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feat: 增加步进电机绝对和相对位置设置函数

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This commit is contained in:
bmy
2024-05-01 01:51:36 +08:00
parent 13d9324385
commit 7ef6f87c84
11 changed files with 321 additions and 93 deletions
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4
.clang-format
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@@ -7,8 +7,8 @@ Language: Cpp
###################################
UseTab: Never
IndentWidth: 4
TabWidth: 4
IndentWidth: 2
TabWidth: 2
ColumnLimit: 0
AccessModifierOffset: -4
NamespaceIndentation: All

2
.vscode/launch.json vendored
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@@ -7,7 +7,7 @@
"request": "launch",
"name": "openocd",
"servertype": "openocd",
"executable": "build\\BC3D\\BC3D.elf",
"executable": "build\\Debug\\BC3D.elf",
"runToEntryPoint": "main",
"configFiles": [
"interface/cmsis-dap.cfg",

20
BC3D.ATWP
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@@ -36,17 +36,21 @@
<ModeSub name="EXINT5" value="TRUE"/>
</Mode>
</EXINT>
<TMR1>
<Mode>
<ModeSub name="Activated" value="TRUE"/>
</Mode>
</TMR1>
<TMR3>
<Mode>
<ModeSub name="Multi-Channels" value="Encoder_Mode"/>
<ModeSub name="Activated" value="TRUE"/>
</Mode>
</TMR3>
<TMR4>
<Mode>
<ModeSub name="Activated" value="TRUE"/>
</Mode>
<Parameters>
<ParametersSub name="DividerValue" value="199"/>
<ParametersSub name="Period" value="9999"/>
</Parameters>
</TMR4>
<TMR10>
<Mode>
<ModeSub name="Channel1 mode" value="Output_without_pin"/>
@@ -67,11 +71,9 @@
<CAN1_RX1_IRQHandler>0;0;0</CAN1_RX1_IRQHandler>
<CAN1_SE_IRQHandler>0;0;0</CAN1_SE_IRQHandler>
<EXINT9_5_IRQHandler>0;0;0</EXINT9_5_IRQHandler>
<TMR1_BRK_TMR9_IRQHandler>0;0;0</TMR1_BRK_TMR9_IRQHandler>
<TMR1_OVF_TMR10_IRQHandler>0;0;0</TMR1_OVF_TMR10_IRQHandler>
<TMR1_TRG_HALL_TMR11_IRQHandler>0;0;0</TMR1_TRG_HALL_TMR11_IRQHandler>
<TMR1_CH_IRQHandler>0;0;0</TMR1_CH_IRQHandler>
<TMR3_GLOBAL_IRQHandler>0;0;0</TMR3_GLOBAL_IRQHandler>
<TMR4_GLOBAL_IRQHandler>1;0;0</TMR4_GLOBAL_IRQHandler>
<USART2_IRQHandler>0;0;0</USART2_IRQHandler>
</NVIC>
<GPIO>
@@ -134,7 +136,7 @@
</PINInfo>
<ProjectInfomation>
<ProjectName>BC3D</ProjectName>
<ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
<ProjectLocation>C:/Users/evan/Desktop</ProjectLocation>
<ToolchainIDE>MDK_V5</ToolchainIDE>
<KeepUserCode>true</KeepUserCode>
<MinHeapSize>0x200</MinHeapSize>

2
BC3D.code-workspace
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@@ -30,7 +30,7 @@
"titleBar.activeBackground": "#3B3485",
"titleBar.activeForeground": "#FCFCFE"
},
"EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
"EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
"cortex-debug.variableUseNaturalFormat": true
}
}

