#include "ptz_type_select.h" #include "ptz_struct.h" #include "ptz_default_value.h" #include "tmc2160.h" #include "w25q128.h" #ifdef TMC2160 TMC2160Parameter tmc2160_parameter; TMC2160Regis hori_regis; TMC2160Regis vert_regis; unsigned long int version_hori=0; unsigned long int version_vert=0; static BSP_OS_SEM ptz_tmc2160_mutex;//共享资源锁 static void delay_time(int time) { for(int i = 0; i < time; i ++) {//主频200MHZ asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); asm("nop"); } } ///驱动器重新上电后自动复位，全部置零 void h_tmc2160_power_on() { //电源打开 TMC2160_H_POWER_ON; OSTimeDlyHMSM(0u, 0u, 0u, 10u); //====初始化驱动器参数 tmc2160_data_init(); TMC2160_HORI_CSN_DISABLE; TMC2160_HORI_DISABLE; //====上电清除全局状态标志 tmc2160_write_register(TMC2160_HORI, TMC2160_GSTAT, 0); OSTimeDlyHMSM(0u, 0u, 0u, 2u); //====寄存器通用配置 //水平 tmc2160_write_register(TMC2160_HORI, TMC2160_GLOBAL_SCALER, tmc2160_parameter.hori_global_scaler); tmc2160_write_register(TMC2160_HORI, TMC2160_GCONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_PWMCONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_DRV_CONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_TPOWERDOWN, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 tmc2160_write_register(TMC2160_HORI, TMC2160_IHOLD_IRUN, tmc2160_parameter.hori_work_torque);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_HORI, TMC2160_TPWMTHRS, 0); #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V tmc2160_write_register(TMC2160_HORI, TMC2160_SHORT_CONF, 0); #endif } ///驱动器重新上电后自动复位，全部置零 void v_tmc2160_power_on() { //电源打开 TMC2160_V_POWER_ON; OSTimeDlyHMSM(0u, 0u, 0u, 10u); //====初始化驱动器参数 tmc2160_data_init(); TMC2160_VERT_CSN_DISABLE; TMC2160_VERT_DISABLE; //====上电清除全局状态标志 tmc2160_write_register(TMC2160_VERT, TMC2160_GSTAT, 0); OSTimeDlyHMSM(0u, 0u, 0u, 2u); //====寄存器通用配置 //垂直 tmc2160_write_register(TMC2160_VERT, TMC2160_GLOBAL_SCALER, tmc2160_parameter.vert_global_scaler); tmc2160_write_register(TMC2160_VERT, TMC2160_GCONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_PWMCONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_DRV_CONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_TPOWERDOWN, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 tmc2160_write_register(TMC2160_VERT, TMC2160_IHOLD_IRUN, tmc2160_parameter.vert_work_torque);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_VERT, TMC2160_TPWMTHRS, 0); #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V tmc2160_write_register(TMC2160_VERT, TMC2160_SHORT_CONF, 0); #endif } ///===== 初始化驱动器 ===== ///驱动器重新上电后自动复位，全部置零 void tmc2160_init() { BSP_OS_SemCreate(&ptz_tmc2160_mutex,1u,"ptz_tmc2160_mutex"); //配置引脚时钟 rcu_periph_clock_enable(RCU_GPIOA); rcu_periph_clock_enable(RCU_GPIOC); rcu_periph_clock_enable(RCU_GPIOD); rcu_periph_clock_enable(RCU_GPIOE); //GD改版后驱动策略进行了修改————新增驱动器电源控制引脚，便于驱动器的断电复位等 gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//水平电源控制引脚 gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//垂直电源控制引脚 gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1); //电源打开 TMC2160_H_POWER_ON; TMC2160_V_POWER_ON; OSTimeDlyHMSM(0u, 0u, 0u, 100u); //====初始化驱动器参数 tmc2160_data_init(); OSTimeDlyHMSM(0u, 0u, 0u, 10u); //SPI gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_13);//CLK gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_14);//SDI主出从入 gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_15);//SDO主入从出 gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13| GPIO_PIN_14); //====水平驱动器初始化 gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);//H_CSN gpio_mode_set(GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_14);//DIAG1 gpio_mode_set(GPIOD, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_13);//DIAG0 gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLDOWN, GPIO_PIN_10);//DRVEN gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);//DIR gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10| GPIO_PIN_11| GPIO_PIN_5); //====垂直驱动器初始化 gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_11);//V_CSN gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_8);//DIAG1 gpio_mode_set(GPIOC, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_9);//DIAG0 gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLDOWN, GPIO_PIN_7);//DRVEN gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_8);//DIR gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_7| GPIO_PIN_8); gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11); TMC2160_HORI_CSN_DISABLE; TMC2160_HORI_DISABLE; TMC2160_VERT_CSN_DISABLE; TMC2160_VERT_DISABLE; //====上电清除全局状态标志 tmc2160_write_register(TMC2160_HORI, TMC2160_GSTAT, 0); OSTimeDlyHMSM(0u, 0u, 0u, 1u); tmc2160_write_register(TMC2160_VERT, TMC2160_GSTAT, 0); OSTimeDlyHMSM(0u, 0u, 0u, 1u); //====寄存器通用配置 //水平 tmc2160_write_register(TMC2160_HORI, TMC2160_GLOBAL_SCALER, tmc2160_parameter.hori_global_scaler); tmc2160_write_register(TMC2160_HORI, TMC2160_GCONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_PWMCONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_DRV_CONF, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_TPOWERDOWN, 0); tmc2160_write_register(TMC2160_HORI, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 tmc2160_write_register(TMC2160_HORI, TMC2160_IHOLD_IRUN, tmc2160_parameter.hori_work_torque);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_HORI, TMC2160_TPWMTHRS, 