcf
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@ -73,11 +73,11 @@
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#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
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///*******************************标准云台******************************/
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///水平电机减速比
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#define PTZ_HORI_MOTOR_RATIO 10.0 // 25.0 //(25.0 * 1.5)//20
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#define PTZ_HORI_MOTOR_RATIO 25.0 // 25.0 //(25.0 * 1.5)//20
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///水平大齿轮减速比
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#define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
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///水平总减速比
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#define PTZ_HORI_RATIO 800.0//2325//1240.0
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#define PTZ_HORI_RATIO 2000.0//2325//1240.0
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///水平电机调速模拟电压最大值
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#define PTZ_HORI_VR_MAX 1999
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///水平电机调速模拟电压最小值
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@ -89,20 +89,20 @@
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///水平电机最小转速
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#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
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///水平云台最大转速
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#define PTZ_HORI_MAX_SPEED 3.75 //1.5//1.29//2.4
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#define PTZ_HORI_MAX_SPEED 1.5 //1.5//1.29//2.4
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///水平云台最小转速
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#define PTZ_HORI_MIN_SPEED 0.5//0.3//0.26//0.4
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#define PTZ_HORI_MIN_SPEED 0.2//0.3//0.26//0.4
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///水平云台默认最佳速度
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#define PTZ_HORI_BEST_SPEED 2.2//2.0
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#define PTZ_HORI_BEST_SPEED 1.2//2.0
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/**********************************************************/
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///磁编码器和电机之间的减速比
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#define PTZ_VERT_MOTOR_RATIO 37.5 //75.0//(50.0 * (52.0 / 35.0))//20.0
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#define PTZ_VERT_MOTOR_RATIO 75.0 //75.0//(50.0 * (52.0 / 35.0))//20.0
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///磁编码器与云台轴之间的减速比
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#define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
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///垂直总减速比
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#define PTZ_VERT_RATIO 3000.0 //6000.0//4011.429//1080.0
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#define PTZ_VERT_RATIO 6000.0 //6000.0//4011.429//1080.0
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///垂直电机调速模拟电压最大值
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#define PTZ_VERT_VR_MAX 1999
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///垂直电机调速模拟电压最小值
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@ -114,11 +114,11 @@
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///垂直电机最小转速
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#define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0
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///垂直云台最大转速
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#define PTZ_VERT_MAX_SPEED 1.0 //0.5//0.74//2.7
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#define PTZ_VERT_MAX_SPEED 0.5 //0.5//0.74//2.7
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///垂直云台最小转速
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#define PTZ_VERT_MIN_SPEED 0.14 //0.07//0.1//0.15//0.5
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#define PTZ_VERT_MIN_SPEED 0.07 //0.07//0.1//0.15//0.5
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///垂直云台默认最佳速度
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#define PTZ_VERT_BEST_SPEED 0.7 //0.4//0.7//2.0
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#define PTZ_VERT_BEST_SPEED 0.4 //0.4//0.7//2.0
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//电机磁极对数
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@ -4,6 +4,7 @@
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static BSP_OS_SEM ptz_hori_get_angle_mutex;//共享资源锁
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static BSP_OS_SEM ptz_vert_get_angle_mutex;
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#ifdef AS5047
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static void as5047d_delay_nop(int as5047d_delay_time);
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static unsigned int as5047d_Parity_bit_even(unsigned int package);
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@ -931,8 +932,6 @@ As5047DJudgeReceivePackage as5047d_vert_judge_receive_package_a(unsigned int pac
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return temp1;
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}
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//新的读取角度方式
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float as5047d_vert_get_angle_a()
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{
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@ -962,4 +961,298 @@ float as5047d_vert_get_angle_a()
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/********************************************************************************/
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/********************************************************************************/
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/********************************************************************************/
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#endif
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#ifdef TMR3109
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/**
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* @brief tmr3109初始化
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* @param
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* @retval
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*
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*/
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static void tmr3109_init(void)
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{
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//总线时钟使能
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_GPIOC);
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rcu_periph_clock_enable(RCU_GPIOD);
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//水平PC10--CLK,PC12--MOSI
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gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_10| GPIO_PIN_12);
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gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_10| GPIO_PIN_12);
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//PA15--CS
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gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
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gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_15);
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//PC11--MISO
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gpio_mode_set(GPIOC, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
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TMR3109_HORI_CSN_DISABLE;