141
app/by_stepper.c
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@@ -1,41 +1,166 @@
#include "by_stepper.h"
#include <math.h>
#include <string.h>
#include <dwt_delay.h>
#include "by_debug.h"
#define GEAR_INDEXING_DIAMETER (16.0f) // 齿轮分度圆直径
#define GEAR_MODULUS (2.0f) // 齿轮模数
#define ENCODER_PULSE_PER_CIRCLE (2048.0f) // 编码器每圈脉冲数
#define MILLIMETER_PER_CIRCLE (GEAR_INDEXING_DIAMETER * GEAR_MODULUS) // 齿轮每圈行走长度
#define ENCODER_PULSE_PER_MILLIMETER (ENCODER_PULSE_PER_CIRCLE / MILLIMETER_PER_CIRCLE) // 编码器每毫米脉冲数
#define STEPPER_STEP_ANGLE (1.8f) // 步进角度
#define DRIVER_PULSE_PER_STEP (16.0f) // 驱动器细分
#define DRIVER_PULSE_PER_CIRCLE (360.0f / STEPPER_STEP_ANGLE * DRIVER_PULSE_PER_STEP) // 驱动器每圈脉冲数
#define DRIVER_PULSE_PER_MILLIMETER (DRIVER_PULSE_PER_CIRCLE / MILLIMETER_PER_CIRCLE) // 驱动器每毫米脉冲数
#define ENCODER_ERROR_THRESHOLD (20)
int64_t position = 0;
int64_t position_aim = 0;
int64_t position_offset = 0;
uint8_t running_flag = 0;
// TODO 是否增加一个动作列表？一般都比较简单吧
struct by_stepper_t {
uint8_t dir;
stepper_speed_t speed;
uint8_t dir;
stepper_speed_t speed;
};
struct by_stepper_t by_stepper;
void by_stepper_init(void)
static int64_t abs_s64(int64_t x)
{
memset(&by_stepper, 0x00, sizeof(by_stepper));
return x > 0 ? x : -x;
}
void by_stepper_set_dir(uint8_t dir)
{
by_stepper.dir = dir;
by_stepper.dir = dir;
}
void by_stepper_set_speed(stepper_speed_t speed)
{
by_stepper.speed = speed;
by_stepper.speed = speed;
}
void by_stepper_run(void)
{
// 根据预设条件发送脉冲
// 根据预设条件发送脉冲
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
void by_stepper_stop(uint8_t hold)
{
gpio_bits_write(GPIOA, GPIO_PINS_9, hold ? FALSE : TRUE); // EN
gpio_bits_write(GPIOA, GPIO_PINS_8, FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
}
void by_stepper_set_position_millimeter(float distance)
{
if (!running_flag) {
position_aim = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
}
}
void by_stepper_add_position_millimeter(float distance)
{
if (!running_flag) {
position_aim = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
}
}
void by_stepper_init(void)
{
uint32_t slow_start_cnt = 30000;
LOGD("by_stepper init...");
memset(&by_stepper, 0x00, sizeof(by_stepper));
gpio_bits_write(GPIOB, GPIO_PINS_12, TRUE); // MODE2
gpio_bits_write(GPIOB, GPIO_PINS_13, FALSE); // MODE1
gpio_bits_write(GPIOB, GPIO_PINS_14, FALSE); // MODE0
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
by_stepper_set_dir(0);
by_stepper_set_speed(STEPPER_SPEED_DIV2);
while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
by_stepper_set_speed(STEPPER_SPEED_DIV1);
while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET) {
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
position = 0; // 位置归零
tmr_counter_value_set(TMR3, 0);
LOGD("by_stepper init ok");
}
void by_stepper_stop(void)
void by_stepper_loop(void)
{
int16_t temp = (int16_t)tmr_counter_value_get(TMR3);
position += (int64_t)temp;
tmr_counter_value_set(TMR3, 0);
if (running_flag) {
if (position_offset > 0) {
by_stepper_set_dir(0);
by_stepper_run();
} else if (position_offset < 0) {
by_stepper_set_dir(1);
by_stepper_run();
}
// 当定位误差小于阈值时，停止运动。否则重新计算定位误差
if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
running_flag = 0;
position_offset = 0;
} else {
position_offset = position_aim - position;
}
} else {
by_stepper_stop(0);
}
// if (position_offset) {
// if (position_offset > 0) {
// by_stepper_set_dir(0);
// by_stepper_run();
// position_offset -= 1;
// } else if (position_offset++ < 0) {
// by_stepper_set_dir(1);
// by_stepper_run();
// position_offset += 1;
// }
// } else {
// by_stepper_stop(0);
// }
}
void by_stpepper_int(void)
{
// position += (int16_t)(tmr_counter_value_get(TMR3));
// tmr_counter_value_set(TMR3, 0);
}