0); #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V tmc2160_write_register(TMC2160_HORI, TMC2160_SHORT_CONF, 0); #endif tmc2160_write_register(TMC2160_HORI, TMC2160_COOLCONF, 0); OSTimeDlyHMSM(0u, 0u, 0u, 10u); //垂直 tmc2160_write_register(TMC2160_VERT, TMC2160_GLOBAL_SCALER, tmc2160_parameter.vert_global_scaler); tmc2160_write_register(TMC2160_VERT, TMC2160_GCONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_PWMCONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_DRV_CONF, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_TPOWERDOWN, 0); tmc2160_write_register(TMC2160_VERT, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 tmc2160_write_register(TMC2160_VERT, TMC2160_IHOLD_IRUN, tmc2160_parameter.vert_work_torque);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_VERT, TMC2160_TPWMTHRS, 0); #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V tmc2160_write_register(TMC2160_VERT, TMC2160_SHORT_CONF, 0); #endif tmc2160_write_register(TMC2160_VERT, TMC2160_COOLCONF, 0); // vert_regis.g_conf = tmc2160_write_hori_data(TMC2160_HORI,TMC2160_DRV_STATUS,0,0,0,0); } ///===== 读写寄存器，SPI位40位，8位地址，32位数据 unsigned long int tmc2160_write_hori_data(char choice, unsigned char x1, unsigned char x2, unsigned char x3,unsigned char x4,unsigned char x5) {//choice——驱动器选择，x2/x3/x4/x5——写寄存器的数据 SPIpacka packa; unsigned long int dat=0; unsigned char datak[5] = {0}; char i,j,k; unsigned char temp=0; packa.data[0] = x1;//寄存器地址位 packa.data[1] = x2;//寄存器数据位 packa.data[2] = x3;//寄存器数据位 packa.data[3] = x4;//寄存器数据位 packa.data[4] = x5;//寄存器数据位 for(k = 0; k < 2; k++) {//连续2次写入，一方面确保寄存器写入成功，二是当前SPI写入时，同时寄存器会返回上一次写入数据，由此实现返回数据为当前写入数据 TMC2160_VERT_CSN_DISABLE; TMC2160_HORI_CSN_ENABLE; delay_time(2); TMC2160_SCLK_HIGH; delay_time(2); // //片选 // if(choice == TMC2160_HORI) // { // TMC2160_HORI_CSN_ENABLE; // }else{//TMC2160_VERT // TMC2160_VERT_CSN_ENABLE; // } delay_time(2); TMC2160_SCLK_LOW; delay_time(10); for(j = 0; j < 5; j++) { for(i = 0; i < 8; i++) { TMC2160_SCLK_LOW; if((packa.data[j] & 0x80) != 0) { TMC2160_SDATI_1; }else{ TMC2160_SDATI_0; } packa.data[j] = packa.data[j] << 1; delay_time(2); TMC2160_SCLK_HIGH; temp = TMC2160_SDATO_READ; datak[j] = datak[j] | (temp << (7-i)); delay_time(2); } } TMC2160_SCLK_HIGH; delay_time(2); //片选失能 TMC2160_HORI_CSN_DISABLE; dat = datak[0]; dat = (dat << 8) | datak[1]; dat = (dat << 8) | datak[2]; dat = (dat << 8) | datak[3]; dat = (dat << 8) | datak[4]; // dat = datak[4]; } return dat; } ///===== SPI位40位，8位地址，32位数据 unsigned long int tmc2160_write_vert_data(char choice, unsigned char x1, unsigned char x2, unsigned char x3,unsigned char x4,unsigned char x5) {//choice——驱动器选择，x2/x3/x4/x5——写寄存器的数据 SPIpacka packa; unsigned long int dat=0; unsigned char datak[5] = {0}; char i,j,k; unsigned char temp=0; packa.data[0] = x1;//0x90; packa.data[1] = x2;//0xAB; packa.data[2] = x3;//0xef; packa.data[3] = x4;//0xCD; packa.data[4] = x5;//0xbc; for(k = 0; k < 2; k++) {//连续3次写入 TMC2160_HORI_CSN_DISABLE; TMC2160_VERT_CSN_ENABLE; delay_time(2); TMC2160_SCLK_HIGH; delay_time(2); // //片选 // if(choice == TMC2160_HORI) // { // TMC2160_HORI_CSN_ENABLE; // }else{//TMC2160_VERT // TMC2160_VERT_CSN_ENABLE; // } delay_time(2); TMC2160_SCLK_LOW; delay_time(10); for(j = 0; j < 5; j++) { for(i = 0; i < 8; i++) { TMC2160_SCLK_LOW; if((packa.data[j] & 0x80) != 0) { TMC2160_SDATI_1; }else{ TMC2160_SDATI_0; } packa.data[j] = packa.data[j] << 1; delay_time(2); TMC2160_SCLK_HIGH; temp = TMC2160_SDATO_READ; datak[j] = datak[j] | (temp << (7-i)); delay_time(2); } } TMC2160_SCLK_HIGH; delay_time(2); //片选失能 TMC2160_VERT_CSN_DISABLE; dat = datak[0]; dat = (dat << 8) | datak[1]; dat = (dat << 8) | datak[2]; dat = (dat << 8) | datak[3]; dat = (dat << 8) | datak[4]; // dat = datak[4]; } return dat; } ///===== 水平电机转向设置 char tmc2160_set_hori_dir(char dir) { if (dir == TMC2160_MOTOR_DIR_FWD) {//电机正转 TMC2160_HORI_DIR_F; return 1; } if (dir == TMC2160_MOTOR_DIR_REV) {//电机反转 TMC2160_HORI_DIR_R; return 1; } delay_time(2); return 0; } ///===== 垂直电机转向设置 char tmc2160_set_vert_dir(char dir) { if (dir == TMC2160_MOTOR_DIR_FWD) {//电机正转 TMC2160_VERT_DIR_F; return 1; } if (dir == TMC2160_MOTOR_DIR_REV) {//电机反转 TMC2160_VERT_DIR_R; return 1; } delay_time(2); return 0; } ///===== 水平驱动器使能 char tmc2160_hori_motor_enable(char state) { if (state == TMC2160_MOTOR_ENABLE) {//启动电机 TMC2160_HORI_ENABLE; return 1; } if (state == TMC2160_MOTOR_DISABLE) {//关闭电机 TMC2160_HORI_DISABLE; return 1; } delay_time(2); return 0; } ///===== 垂直驱动器使能 char tmc2160_vert_motor_enable(char state) { if (state == TMC2160_MOTOR_ENABLE) {//启动电机 TMC2160_VERT_ENABLE; return 1; } if (state == TMC2160_MOTOR_DISABLE) {//关闭电机 TMC2160_VERT_DISABLE; return 1; } delay_time(2); return 0; } ///===== 写寄存器,mode为寄存器地址,data为电流或细分等级，choice为片选 char tmc2160_write_register(char choice, unsigned char mode, unsigned char data) { u_int8_t buff[5] = {0x00,0x00,0x00,0x00,0x00}; BSP_OS_SemWait(&ptz_tmc2160_mutex, 0u); switch (mode) { case TMC2160_GCONF: buff[0] = TMC2160_GCONF + 0x80; buff[1] = 0x00; buff[2] = 0x00; #ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V buff[3] = 0x01;//01——磁滞1/16 #endif #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V buff[3] = 0x41;//41——磁滞1/32 #endif buff[4] = 0x4c;//DIAG0输出过热预警，DIAG1输出电机堵转信号，低电平有效，预警时指示灯亮48 