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TMR3109_HORI_CLK_LOW;
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TMR3109_HORI_MOSI_LOW;
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//垂直PD0--CS,PD1--CLK,PD3--MOSI
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gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
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gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_0| GPIO_PIN_1| GPIO_PIN_3);
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//PD2--MISO
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gpio_mode_set(GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_2);
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TMR3109_VERT_CSN_DISABLE;
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TMR3109_VERT_CLK_LOW;
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TMR3109_VERT_MOSI_LOW;
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}
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/**
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* @brief tmr3109短延时函数,用于tmr3109的SPI通信短延时
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* @param delay_time 短延时时间长短
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* @retval
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*
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*/
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static void tmr3109_delay_nop(int delay_time)
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{
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for(int i = 0; i < delay_time; i ++)
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{
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asm("nop");
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asm("nop");
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asm("nop");
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asm("nop");
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}
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}
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/**
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* @brief 将数据进行打包发送
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* @param Op_code 功能码
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* address 地址码
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* idleBit 空闲码
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* dataBit 数据位
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* @retval 打包的数据
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*
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*/
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unsigned int tmr3109_command_type(unsigned char Op_code, unsigned char address, unsigned char idleBit, unsigned short dataBit)
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{
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return (unsigned int)((Op_code << 29) | (address << 21) | (idleBit << 16) | dataBit);
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}
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/**
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* @brief 校验tmr3109角度数据
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* @param data 读取到的角度信息
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* @retval crc 校验后的值
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*
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*/
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// 多项式掩码 (x^4 + x^3 + x^2 + 1) -> 0b1101
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#define CRC_POLY 0x0D
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static unsigned char check_tmr3109_angle(unsigned int data_24bit)
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{
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unsigned char crc = 0x03; // 初始值 0011
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uint8_t feedback;
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// 处理 24 位数据 (MSB first)
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for (int i = 23; i >= 0; i--) {
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// 获取当前位 (从最高位开始)
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uint8_t bit = (data_24bit >> i) & 0x01;
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// 计算反馈值 = CRC最高位 XOR 输入位
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feedback = (crc >> 3) ^ bit;
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// 左移寄存器 (丢弃最高位)
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crc = (crc << 1) & 0x0F;
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// 当反馈为1时，异或多项式
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if (feedback) {
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crc ^= CRC_POLY; // 异或多项式掩码 1101
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}
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}
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return crc;
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}
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/**
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* @brief 将数据发送发送到水平磁编
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* @param package 要发送的数据
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* @retval 读取到的数据
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*
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*/
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unsigned int tmr3109_hori_send_package(unsigned int package)
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{
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unsigned int temp = 0;
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unsigned int temp1 = 0;
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unsigned int temp2 = 0;
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TMR3109_HORI_CLK_LOW;
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TMR3109_HORI_MOSI_LOW;
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tmr3109_delay_nop(2);
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for(int i = 31; i >= 0; i--)
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{
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TMR3109_HORI_CLK_LOW;
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tmr3109_delay_nop(2);
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temp = package & (1 << i);
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if(temp != 0) {
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TMR3109_HORI_MOSI_HIGH;
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}
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else {
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TMR3109_HORI_MOSI_LOW;
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}
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tmr3109_delay_nop(2);
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TMR3109_HORI_CLK_HIGH;
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tmr3109_delay_nop(2);
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temp1 = TMR3109_HORI_MISO_READ;
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temp2 = temp2 | (temp1 << i);
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temp1 = 0;
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temp = 0;
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}
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TMR3109_HORI_CLK_LOW;
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TMR3109_HORI_MOSI_LOW;
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return temp2;
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}
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static volatile float vert_tmr3109_angle_actual;