33
app/by_stepper.h
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@@ -1,10 +1,29 @@
#ifndef _BY_STEPPER_H__
#define _BY_STEPPER_H__
#include "at32f413.h"
typedef enum stepper_speed_t {
STEPPER_SPEED_DIV0 = 0,
STEPPER_SPEED_DIV2 = 2,
STEPPER_SPEED_DIV4 = 4,
STEPPER_SPEED_DIV8 = 8,
STEPPER_SPEED_DIV16 = 16,
STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;
STEPPER_SPEED_DIV1 = 1,
STEPPER_SPEED_DIV2 = 2,
STEPPER_SPEED_DIV4 = 4,
STEPPER_SPEED_DIV8 = 8,
STEPPER_SPEED_DIV16 = 16,
STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;
extern void by_stepper_set_dir(uint8_t dir);
extern void by_stepper_set_speed(stepper_speed_t speed);
extern void by_stepper_init(void);
extern void by_stepper_run(void);
extern void by_stepper_stop(uint8_t hold);
extern void by_stepper_set_position_millimeter(float distance);
extern void by_stepper_add_position_millimeter(float distance);
extern void by_stepper_loop(void);
extern void by_stpepper_int(void);
extern int64_t position;
extern int64_t position_aim;
extern int64_t position_offset;
#endif

1
project/inc/at32f413_int.h
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@@ -65,6 +65,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void TMR4_GLOBAL_IRQHandler(void);
/* add user code begin exported functions */
/* add user code end exported functions */

65
project/inc/at32f413_wk_config.h
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@@ -55,6 +55,65 @@ extern "C" {
/* add user code end exported macro */
/* add user code begin dma define */
/* user can only modify the dma define value */
//#define DMA1_CHANNEL1_BUFFER_SIZE 0
//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL2_BUFFER_SIZE 0
//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL3_BUFFER_SIZE 0
//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL4_BUFFER_SIZE 0
//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL5_BUFFER_SIZE 0
//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL6_BUFFER_SIZE 0
//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR 0
//#define DMA1_CHANNEL7_BUFFER_SIZE 0
//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR 0
//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL1_BUFFER_SIZE 0
//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL2_BUFFER_SIZE 0
//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL3_BUFFER_SIZE 0
//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL4_BUFFER_SIZE 0
//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL5_BUFFER_SIZE 0
//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL6_BUFFER_SIZE 0
//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR 0
//#define DMA2_CHANNEL7_BUFFER_SIZE 0
//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR 0
//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR 0
/* add user code end dma define */
/* Private defines -------------------------------------------------------------*/
#define MODE2_PIN GPIO_PINS_12
#define MODE2_GPIO_PORT GPIOB
@@ -94,12 +153,12 @@ extern "C" {
/* init usart2 function. */
void wk_usart2_init(void);
/* init tmr1 function. */
void wk_tmr1_init(void);
/* init tmr3 function. */
void wk_tmr3_init(void);
/* init tmr4 function. */
void wk_tmr4_init(void);
/* init tmr10 function. */
void wk_tmr10_init(void);

22
project/src/at32f413_int.c
View File

@@ -29,7 +29,8 @@
/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
#include "by_debug.h"
#include "by_stepper.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
@@ -204,6 +205,25 @@ void PendSV_Handler(void)
/* add user code end PendSV_IRQ 1 */
}
/**
* @brief this function handles TMR4 handler.
* @param none
* @retval none
*/
void TMR4_GLOBAL_IRQHandler(void)
{
/* add user code begin TMR4_GLOBAL_IRQ 0 */
if(SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)){
by_stpepper_int();
tmr_flag_clear(TMR4, TMR_OVF_FLAG);
}
/* add user code end TMR4_GLOBAL_IRQ 0 */
/* add user code begin TMR4_GLOBAL_IRQ 1 */
/* add user code end TMR4_GLOBAL_IRQ 1 */
}
/* add user code begin 1 */
/* add user code end 1 */