if(choice == TMC2160_HORI) {//读即写 hori_regis.g_conf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.g_conf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_GSTAT://全局状态标志，写1清除 buff[0] = TMC2160_GSTAT +0x80; buff[1] = 0xff; buff[2] = 0xff; buff[3] = 0xff; buff[4] = 0xff; if(choice == TMC2160_HORI) { hori_regis.gstae = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.gstae = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_DRV_CONF://设置斩波噪音，温度等 buff[0] = TMC2160_DRV_CONF +0x80; buff[1] = 0x00; #ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V buff[2] = 0x0c;//3c;//0x24;//0x24;//28,08 buff[3] = 0x04;//04 #endif #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V buff[2] = 0x38;//0x24;//38, buff[3] = 0x02;//0x04;//02 #endif buff[4] = 0x00;//0x10;//0x10;//00 if(choice == TMC2160_HORI) { hori_regis.drv_conf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.drv_conf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_GLOBAL_SCALER://电流的全局缩放，满量程0 buff[0] = TMC2160_GLOBAL_SCALER +0x80; buff[1] = 0x00; buff[2] = 0x00; buff[3] = 0x00; buff[4] = data;//取值255 if(choice == TMC2160_HORI) { hori_regis.global_scaler = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.global_scaler = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_IHOLD_IRUN://电机电流设置 buff[0] = TMC2160_IHOLD_IRUN +0x80; buff[1] = 0x00; buff[2] = 0x06;//0x04;//电流降延时，电机停止后延时断电，可防止电机因惯性多转 buff[3] = data;//运行电流=data/32*4.7A对应采样电阻0.05欧 buff[4] = (data>>1);//静止电流0x00,自锁电流为运行电流的一半 if(choice == TMC2160_HORI) { hori_regis.i_run = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.i_run = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_TPOWERDOWN://电流降延时时间，2 buff[0] = TMC2160_TPOWERDOWN +0x80; buff[1] = 0x00; buff[2] = 0x00; buff[3] = 0x00; buff[4] = 0x0a; if(choice == TMC2160_HORI) { hori_regis.tpowerdown = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.tpowerdown = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_TPWMTHRS: //暂时不设置,,速度上限 buff[0] = TMC2160_TPWMTHRS +0x80; buff[1] = 0x00; buff[2] = 0x00; buff[3] = 0x00; buff[4] = 0xf4; if(choice == TMC2160_HORI) { hori_regis.tpwmthrs = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.tpwmthrs = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_CHOPCONF: //0x00010083,24-27位配置细分，最后左移24位 buff[0] = TMC2160_CHOPCONF +0x80; buff[1] = tmc2160_chopconf_data(data); #ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V buff[2] = 0xe1;//e1,,高4为被动快速衰减时间，可降低中程共振 buff[3] = 0x03;//03 buff[4] = 0x34;//C3 #endif #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V buff[2] = 0xf1;//e1,,高4为被动快速衰减时间，可降低中程共振 buff[3] = 0x03;//03，00 buff[4] = 0x04;//04，64，低4设置TOFF取3或4，高3设置hstrt，滞环过小振动噪音增加，过大斩波噪音增加 #endif if(choice == TMC2160_HORI) { hori_regis.chop_conf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.chop_conf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_COOLCONF: ///暂时不写...智能电流控制 buff[0] = TMC2160_COOLCONF +0x80; buff[1] = 0x00; buff[2] = 0x00; buff[3] = 0xA8; buff[4] = 0x28; if(choice == TMC2160_HORI) { hori_regis.coolconf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.coolconf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_PWMCONF: //0xc401321e，时钟35.1KHZ buff[0] = TMC2160_PWMCONF +0x80; buff[1] = 0xd2;//c4 buff[2] = 0x0d;//0x0E;//09,0D buff[3] = 0x32; buff[4] = 0x1e; #ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V buff[3] = 0x32; buff[4] = 0x24;//0x6e #endif if(choice == TMC2160_HORI) { tmc2160_write_hori_data(choice, buff[0],buff[1],0x09,buff[3],buff[4]); hori_regis.pwmconf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ tmc2160_write_vert_data(choice, buff[0],buff[1],0x09,buff[3],buff[4]); vert_regis.pwmconf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; case TMC2160_SHORT_CONF: buff[0] = TMC2160_SHORT_CONF +0x80; buff[1] = 0x00; buff[2] = 0x06; buff[3] = 0x0c; buff[4] = 0x0c; if(choice == TMC2160_HORI) { hori_regis.short_conf = tmc2160_write_hori_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); }else{ vert_regis.short_conf = tmc2160_write_vert_data(choice, buff[0],buff[1],buff[2],buff[3],buff[4]); } break; } BSP_OS_SemPost(&ptz_tmc2160_mutex); return 0; } unsigned long int tmc2160_ihold_irun_data(unsigned char data) {//电流设置共5位，第8-12位，因此要左移8位 unsigned long int write_data = 0; write_data = write_data | data << 8; return write_data; } unsigned long int tmc2160_chopconf_data(unsigned char data) {//驱动细分共4位，第24-27位 //默认值写0x00010083,256细分 unsigned char write_data = 0x10;//0x10; // write_data = 0x00010083; switch (data)//此时data作为细分等级 { case TMC2160_1_8_STEP: //3，，8分频 write_data = write_data | 0x05;// << 24; break; case TMC2160_1_16_STEP: //4，，16分频 write_data = write_data | 0x04;// << 24; break; case TMC2160_1_32_STEP: //5，，32分频 write_data = write_data | 0x03;// << 24; break; case TMC2160_1_64_STEP: //6，，64分频 write_data = write_data | 0x02;// << 24; break; case TMC2160_1_128_STEP: //7，，128分频 write_data = write_data | 0x01;// << 24; break; } return write_data; } ///===== 计算效验码 unsigned int tmc2160_parameter_crc(TMC2160Parameter data) { float crc = 0; unsigned int crc1 = 0; crc = crc + data.hori_step_1_8_en; crc = crc + data.hori_step_1_8_v_max; crc = crc + data.hori_step_1_8_v_min; crc = crc + data.hori_step_1_16_en; crc = crc + data.hori_step_1_16_v_max; crc = crc + data.hori_step_1_16_v_min; crc = crc + data.hori_step_1_32_en; crc = crc + data.hori_step_1_32_v_max; crc = crc + data.hori_step_1_32_v_min; crc = crc + data.hori_step_1_64_en; crc = crc + data.hori_step_1_64_v_max; crc = crc + data.hori_step_1_64_v_min; crc = crc + data.hori_step_1_128_en; crc = crc + data.hori_step_1_128_v_max; crc = crc + data.hori_step_1_128_v_min; crc = crc + data.hori_work_torque; crc = crc + data.hori_global_scaler; crc = crc + data.hori_acc_time_max;//电机从0加速到最大速度所用时间 crc = crc + data.hori_dec_time_max;//电机从最大速度减速到0所用时间 crc = crc + data.vert_step_1_8_en; crc = crc + data.vert_step_1_8_v_max; crc = crc + data.vert_step_1_8_v_min; crc = crc + data.vert_step_1_16_en; crc = crc + data.vert_step_1_16_v_max; crc = crc + data.vert_step_1_16_v_min; crc = crc + data.vert_step_1_32_en; crc = crc + data.vert_step_1_32_v_max; crc = crc + data.vert_step_1_32_v_min; crc = crc + data.vert_step_1_64_en; crc = crc + data.vert_step_1_64_v_max; crc = crc + data.vert_step_1_64_v_min; crc = crc + data.vert_step_1_128_en; crc = crc + data.vert_step_1_128_v_max; crc = crc + data.vert_step_1_128_v_min; crc = crc + data.vert_work_torque; crc = crc + data.vert_global_scaler; crc = crc + data.vert_acc_time_max;//电机从0加速到最大速度所用时间 crc = crc + data.vert_dec_time_max;//电机从最大速度减速到0所用时间 crc1 = (unsigned int)crc; return crc1; } ///===== 运动参数存储 char tmc2160_parameter_save() { TMC2160Parameter tmc2160_parameter_a; char i,j; //计算效验码 tmc2160_parameter.crc = tmc2160_parameter_crc(tmc2160_parameter); //写入主存储区 for(i = 0; i < TMC2160_PARAMETER_SAVE_FLASH_NUM; i++) { memset(&tmc2160_parameter_a, 0, sizeof(tmc2160_parameter_a)); write_many_data(sizeof(tmc2160_parameter),(unsigned char *)(&tmc2160_parameter),TMC2160_PARAMETER_FLASH_ADD); OSTimeDlyHMSM(0u, 0u, 0u, 5u); Flash_Read((unsigned char *)(&tmc2160_parameter_a),TMC2160_PARAMETER_FLASH_ADD,sizeof(tmc2160_parameter_a)); if(memcmp(&tmc2160_parameter, &tmc2160_parameter_a, sizeof(tmc2160_parameter)) == 0)//判断写入数据是否正确 { break; } OSTimeDlyHMSM(0u, 0u, 0u, 5u); } //写入备份存储区 for(j = 0; j < TMC2160_PARAMETER_SAVE_FLASH_NUM; j++) { memset(&tmc2160_parameter_a, 0, sizeof(tmc2160_parameter_a)); write_many_data(sizeof(tmc2160_parameter),(unsigned char *)(&tmc2160_parameter),TMC2160_PARAMETER_BACKUP_FLASH_ADD); OSTimeDlyHMSM(0u, 0u, 0u, 5u); Flash_Read((unsigned char *)(&tmc2160_parameter_a),TMC2160_PARAMETER_BACKUP_FLASH_ADD,sizeof(tmc2160_parameter_a)); if(memcmp(&tmc2160_parameter, &tmc2160_parameter_a, sizeof(tmc2160_parameter)) == 0)//判断写入数据是否正确 { break; } OSTimeDlyHMSM(0u, 0u, 0u, 5u); } if(i < TMC2160_PARAMETER_SAVE_FLASH_NUM || j < TMC2160_PARAMETER_SAVE_FLASH_NUM)//判断写入数据是否成功 { //写入成功 return 1; } //写入失败 return 0; } ///===== 运动参数读取 char tmc2160_parameter_read() { char i; //首先从主存储区读取数据 for(i = 0; i < TMC2160_PARAMETER_READ_FLASH_NUM; i++) { memset(&tmc2160_parameter, 0, sizeof(tmc2160_parameter)); Flash_Read((unsigned char *)(&tmc2160_parameter),TMC2160_PARAMETER_FLASH_ADD,sizeof(tmc2160_parameter)); if(tmc2160_parameter.crc == tmc2160_parameter_crc(tmc2160_parameter) && tmc2160_parameter.crc > 0) { return 1; } OSTimeDlyHMSM(0u, 0u, 0u, 2u); } //如果主存储区读取的数据是错误的，则从备份存储区读取数据 for(i = 0; i < TMC2160_PARAMETER_READ_FLASH_NUM; i++) { memset(&tmc2160_parameter, 0, sizeof(tmc2160_parameter)); Flash_Read((unsigned char *)(&tmc2160_parameter),TMC2160_PARAMETER_BACKUP_FLASH_ADD,sizeof(tmc2160_parameter)); if(tmc2160_parameter.crc == tmc2160_parameter_crc(tmc2160_parameter) && tmc2160_parameter.crc > 0) { return 1; } OSTimeDlyHMSM(0u, 0u, 0u, 2u); } return 0; } ///===== 运动参数擦除 char tmc2160_parameter_erase() { TMC2160Parameter tmc2160_parameter_a; TMC2160Parameter tmc2160_parameter_b; char i, j; //擦除主存储区 for(i = 0; i < TMC2160_PARAMETER_SAVE_FLASH_NUM; i++) { memset(&tmc2160_parameter_a, 0, sizeof(tmc2160_parameter_a)); write_many_data(sizeof(tmc2160_parameter_a),(unsigned char *)(&tmc2160_parameter_a),TMC2160_PARAMETER_FLASH_ADD); OSTimeDlyHMSM(0u, 0u, 0u, 5u); Flash_Read((unsigned char *)(&tmc2160_parameter_b),TMC2160_PARAMETER_FLASH_ADD,sizeof(tmc2160_parameter_b)); if(memcmp(&tmc2160_parameter_a, &tmc2160_parameter_b, sizeof(tmc2160_parameter_a)) == 0)//判断擦除数据是否正确 { break; } OSTimeDlyHMSM(0u, 0u, 0u, 5u); } //擦除备份存储区 for(j = 0; j < TMC2160_PARAMETER_SAVE_FLASH_NUM; j++) { memset(&tmc2160_parameter_a, 0, sizeof(tmc2160_parameter_a)); write_many_data(sizeof(tmc2160_parameter_a),(unsigned char *)(&tmc2160_parameter_a),TMC2160_PARAMETER_BACKUP_FLASH_ADD); OSTimeDlyHMSM(0u, 0u, 0u, 5u); Flash_Read((unsigned char *)(&tmc2160_parameter_b),TMC2160_PARAMETER_BACKUP_FLASH_ADD,sizeof(tmc2160_parameter_b)); if(memcmp(&tmc2160_parameter_a, &tmc2160_parameter_b, sizeof(tmc2160_parameter_a)) == 0)//判断擦除数据是否正确 { break; } OSTimeDlyHMSM(0u, 0u, 0u, 5u); } if(i < TMC2160_PARAMETER_SAVE_FLASH_NUM || j < TMC2160_PARAMETER_SAVE_FLASH_NUM)//判断擦除数据是否成功 { //擦除成功 return 1; } //擦除失败 return 0; } ///===== 运动参数赋值 char tmc2160_data_reset() { tmc2160_parameter.hori_step_1_8_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.hori_step_1_8_v_max = PTZ_HORI_1_8_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.hori_step_1_8_v_min = PTZ_HORI_1_8_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.hori_step_1_16_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.hori_step_1_16_v_max = PTZ_HORI_1_16_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.hori_step_1_16_v_min = PTZ_HORI_1_16_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.hori_step_1_32_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.hori_step_1_32_v_max = PTZ_HORI_1_32_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.hori_step_1_32_v_min = PTZ_HORI_1_32_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.hori_step_1_64_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.hori_step_1_64_v_max = PTZ_HORI_1_64_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.hori_step_1_64_v_min = PTZ_HORI_1_64_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.hori_step_1_128_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.hori_step_1_128_v_max = PTZ_HORI_1_128_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.hori_step_1_128_v_min = PTZ_HORI_1_128_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.hori_work_torque = TMC2160_HORI_TORQUE_VALUE;//工作时torque的值 tmc2160_parameter.hori_global_scaler = CURR_GLOBAL_SCALER;//电流全局缩放 tmc2160_parameter.hori_acc_time_max = PTZ_HORI_ACC_TIME_MAX;//电机从0加速到最大速度所用时间 tmc2160_parameter.hori_dec_time_max = PTZ_HORI_DEC_TIME_MAX;//电机从最大速度减速到0所用时间 tmc2160_parameter.vert_step_1_8_en = 0;//是否有效，0无效，1有效 tmc2160_parameter.vert_step_1_8_v_max = 0;//该细分程度下对应得最大转速 tmc2160_parameter.vert_step_1_8_v_min = 0;//该细分程度下对应得最小转速 tmc2160_parameter.vert_step_1_16_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.vert_step_1_16_v_max = PTZ_VERT_1_16_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.vert_step_1_16_v_min = PTZ_VERT_1_16_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.vert_step_1_32_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.vert_step_1_32_v_max = PTZ_VERT_1_32_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.vert_step_1_32_v_min = PTZ_VERT_1_32_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.vert_step_1_64_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.vert_step_1_64_v_max = PTZ_VERT_1_64_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.vert_step_1_64_v_min = PTZ_VERT_1_64_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.vert_step_1_128_en = 1;//是否有效，0无效，1有效 tmc2160_parameter.vert_step_1_128_v_max = PTZ_VERT_1_128_STEP_V_MAX;//该细分程度下对应得最大转速 tmc2160_parameter.vert_step_1_128_v_min = PTZ_VERT_1_128_STEP_V_MIN;//该细分程度下对应得最小转速 tmc2160_parameter.vert_work_torque = TMC2160_VERT_TORQUE_VALUE;//工作时torque的值 tmc2160_parameter.vert_global_scaler = CURR_GLOBAL_SCALER;//电流全局缩放 tmc2160_parameter.vert_acc_time_max = PTZ_VERT_ACC_TIME_MAX;//电机从0加速到最大速度所用时间 tmc2160_parameter.vert_dec_time_max = PTZ_VERT_DEC_TIME_MAX;//电机从最大速度减速到0所用时间 tmc2160_parameter.crc = tmc2160_parameter_crc(tmc2160_parameter);//效验码 return 1; } ///===== 驱动器复位 char tmc2160_reset() { tmc2160_data_reset(); //水平 tmc2160_write_register(TMC2160_HORI, TMC2160_IHOLD_IRUN, TMC2160_HORI_TORQUE_VALUE);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_HORI, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 //垂直 tmc2160_write_register(TMC2160_VERT, TMC2160_IHOLD_IRUN, TMC2160_VERT_TORQUE_VALUE);//电流默认值=20/32*2.3A tmc2160_write_register(TMC2160_VERT, TMC2160_CHOPCONF, TMC2160_1_16_STEP);//细分默认16 if (tmc2160_parameter_save() == 1) {//复位成功 return 1; } return 0; } ///===== 参数初始化 char tmc2160_data_init() { tmc2160_parameter_read(); if (tmc2160_parameter_read() == 1) {//读取成功 return 1; }else{//读取失败 tmc2160_data_reset(); tmc2160_parameter_save(); return 0; } } ///===== 数据上传 void tmc2160_parameter_upload(char dev) { unsigned char data[7] = {0}; //*****************************发送水平参数**********************************// /*********************************1_8*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x09; data[4] = tmc2160_parameter.hori_step_1_8_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0a; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_8_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_8_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0b; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_8_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_8_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_16*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0c; data[4] = tmc2160_parameter.hori_step_1_16_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0d; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_16_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_16_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0e; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_16_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_16_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_32*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0f; data[4] = tmc2160_parameter.hori_step_1_32_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x10; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_32_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_32_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x11; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_32_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_32_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_64*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x12; data[4] = tmc2160_parameter.hori_step_1_64_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x13; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_64_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_64_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x14; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_64_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_64_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_128*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x15; data[4] = tmc2160_parameter.hori_step_1_128_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x16; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_128_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_128_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x17; data[4] = ((unsigned