在自己创建工程之后，开始了对TT_M3HQ开发板的学习，主要功能是使用TT_M3HQ开发板实现对57式步进电机的控制，包括电机启停、方向控制、电机转速控制等。在学习的过程当中主要涉及到了系统时钟各个配置、GPIO功能、SysTick功能、UART功能、定时器功能和PWM功能。通过对原厂代码的解读，逐步了解了这些所涉及功能模块的初始化配置、及后面的操作；原厂的代码在BSP部分结合硬件做了程序的结构定义及封装，对代码来说理简洁，但对于我这个刚开始的新手来说，我还是一点点的去分析，然后改写成了自己的代码风格，对原厂代码设计巧妙的地方也分享给其它同事一起学习了……
本例程基于TT_M3HQ开发板主要实现的功能如下：
——初始化系统时钟，使其工作在80MHz的主频率下，实际测得大概是79880000Hz，通过SCOU对系统各个时钟模块进行监测；
——初始化GPIO口，通过串口命令实现对LED亮灭的控制、电机的运行使能和运转方向控制；
——初始化定时器定时功能，在定时器的中断回调函数中实现对变通GPIO的电平翻转操作，监测定时器的中断触发时间间隔；
——初始化定时器脉冲输出，实现对57式步进电机运转输入信号的控制；
——初始化串口功能，实现系统消息打印，接收PC的串口命令进行相应的操作；
——初始化SysTick，实现1ms的精确延时；
2.准备
2.1.搭建硬件环境
2.2.电机参数
电机型号：57BYG250B
电流：3A
输出力矩：1.2Nm（牛米）
机身长度：56mm
出轴长度：21mm
出轴方式：单轴，轴径8mm，单扁丝
出线方式：二相四根引出线（黑色A+ 绿色A- 红色B+ 蓝色B-）
2.3.驱动器参数
驱动器型号：TB6600
输入电压：DC 9V~24V
电流：4A 速度自适应电路，电流自动寻优
细分数：6400细分
各种保护：过流、过压、欠压、短路等保护
脱机：脱机（ENA）保护功能
3.程序设计
3.1.LED灯初始化及控制
static void TT_M3HQ_InitLED(void){ port.p_pk_instance = TSB_PK; if(gpio_init(&port, GPIO_PORT_K) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PK4 - LED0 */ if(gpio_func(&port, GPIO_PORT_K, GPIO_PORT_4, (uint32_t)GPIO_PK4_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PK5 - LED1 */ if(gpio_func(&port, GPIO_PORT_K, GPIO_PORT_5, (uint32_t)GPIO_PK5_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PK6 - LED2 */ if(gpio_func(&port, GPIO_PORT_K, GPIO_PORT_6, (uint32_t)GPIO_PK6_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PK7 - LED3 */ if(gpio_func(&port, GPIO_PORT_K, GPIO_PORT_7, (uint32_t)GPIO_PK7_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } } void TT_M3HQ_LEDOnOFF(uint8_t index, uint8_t state) { if(state) { switch(index) { case 0 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_4, GPIO_Mode_DATA, GPIO_PIN_SET); break; case 1 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_5, GPIO_Mode_DATA, GPIO_PIN_SET); break; case 2 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_6, GPIO_Mode_DATA, GPIO_PIN_SET); break; case 3 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_7, GPIO_Mode_DATA, GPIO_PIN_SET); break; default: break; } } else { switch(index) { case 0 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_4, GPIO_Mode_DATA, GPIO_PIN_RESET); break; case 1 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_5, GPIO_Mode_DATA, GPIO_PIN_RESET); break; case 2 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_6, GPIO_Mode_DATA, GPIO_PIN_RESET); break; case 3 : gpio_write_bit(&port, GPIO_PORT_K, GPIO_PORT_7, GPIO_Mode_DATA, GPIO_PIN_RESET); break; default: break; } } }
复制代码3.2.定时器功能初始化及中断回调函数
static void TT_M3HQ_TimerEventHandler(uint32_t id, uint32_t status, TXZ_Result result){ static uint8_t i = 0; if(result == TXZ_SUCCESS) { if((status & T32A_INTx1_FLG_MASK) == T32A_INTx1_FLG_MASK) { if(i == 0) { i = 1; gpio_write_bit(&port, GPIO_PORT_N, GPIO_PORT_4, GPIO_Mode_DATA, GPIO_PIN_SET); } else { i = 0; gpio_write_bit(&port, GPIO_PORT_N, GPIO_PORT_4, GPIO_Mode_DATA, GPIO_PIN_RESET); } } } } static void TT_M3HQ_TimerStart(void) { /*--- Start ---*/ if(t32a_timer_startIT(&t32a, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(t32a_SWcounter_start(&t32a, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /*--- NVIC Enable ---*/ NVIC_EnableIRQ(INTT32A00A_IRQn); } static void TT_M3HQ_TimerStop(void) { /*--- NVIC Disable ---*/ NVIC_DisableIRQ(INTT32A00A_IRQn); /*--- Stop ---*/ if (t32a_timer_stopIT(&t32a, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if (t32a_SWcounter_stop(&t32a, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } } static void TT_M3HQ_InitTimer(void) { uint8_t flag = 1; cg_t paramCG; t32a.p_instance = TSB_T32A0; t32a.init_mode.mode.halt = T32A_DBG_HALT_STOP; t32a.init_mode.mode.mode = T32A_MODE_16; if(t32a_mode_init(&t32a) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* Run Control */ t32a.init[T32A_TIMERA].runx.sftstp = T32A_COUNT_STOP; t32a.init[T32A_TIMERA].runx.sftsta = T32A_COUNT_DONT_START; t32a.init[T32A_TIMERA].runx.run = T32A_RUN_DISABLE; /* Counter Control */ t32a.init[T32A_TIMERA].crx.prscl = T32A_PRSCLx_8; t32a.init[T32A_TIMERA].crx.clk = T32A_CLKx_PRSCLx; t32a.init[T32A_TIMERA].crx.wbf = T32A_WBF_DISABLE; t32a.init[T32A_TIMERA].crx.updn = T32A_COUNT_DOWN; t32a.init[T32A_TIMERA].crx.reld = T32A_RELOAD_TREGx; t32a.init[T32A_TIMERA].crx.stop = T32A_STOP_NON; t32a.init[T32A_TIMERA].crx.start = T32A_START_NON; /* Output Control 0 */ t32a.init[T32A_TIMERA].outcrx0.ocr = T32A_OCR_DISABLE; /* Output Control 1 */ t32a.init[T32A_TIMERA].outcrx1.ocrcap0 = T32A_OCRCAPx0_DISABLE; t32a.init[T32A_TIMERA].outcrx1.ocrcap1 = T32A_OCRCAPx1_DISABLE; t32a.init[T32A_TIMERA].outcrx1.ocrcmp0 = T32A_OCRCMPx0_DISABLE; t32a.init[T32A_TIMERA].outcrx1.ocrcmp1 = T32A_OCRCMPx1_DISABLE; /* Timer Counter 1 */ t32a.init[T32A_TIMERA].rgx0.rgx0 = 0; t32a.init[T32A_TIMERA].rgx1.rgx1 = 0; /* Counter Capture */ t32a.init[T32A_TIMERA].tmrx.tmrx = 0; /* Counter Capture Control A0 */ t32a.init[T32A_TIMERA].capx0.capx0 = 0; /* Counter Capture Control A1 */ t32a.init[T32A_TIMERA].capx1.capx1 = 0; /* Interrupt mask register Set */ t32a.init[T32A_TIMERA].imx.imuf = T32A_IMUFx_MASK_REQ; t32a.init[T32A_TIMERA].imx.imof = T32A_IMOFx_MASK_REQ; t32a.init[T32A_TIMERA].imx.imx1 = T32A_IMx1_MASK_NOREQ; t32a.init[T32A_TIMERA].imx.imx0 = T32A_IMx0_MASK_REQ; /* DMA Request */ t32a.init[T32A_TIMERA].dma_req.dmaenx2 = T32A_DMAENx2_DISABLE; t32a.init[T32A_TIMERA].dma_req.dmaenx1 = T32A_DMAENx1_DISABLE; t32a.init[T32A_TIMERA].dma_req.dmaenx0 = T32A_DMAENx0_DISABLE; /* User ID */ t32a.init[T32A_TIMERA].id = 0; /* Handler */ t32a.init[T32A_TIMERA].handler_T = TT_M3HQ_TimerEventHandler; /* CG Driver Register Address Allocation. */ paramCG.p_instance = TSB_CG; /* Calculate timer counter. */ if(t32a_Calculator(&(t32a.init[T32A_TIMERA].reldx.reld), 1000, cg_get_phyt0(¶mCG), t32a.init[T32A_TIMERA].crx.prscl) != TXZ_SUCCESS) { TT_M3HQ_Warning(); TT_M3HQ_LEDOnOFF(0, 1); } if(t32a_timer_init(&t32a, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(flag) TT_M3HQ_TimerStart(); else TT_M3HQ_TimerStop(); }
复制代码3.3.定时器脉冲输出配置