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static volatile float hori_tmr3109_angle_actual;
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/**
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* @brief 读取水平转子的位置
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* @param
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* @retval 位置
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*
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*/
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float read_horiTmr3109Angle(void)
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{
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static float proportion = 360.0f / 8388608.0f;
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static unsigned int temp;
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static float angle;
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// static unsigned int temp1;
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// BSP_OS_SemWait(&ptz_hori_get_angle_mutex, 0u);
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// TMR3109_HORI_CSN_DISABLE;
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// tmr3109_delay_nop(4);
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TMR3109_HORI_CSN_ENABLE;
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tmr3109_delay_nop(20);
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temp = tmr3109_hori_send_package(tmr3109_command_type(0b011, 0, 0, 0));
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TMR3109_HORI_CSN_DISABLE;
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if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
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//crc校验成功
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// pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
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angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
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hori_tmr3109_angle_actual = 360.0 - angle;
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// BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
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return hori_tmr3109_angle_actual;
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}
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// BSP_OS_SemPost(&ptz_hori_get_angle_mutex);
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return -1;
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}
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/**
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* @brief 将数据发送发送到俯仰磁编
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* @param package 要发送的数据
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* @retval 读取到的数据
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*
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*/
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unsigned int tmr3109_vert_send_package(unsigned int package)
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{
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unsigned int temp = 0;
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unsigned int temp1 = 0;
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unsigned int temp2 = 0;
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TMR3109_VERT_CLK_LOW;
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TMR3109_VERT_MOSI_LOW;
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tmr3109_delay_nop(2);
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for(int i = 31; i >= 0; i--)
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{
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TMR3109_VERT_CLK_LOW;
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tmr3109_delay_nop(2);
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temp = package & (1 << i);
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if(temp != 0) {
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TMR3109_VERT_MOSI_HIGH;
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}
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else {
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TMR3109_VERT_MOSI_LOW;
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}
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tmr3109_delay_nop(2);
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TMR3109_VERT_CLK_HIGH;
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tmr3109_delay_nop(2);
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temp1 = TMR3109_VERT_MISO_READ;
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temp2 = temp2 | (temp1 << i);
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temp1 = 0;
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temp = 0;
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}
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TMR3109_VERT_CLK_LOW;
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TMR3109_VERT_MOSI_LOW;
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return temp2;
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}
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/**
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* @brief 读取俯仰转子的位置
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* @param
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* @retval 位置
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*
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*/
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float read_vertTmr3109Angle(void)
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{
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static float proportion = 360.0f / 8388608.0f;
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static unsigned int temp;
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static float angle;
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// static unsigned int temp1;
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// BSP_OS_SemWait(&ptz_vert_get_angle_mutex, 0u);
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TMR3109_VERT_CSN_ENABLE;
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tmr3109_delay_nop(20);
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temp = tmr3109_vert_send_package(tmr3109_command_type(0b011, 0, 0, 0));
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TMR3109_VERT_CSN_DISABLE;
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if (check_tmr3109_angle((temp >> 5) & 0b11111111111111111111111) == ((temp >> 1) & 0x0F)) {
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//crc校验成功
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// pdebug(DEBUG_LEVEL_DEBUG, "crc check success\n");
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angle = (float)((temp >> 5) & 0b11111111111111111111111) * proportion;
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vert_tmr3109_angle_actual = (360.0 - angle);
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// BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
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return vert_tmr3109_angle_actual;
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}
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// BSP_OS_SemPost(&ptz_vert_get_angle_mutex);
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return -1;
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}
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void as5047d_init()
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{
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tmr3109_init();
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}
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float as5047d_hori_get_angle_a()