85
project/src/at32f413_wk_config.c
View File

@@ -165,15 +165,15 @@ void wk_periph_clock_config(void)
/* enable gpiod periph clock */
crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
/* enable tmr1 periph clock */
crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
/* enable tmr10 periph clock */
crm_periph_clock_enable(CRM_TMR10_PERIPH_CLOCK, TRUE);
/* enable tmr3 periph clock */
crm_periph_clock_enable(CRM_TMR3_PERIPH_CLOCK, TRUE);
/* enable tmr4 periph clock */
crm_periph_clock_enable(CRM_TMR4_PERIPH_CLOCK, TRUE);
/* enable usart2 periph clock */
crm_periph_clock_enable(CRM_USART2_PERIPH_CLOCK, TRUE);
@@ -200,6 +200,8 @@ void wk_debug_config(void)
void wk_nvic_config(void)
{
nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
nvic_irq_enable(TMR4_GLOBAL_IRQn, 0, 0);
}
/**
@@ -284,7 +286,7 @@ void wk_exint_config(void)
exint_init(&exint_init_struct);
/* add user code begin exint_config 2 */
exint_interrupt_enable(EXINT_LINE_5, TRUE);
/* add user code end exint_config 2 */
}
@@ -337,40 +339,6 @@ void wk_usart2_init(void)
/* add user code end usart2_init 2 */
}
/**
* @brief init tmr1 function.
* @param none
* @retval none
*/
void wk_tmr1_init(void)
{
/* add user code begin tmr1_init 0 */
/* add user code end tmr1_init 0 */
/* add user code begin tmr1_init 1 */
/* add user code end tmr1_init 1 */
/* configure counter settings */
tmr_base_init(TMR1, 65535, 0);
tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
tmr_repetition_counter_set(TMR1, 0);
tmr_period_buffer_enable(TMR1, FALSE);
/* configure primary mode settings */
tmr_sub_sync_mode_set(TMR1, FALSE);
tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET);
tmr_counter_enable(TMR1, TRUE);
/* add user code begin tmr1_init 2 */
/* add user code end tmr1_init 2 */
}
/**
* @brief init tmr3 function.
* @param none
@@ -439,6 +407,47 @@ void wk_tmr3_init(void)
/* add user code end tmr3_init 2 */
}
/**
* @brief init tmr4 function.
* @param none
* @retval none
*/
void wk_tmr4_init(void)
{
/* add user code begin tmr4_init 0 */
/* add user code end tmr4_init 0 */
/* add user code begin tmr4_init 1 */
/* add user code end tmr4_init 1 */
/* configure counter settings */
tmr_base_init(TMR4, 9999, 1999);
tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
tmr_period_buffer_enable(TMR4, FALSE);
/* configure primary mode settings */
tmr_sub_sync_mode_set(TMR4, FALSE);
tmr_primary_mode_select(TMR4, TMR_PRIMARY_SEL_RESET);
tmr_counter_enable(TMR4, TRUE);
/**
* Users need to configure TMR4 interrupt functions according to the actual application.
* 1. Call the below function to enable the corresponding TMR4 interrupt.
* --tmr_interrupt_enable(...)
* 2. Add the user's interrupt handler code into the below function in the at32f413_int.c file.
* --void TMR4_GLOBAL_IRQHandler(void)
*/
/* add user code begin tmr4_init 2 */
tmr_interrupt_enable(TMR4, TMR_OVF_INT, TRUE);
/* add user code end tmr4_init 2 */
}
/**
* @brief init tmr10 function.
* @param none

39
project/src/main.c
View File

@@ -33,6 +33,7 @@
#include "by_debug.h"
#include "by_can.h"
#include "by_stepper.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
@@ -66,15 +67,15 @@
/* add user code end 0 */
/**
* @brief main function.
* @param none
* @retval none
*/
* @brief main function.
* @param none
* @retval none
*/
int main(void)
{
/* add user code begin 1 */
by_debug_init();
/* add user code end 1 */
by_debug_init();
/* add user code end 1 */
/* system clock config. */
wk_system_clock_config();
@@ -94,12 +95,12 @@ int main(void)
/* init exint function. */
wk_exint_config();
/* init tmr1 function. */
wk_tmr1_init();
/* init tmr3 function. */
wk_tmr3_init();
/* init tmr4 function. */
wk_tmr4_init();
/* init tmr10 function. */
wk_tmr10_init();
@@ -110,22 +111,14 @@ int main(void)
wk_gpio_config();
/* add user code begin 2 */
DWT_Init();
DWT_Init();
by_stepper_init();
LOGD("hello world");
/* add user code end 2 */
gpio_bits_write(GPIOB, GPIO_PINS_12, FALSE); // MODE2
gpio_bits_write(GPIOB, GPIO_PINS_13, TRUE); // MODE1
gpio_bits_write(GPIOB, GPIO_PINS_14, TRUE); // MODE0
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, TRUE); // CLK
/* add user code end 2 */
while(1)
{
while (1) {
/* add user code begin 3 */
DWT_Delay(40);
/* add user code end 3 */
by_stepper_loop();
/* add user code end 3 */
}
}