short int)(tmc2160_parameter.hori_step_1_128_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.hori_step_1_128_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************work_torque*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x20; data[4] = tmc2160_parameter.hori_work_torque; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /********************************global_scaler***********************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x21; data[4] = tmc2160_parameter.hori_global_scaler; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************acc_time*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x23; data[4] = tmc2160_parameter.hori_acc_time_max >> 8; data[5] = tmc2160_parameter.hori_acc_time_max & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************dec_time*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x51;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x24; data[4] = tmc2160_parameter.hori_dec_time_max >> 8; data[5] = tmc2160_parameter.hori_dec_time_max & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); //************************************************************************************************************************/ //****************************发送垂直参数************************************// /*********************************1_8*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x09; data[4] = tmc2160_parameter.vert_step_1_8_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0a; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_8_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_8_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0b; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_8_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_8_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_16*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0c; data[4] = tmc2160_parameter.vert_step_1_16_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0d; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_16_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_16_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0e; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_16_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_16_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_32*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x0f; data[4] = tmc2160_parameter.vert_step_1_32_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x10; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_32_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_32_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x11; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_32_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_32_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************1_64*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x12; data[4] = tmc2160_parameter.vert_step_1_64_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x13; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_64_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_64_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x14; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_64_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_64_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /**********************************1_128**************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x15; data[4] = tmc2160_parameter.vert_step_1_128_en; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x16; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_128_v_min * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_128_v_min * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x17; data[4] = ((unsigned short int)(tmc2160_parameter.vert_step_1_128_v_max * 10)) >> 8; data[5] = ((unsigned short int)(tmc2160_parameter.vert_step_1_128_v_max * 10)) & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************work_torque**********************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x20; data[4] = tmc2160_parameter.vert_work_torque; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /********************************global_scaler*********************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x21; data[4] = tmc2160_parameter.vert_global_scaler; data[5] = 0; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************acc_time*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x23; data[4] = tmc2160_parameter.vert_acc_time_max >> 8; data[5] = tmc2160_parameter.vert_acc_time_max & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); /*********************************dec_time*************************************/ data[0] = 0xff; data[1] = g_ptz.address; data[2] = 0x52;//0X51代表发送的是水平,0X52代表发送的是垂直 data[3] = 0x24; data[4] = tmc2160_parameter.vert_dec_time_max >> 8; data[5] = tmc2160_parameter.vert_dec_time_max & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); //************************************************************************************************************************/ } ///===== tmc2160数据处理 void tmc2160_parameter_process(char dev, PTZ_DATA_PACK *pack) { float speed; if(pack->command[0] == 0x51)//水平电机 { speed = (float)((pack->data[0] << 8) | pack->data[1]) / 10.0; if(speed > PTZ_HORI_MOTOR_MAX_SPEED) { speed = PTZ_HORI_MOTOR_MAX_SPEED; } if(speed < 0) { speed = 0; } switch(pack->command[1]) { case 0x09: if(pack->data[0] == 1) { tmc2160_parameter.hori_step_1_8_en = 1; } else { tmc2160_parameter.hori_step_1_8_en = 0; } break; case 0x0a: tmc2160_parameter.hori_step_1_8_v_min = speed; break; case 0x0b: tmc2160_parameter.hori_step_1_8_v_max = speed; break; /*******************************************************************************************/ case 0x0c: if(pack->data[0] == 1) { tmc2160_parameter.hori_step_1_16_en = 1; } else { tmc2160_parameter.hori_step_1_16_en = 0; } break; case 0x0d: tmc2160_parameter.hori_step_1_16_v_min = speed; break; case 0x0e: tmc2160_parameter.hori_step_1_16_v_max = speed; break; /*******************************************************************************************/ case 0x0f: if(pack->data[0] == 1) { tmc2160_parameter.hori_step_1_32_en = 1; } else { tmc2160_parameter.hori_step_1_32_en = 0; } break; case 0x10: tmc2160_parameter.hori_step_1_32_v_min = speed; break; case 0x11: tmc2160_parameter.hori_step_1_32_v_max = speed; break; /*******************************************************************************************/ case 0x12: if(pack->data[0] == 1) { tmc2160_parameter.hori_step_1_64_en = 1; } else { tmc2160_parameter.hori_step_1_64_en = 0; } break; case 0x13: tmc2160_parameter.hori_step_1_64_v_min = speed; break; case 0x14: tmc2160_parameter.hori_step_1_64_v_max = speed; break; /*******************************************************************************************/ case 0x15: if(pack->data[0] == 1) { tmc2160_parameter.hori_step_1_128_en = 1; } else { tmc2160_parameter.hori_step_1_128_en = 0; } break; case 0x16: tmc2160_parameter.hori_step_1_128_v_min = speed; break; case 0x17: tmc2160_parameter.hori_step_1_128_v_max = speed; break; /*******************************************************************************************/ case 0x20: tmc2160_parameter.hori_work_torque = pack->data[0]; if(tmc2160_parameter.hori_work_torque > TMC2160_WORK_TORQUE_MAX) { tmc2160_parameter.hori_work_torque = TMC2160_WORK_TORQUE_MAX; } if(tmc2160_parameter.hori_work_torque < TMC2160_WORK_TORQUE_MIN) { tmc2160_parameter.hori_work_torque = TMC2160_WORK_TORQUE_MIN; } tmc2160_write_register(TMC2160_HORI, TMC2160_IHOLD_IRUN, tmc2160_parameter.hori_work_torque); break; case 0x21: tmc2160_parameter.hori_global_scaler = pack->data[0]; tmc2160_write_register(TMC2160_HORI, TMC2160_GLOBAL_SCALER, tmc2160_parameter.hori_global_scaler); break; case 0x23: tmc2160_parameter.hori_acc_time_max = (pack->data[0] << 8) | pack->data[1]; break; case 0x24: tmc2160_parameter.hori_dec_time_max = (pack->data[0] << 8) | pack->data[1]; break; } } if(pack->command[0] == 0x52)//垂直电机 { speed = (float)((pack->data[0] << 8) | pack->data[1]) / 10.0; if(speed > PTZ_VERT_MOTOR_MAX_SPEED) { speed = PTZ_VERT_MOTOR_MAX_SPEED; } if(speed < 0) { speed = 0; } switch(pack->command[1]) { case 0x09: if(pack->data[0] == 1) { tmc2160_parameter.vert_step_1_8_en = 1; } else { tmc2160_parameter.vert_step_1_8_en = 0; } break; case 0x0a: tmc2160_parameter.vert_step_1_8_v_min = speed; break; case 0x0b: tmc2160_parameter.vert_step_1_8_v_max = speed; break; /*******************************************************************************************/ case 0x0c: if(pack->data[0] == 1) { tmc2160_parameter.vert_step_1_16_en = 1; } else { tmc2160_parameter.vert_step_1_16_en = 0; } break; case 0x0d: tmc2160_parameter.vert_step_1_16_v_min = speed; break; case 0x0e: tmc2160_parameter.vert_step_1_16_v_max = speed; break; /*******************************************************************************************/ case 0x0f: if(pack->data[0] == 1) { tmc2160_parameter.vert_step_1_32_en = 1; } else { tmc2160_parameter.vert_step_1_32_en = 0; } break; case 0x10: tmc2160_parameter.vert_step_1_32_v_min = speed; break; case 0x11: tmc2160_parameter.vert_step_1_32_v_max = speed; break; /*******************************************************************************************/ case 0x12: if(pack->data[0] == 1) { tmc2160_parameter.vert_step_1_64_en = 1; } else { tmc2160_parameter.vert_step_1_64_en = 0; } break; case 0x13: tmc2160_parameter.vert_step_1_64_v_min = speed; break; case 0x14: tmc2160_parameter.vert_step_1_64_v_max = speed; break; /*******************************************************************************************/ case 0x15: if(pack->data[0] == 1) { tmc2160_parameter.vert_step_1_128_en = 1; } else { tmc2160_parameter.vert_step_1_128_en = 0; } break; case 0x16: tmc2160_parameter.vert_step_1_128_v_min = speed; break; case 0x17: tmc2160_parameter.vert_step_1_128_v_max = speed; break; /*******************************************************************************************/ case 0x20: tmc2160_parameter.vert_work_torque = pack->data[0]; if(tmc2160_parameter.vert_work_torque > TMC2160_WORK_TORQUE_MAX) { tmc2160_parameter.vert_work_torque = TMC2160_WORK_TORQUE_MAX; } if(tmc2160_parameter.vert_work_torque < TMC2160_WORK_TORQUE_MIN) { tmc2160_parameter.vert_work_torque = TMC2160_WORK_TORQUE_MIN; } tmc2160_write_register(TMC2160_VERT, TMC2160_IHOLD_IRUN, tmc2160_parameter.vert_work_torque); break; case 0x21: tmc2160_parameter.vert_global_scaler = pack->data[0]; tmc2160_write_register(TMC2160_VERT, TMC2160_GLOBAL_SCALER, tmc2160_parameter.vert_global_scaler); break; case 0x23: tmc2160_parameter.vert_acc_time_max = (pack->data[0] << 8) | pack->data[1]; break; case 0x24: tmc2160_parameter.vert_dec_time_max = (pack->data[0] << 8) | pack->data[1]; break; } } if(pack->command[0] == 0x53)//数据操作 { switch(pack->command[1]) { case 0x00://读取并回传DRV8711参数 //读取 tmc2160_parameter_read(); //回传 tmc2160_parameter_upload(dev); break; case 0x01://保存DRV8711参数 tmc2160_parameter_save(); break; case 0x02://删除DRV8711在FLASH中的参数 tmc2160_parameter_erase(); break; case 0x03://复位DRV8711在FLASH中保存的参数 // tmc2160_write_register(TMC2160_HORI, TMC2160_GSTAT, 0); // OSTimeDlyHMSM(0u, 0u, 0u, 1u); // tmc2160_write_register(TMC2160_VERT, TMC2160_GSTAT, 0); // OSTimeDlyHMSM(0u, 0u, 0u, 1u); tmc2160_reset(); break; } } } ///===== 驱动器状态读取 unsigned int tmc2160_state_read(char choice, char regis) { unsigned long int status; if(choice == TMC2160_HORI) { status = tmc2160_write_hori_data(choice, regis,0xff,0xff,0xff,0xff);//choice——驱动器选择，x2/x3/x4/x5——写寄存器的数据 } if(choice == TMC2160_VERT) { status = tmc2160_write_vert_data(choice, regis,0xff,0xff,0xff,0xff);//choice——驱动器选择，x2/x3/x4/x5——写寄存器的数据 } return status; } void tmc2160_state_return(char dev) { unsigned char data[7] = {0}; unsigned long int status; //****************************发送水平状态******************// status = tmc2160_state_read(TMC2160_HORI,TMC2160_DRV_STATUS); data[0] = 0xff; data[1] = g_ptz.address; data[2] = (status >> 24) & 0x00ff;//停止、相电源开路、短路、过温警告、过温触发、堵转状态,最高8位 data[3] = (status >> 16) & 0x00ff; data[4] = (status >> 8) & 0x00ff; data[5] = status & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); //****************************读引脚状态******************// status = tmc2160_state_read(TMC2160_HORI,TMC2160_IOIN); data[0] = 0xff; data[1] = g_ptz.address; data[2] = (status >> 24) & 0x00ff;//高8位为版本号，低8位为输入引脚状态 data[3] = 0x00ff; data[4] = 0x00ff; data[5] = status & 0x00ff;//此低8位为引脚状态，0位脉冲信号、1位转向信号、4位驱动器使能信号。 data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 20u); //**************************发送垂直状态******************// status = tmc2160_state_read(TMC2160_VERT,TMC2160_DRV_STATUS); data[0] = 0xff; data[1] = g_ptz.address; data[2] = (status >> 24) & 0x00ff;//停止、相电源开路、短路、过温警告、过温触发、堵转状态,最高8位 data[3] = (status >> 16) & 0x00ff; data[4] = (status >> 8) & 0x00ff; data[5] = status & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); OSTimeDlyHMSM(0u, 0u, 0u, 10u); //****************************读引脚状态******************// status = tmc2160_state_read(TMC2160_VERT,TMC2160_IOIN); data[0] = 0xff; data[1] = g_ptz.address; data[2] = (status >> 24) & 0x00ff;//高8位为版本号，低8位为输入引脚状态 data[3] = 0x00ff; data[4] = 0x00ff; data[5] = status & 0x00ff; data[6] = MotorCalPelcoDSUM(data,sizeof(data)); ptz_send_data(dev, data, sizeof(data)); /**********************以下测试用，用于stealthchop参数自整定*********************/ // OSTimeDlyHMSM(0u, 0u, 0u, 20u); // //****************************发送水平自整定值******************// // status = tmc2160_state_read(TMC2160_HORI,TMC2160_PWM_AUTO); // data[0] = 0xff; // data[1] = g_ptz.address; // data[2] = (status >> 24) & 0x00ff; // data[3] = (status >> 16) & 0x00ff; // data[4] = (status >> 8) & 0x00ff; // data[5] = status & 0x00ff; // data[6] = MotorCalPelcoDSUM(data,sizeof(data)); // ptz_send_data(dev, data, sizeof(data)); // // OSTimeDlyHMSM(0u, 0u, 0u, 20u); // //****************************发送垂直自整定值******************// // status = tmc2160_state_read(TMC2160_VERT,TMC2160_PWM_AUTO); // data[0] = 0xff; // data[1] = g_ptz.address; // data[2] = (status >> 24) & 0x00ff; // data[3] = (status >> 16) & 0x00ff; // data[4] = (status >> 8) & 0x00ff; // data[5] = status & 0x00ff; // data[6] = MotorCalPelcoDSUM(data,sizeof(data)); // ptz_send_data(dev, data, sizeof(data)); // // OSTimeDlyHMSM(0u, 0u, 0u, 20u); // //*****************************发送水平调幅结果******************// // status = tmc2160_state_read(TMC2160_HORI,TMC2160_PWM_SCALE); // data[0] = 0xff; // data[1] = g_ptz.address; // data[2] = (status >> 24) & 0x00ff; // data[3] = (status >> 16) & 0x00ff; // data[4] = (status >> 8) & 0x00ff; // data[5] = status & 0x00ff; // data[6] = MotorCalPelcoDSUM(data,sizeof(data)); // ptz_send_data(dev, data, sizeof(data)); // // OSTimeDlyHMSM(0u, 0u, 0u, 20u); // //*****************************发送垂直调幅结果******************// // status = tmc2160_state_read(TMC2160_VERT,TMC2160_PWM_SCALE); // data[0] = 0xff; // data[1] = g_ptz.address; // data[2] = (status >> 24) & 0x00ff; // data[3] = (status >> 16) & 0x00ff; // data[4] = (status >> 8) & 0x00ff; // data[5] = status & 0x00ff; // data[6] = MotorCalPelcoDSUM(data,sizeof(data)); // ptz_send_data(dev, data, sizeof(data)); } #endif