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{
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return read_horiTmr3109Angle();
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}
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float as5047d_vert_get_angle_a()
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{
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return read_vertTmr3109Angle();
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}
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#endif
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@ -2,6 +2,13 @@
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#define __AS5047D_H_
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#include "gd32f4xx.h"
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#define TMR3109 1
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#if !(AS5047) && !(TMR3109)
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#define AS5047
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#endif
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#ifdef AS5047
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///水平AS5047D端口
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///CSn
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///将AS5047D_HORI的CSn引脚置为高电平
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@ -167,3 +174,106 @@ unsigned int as5047d_vert_read_data_a();
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unsigned int as5047d_hori_read_data_a();
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#endif
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#ifdef TMR3109
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#define AS5047D_DIR_FWD 1 //磁编码器正向转动
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#define AS5047D_DIR_REV 0 //磁编码器反向转动
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///用于保存对接收数据的判断结果
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///
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///用于保存对接收数据的判断结果，并且详细保存出错的具体原因
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///_master表示as5047d对接收到的指令判断的结果，_slave表示K60对as5047d返回的数据包判断结果
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typedef struct _As5047DJudgeReceivePackage_
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{
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///接收到的数据包
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unsigned int package;
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///k60对AS5047D回复的数据进行判断
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///判断接收的数据包效验码是否正确,1错误，0正常
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unsigned char parity_error_package;
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///AS5047D对接收到的K60指令进行判断,指令有错时的回复结果
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///数据Error flag（EF）位，
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unsigned char error_flag_command;
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///校验错误，1错误，0正常
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unsigned char parity_error_command;
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///命令无效，1错误，0正常
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unsigned char command_invalid_command;
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///帧错误，1错误，0正常
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unsigned char framing_error_command;
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///数据操作是否成功，0不成功，1成功.即判断写入或者读取数据是否成功
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unsigned char Operation_Result;
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}As5047DJudgeReceivePackage;
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///水平TMR3109端口
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///CSn
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///将TMR3109_HORI的CSn引脚置为高电平
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#define TMR3109_HORI_CSN_DISABLE (gpio_bit_set(GPIOA,GPIO_PIN_15))
|
||||
///将TMR3109_HORI的CSn引脚置为低电平
|
||||
#define TMR3109_HORI_CSN_ENABLE (gpio_bit_reset(GPIOA,GPIO_PIN_15))
|
||||
|
||||
///CLK
|
||||
///将TMR3109_HORI的CLK引脚置为高电平
|
||||
#define TMR3109_HORI_CLK_HIGH (gpio_bit_set(GPIOC,GPIO_PIN_10))
|
||||
///将TMR3109_HORI的CLK引脚置为低电平
|
||||
#define TMR3109_HORI_CLK_LOW (gpio_bit_reset(GPIOC,GPIO_PIN_10))
|
||||
|
||||
///MISO
|
||||
///TMR3109_HORI的MISO引脚相连的引脚的电平值
|
||||
#define TMR3109_HORI_MISO_READ (gpio_input_bit_get(GPIOC,GPIO_PIN_11))
|
||||
|
||||
///MOSI
|
||||
///将TMR3109_HORI的MOSI引脚置为高电平
|
||||
#define TMR3109_HORI_MOSI_HIGH (gpio_bit_set(GPIOC,GPIO_PIN_12))
|
||||
///将TMR3109_HORI的MOSI引脚置为低电平
|
||||
#define TMR3109_HORI_MOSI_LOW (gpio_bit_reset(GPIOC,GPIO_PIN_12))
|
||||
|
||||
///垂直TMR3109端口
|
||||
///垂直TMR3109_VERT芯片引脚控制
|
||||
///CSn
|
||||
///将TMR3109_VERT的CSn引脚置为高电平
|
||||
#define TMR3109_VERT_CSN_DISABLE (gpio_bit_set(GPIOD,GPIO_PIN_0))
|
||||
///将TMR3109_VERT的CSn引脚置为低电平
|
||||
#define TMR3109_VERT_CSN_ENABLE (gpio_bit_reset(GPIOD,GPIO_PIN_0))
|
||||
|
||||
///CLK
|
||||
///将TMR3109_VERT的CLK引脚置为高电平
|
||||
#define TMR3109_VERT_CLK_HIGH (gpio_bit_set(GPIOD,GPIO_PIN_1))
|
||||
///将TMR3109_VERT的CLK引脚置为低电平
|
||||
#define TMR3109_VERT_CLK_LOW (gpio_bit_reset(GPIOD,GPIO_PIN_1))
|
||||
|
||||
///MISO
|
||||
///读取与TMR3109_VERT的MISO引脚相连的引脚的电平值
|
||||
#define TMR3109_VERT_MISO_READ (gpio_input_bit_get(GPIOD,GPIO_PIN_2))
|
||||
|
||||
///MOSI
|
||||
///将TMR3109_VERT的MOSI引脚置为高电平
|
||||
#define TMR3109_VERT_MOSI_HIGH (gpio_bit_set(GPIOD,GPIO_PIN_3))
|
||||
///将TMR3109_VERT的MOSI引脚置为低电平
|
||||
#define TMR3109_VERT_MOSI_LOW (gpio_bit_reset(GPIOD,GPIO_PIN_3))
|
||||
|
||||
/* Op_code对应的功能码 */
|
||||
//写EEPROM操作
|
||||
#define Write_ee 0b001
|
||||
//写寄存器操作
|
||||
#define Write_register 0b101
|
||||
//读寄存器操作
|
||||
#define Read_register 0b110
|
||||
//模式切换操作
|
||||
#define Change_mode 0b111
|
||||
//读角度值操作
|
||||
#define Read_angle 0b011
|
||||
|
||||
void as5047d_init();
|
||||
float as5047d_hori_get_angle_a();
|
||||
float as5047d_vert_get_angle_a();
|
||||
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -360,21 +360,21 @@ void h_bldc_six_step()
|
|||
H_Hall_state.Hall_value = h_hall_senser_value_get();
|
||||
if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
|
||||
{
|
||||
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
|
||||
{//电机正转- 1
|
||||
h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
|
||||
}else{//电机反转
|
||||
h_six_step_commu[H_Hall_state.Hall_value -1]();
|
||||
}
|
||||
// //直齿云台转向
|
||||
// if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
|
||||
// {//电机正转- 1
|
||||
// if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
|
||||
// {//电机正转- 1
|
||||
// h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
|
||||
// }else{//电机反转
|
||||
// h_six_step_commu[H_Hall_state.Hall_value -1]();
|
||||
// }
|
||||
//直齿云台转向
|
||||
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
|
||||
{//电机正转- 1
|
||||
|
||||
// h_six_step_commu[H_Hall_state.Hall_value -1]();
|
||||
// }else{//电机反转
|
||||
// h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
|
||||
h_six_step_commu[H_Hall_state.Hall_value -1]();
|
||||
}else{//电机反转
|
||||
h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
|
||||
|
||||
// }
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -420,7 +420,6 @@ void v_bldc_six_step()
|
|||
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
\brief none 垂直方向调速，自锁
|
||||
\param[in] none
|
||||
|
|
|
|||
|
|
@ -825,7 +825,7 @@
|
|||
</option>
|
||||
<option>
|
||||
<name>IlinkIcfFile</name>
|
||||
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
|
||||
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
|
||||
</option>
|
||||
<option>
|
||||
<name>IlinkIcfFileSlave</name>
|
||||
|
|
|
|||
Loading…
Reference in New Issue