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Still don't work :(

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This commit is contained in:
Edward Emelianov
2023-03-01 22:03:03 +03:00
parent 8e4df528d9
commit d23d2ab89d
15 changed files with 204 additions and 34 deletions
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80
F3:F303/Multistepper/pdnuart.c
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@@ -18,10 +18,13 @@
#include <stm32f3.h>
#include "flash.h"
#include "hardware.h"
#include "proto.h"
#include "tmc2209.h"
extern volatile uint32_t Tms;
static uint8_t motorno = 0;
#define MAXBUFLEN (8)
// timeout, milliseconds
@@ -66,16 +69,18 @@ void pdnuart_setup(){
setup_usart(1);
}
static int rwreg(uint8_t motorno, uint8_t reg, uint32_t data, int w){
static int rwreg(uint8_t reg, uint32_t data, int w){
if(motorno >= MOTORSNO || reg & 0x80) return FALSE;
uint32_t x = Tms;
while(Tms - x < 1);
int no = motorno >> 2;
uint8_t outbuf[MAXBUFLEN];
outbuf[0] = 0xa0;
outbuf[0] = 0x05;
outbuf[1] = motorno - (no << 2);
outbuf[2] = reg << 1;
outbuf[2] = reg;
int nbytes = 3;
if(w){
outbuf[2] |= 1;
outbuf[2] |= 0x80;
for(int i = 6; i > 2; --i){
outbuf[i] = data & 0xff;
data >>= 8;
@@ -85,20 +90,25 @@ static int rwreg(uint8_t motorno, uint8_t reg, uint32_t data, int w){
calcCRC(outbuf, nbytes);
++nbytes;
for(int i = 0; i < nbytes; ++i){
USB_sendstr("Send byte "); USB_putbyte('0'+i); USB_sendstr(": "); printuhex(outbuf[i]); newline();
USART[no]->TDR = outbuf[i]; // transmit
while(!(USART[no]->ISR & USART_ISR_TXE));
int l = 0;
for(; l < 10000; ++l) if(USART[no]->ISR & USART_ISR_RXNE) break;
if(l == 10000) USND("Nothing received");
else {USB_sendstr("Rcv: "); printuhex(USART[no]->RDR); newline();}
}
return TRUE;
}
// return FALSE if failed
int pdnuart_writereg(uint8_t motorno, uint8_t reg, uint32_t data){
return rwreg(motorno, reg, data, 1);
int pdnuart_writereg(uint8_t reg, uint32_t data){
return rwreg(reg, data, 1);
}
// return FALSE if failed
int pdnuart_readreg(uint8_t motorno, uint8_t reg, uint32_t *data){
if(!rwreg(motorno, reg, 0, 0)) return FALSE;
int pdnuart_readreg(uint8_t reg, uint32_t *data){
if(!rwreg(reg, 0, 0)) return FALSE;
uint32_t Tstart = Tms;
uint8_t buf[8];
int no = motorno >> 2;
@@ -117,6 +127,60 @@ int pdnuart_readreg(uint8_t motorno, uint8_t reg, uint32_t *data){
return TRUE;
}
static int readregister(uint8_t no, uint8_t reg, uint32_t *data){
int n = motorno; motorno = no;
int r = pdnuart_readreg(reg, data);
motorno = n;
return r;
}
static int writeregister(uint8_t no, uint8_t reg, uint32_t data){
int n = motorno; motorno = no;
int r = pdnuart_writereg(reg, data);
motorno = n;
return r;
}
uint8_t pdnuart_getmotno(){
return motorno;
}
int pdnuart_setmotno(uint8_t no){
if(no >= MOTORSNO) return FALSE;
motorno = no;
return TRUE;
}
// write val into IHOLD_IRUN over UART to n'th motor
int pdnuart_setcurrent(uint8_t no, uint8_t val){
TMC2209_ihold_irun_reg_t regval;
if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.value)) return FALSE;
regval.irun = val;
return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
}
// set microsteps over UART
int pdnuart_microsteps(uint8_t no, uint32_t val){
if(val > 256) return FALSE;
TMC2209_chopconf_reg_t regval;
if(!readregister(no, TMC2209Reg_CHOPCONF, &regval.value)) return FALSE;
if(val == 256) regval.mres = 0;
else regval.mres = MSB(val) + 1;
return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
}
// init driver number `no`
int pdnuart_init(uint8_t no){
TMC2209_gconf_reg_t gconf;
if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
gconf.pdn_disable = 1; // PDN now is UART
gconf.mstep_reg_select = 1; // microsteps are by MSTEP
if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE;
if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
return TRUE;
}
/*
static void parseRx(int no){
USB_sendstr("Got from ");