static void TT_M3HQ_PulseHandler(uint32_t id, uint32_t status, TXZ_Result result){ if(result == TXZ_SUCCESS) { /* Check INTA1 */ if((status & T32A_INTx1_FLG_MASK) == T32A_INTx1_FLG_MASK) { } } } static void TT_M3HQ_PulseTimerStart(void) { /*--- Start ---*/ if(t32a_timer_startIT(&pulse, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(t32a_SWcounter_start(&pulse, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /*--- NVIC Enable ---*/ NVIC_EnableIRQ(INTT32A03A_IRQn); } static void TT_M3HQ_PulseTimerStop(void) { /*--- NVIC Disable ---*/ NVIC_DisableIRQ(INTT32A03A_IRQn); /*--- Stop ---*/ if(t32a_timer_stopIT(&pulse, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(t32a_SWcounter_stop(&pulse, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } } static void TT_M3HQ_InitPulse(void) { uint8_t flag = 1; cg_t paramCG; port.p_pj_instance = TSB_PJ; if(gpio_init(&port, GPIO_PORT_J) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PJ0 - PUL */ if(gpio_func(&port, GPIO_PORT_J, GPIO_PORT_0, (uint32_t)GPIO_PJ0_T32A03OUTA, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PJ3 - DIR */ if(gpio_func(&port, GPIO_PORT_J, GPIO_PORT_3, (uint32_t)GPIO_PN3_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PJ5 - ENA */ if(gpio_func(&port, GPIO_PORT_J, GPIO_PORT_5, (uint32_t)GPIO_PN5_OUTPUT, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } TT_M3HQ_MotorRUN(0); TT_M3HQ_MotorDIR(0); pulse.p_instance = TSB_T32A3; pulse.init_mode.mode.halt = T32A_DBG_HALT_STOP; pulse.init_mode.mode.mode = T32A_MODE_16; if(t32a_mode_init(&pulse) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* Run Control */ pulse.init[T32A_TIMERA].runx.sftstp = T32A_COUNT_STOP; pulse.init[T32A_TIMERA].runx.sftsta = T32A_COUNT_DONT_START; pulse.init[T32A_TIMERA].runx.run = T32A_RUN_DISABLE; /* Counter Control */ pulse.init[T32A_TIMERA].crx.prscl = T32A_PRSCLx_8; pulse.init[T32A_TIMERA].crx.clk = T32A_CLKx_PRSCLx; pulse.init[T32A_TIMERA].crx.wbf = T32A_WBF_DISABLE; pulse.init[T32A_TIMERA].crx.updn = T32A_COUNT_UP; pulse.init[T32A_TIMERA].crx.reld = T32A_RELOAD_TREGx; pulse.init[T32A_TIMERA].crx.stop = T32A_STOP_NON; pulse.init[T32A_TIMERA].crx.start = T32A_START_NON; /* Output Control 0 */ pulse.init[T32A_TIMERA].outcrx0.ocr = T32A_OCR_DISABLE; /* Output Control 1 */ pulse.init[T32A_TIMERA].outcrx1.ocrcap1 = T32A_OCRCAPx1_DISABLE; pulse.init[T32A_TIMERA].outcrx1.ocrcap0 = T32A_OCRCAPx0_DISABLE; pulse.init[T32A_TIMERA].outcrx1.ocrcmp1 = T32A_OCRCMPx1_CLR; pulse.init[T32A_TIMERA].outcrx1.ocrcmp0 = T32A_OCRCMPx0_SET; /* Counter Capture */ pulse.init[T32A_TIMERA].tmrx.tmrx = 0; /* Counter Capture Control A0 */ pulse.init[T32A_TIMERA].capx0.capx0 = 0; /* Counter Capture Control A1 */ pulse.init[T32A_TIMERA].capx1.capx1 = 0; /* Interrupt mask register Set */ pulse.init[T32A_TIMERA].imx.imuf = T32A_IMUFx_MASK_REQ; pulse.init[T32A_TIMERA].imx.imof = T32A_IMOFx_MASK_REQ; pulse.init[T32A_TIMERA].imx.imx1 = T32A_IMx1_MASK_NOREQ; pulse.init[T32A_TIMERA].imx.imx0 = T32A_IMx0_MASK_NOREQ; /* DMA Request */ pulse.init[T32A_TIMERA].dma_req.dmaenx2 = T32A_DMAENx2_DISABLE; pulse.init[T32A_TIMERA].dma_req.dmaenx1 = T32A_DMAENx1_DISABLE; pulse.init[T32A_TIMERA].dma_req.dmaenx0 = T32A_DMAENx0_DISABLE; /* User ID */ pulse.init[T32A_TIMERA].id = 0; /* Handler */ pulse.init[T32A_TIMERA].handler_T = TT_M3HQ_PulseHandler; /* CG Driver Register Address Allocation. */ paramCG.p_instance = TSB_CG; // 100us if(t32a_Calculator(&pulse.init[T32A_TIMERA].rgx0.rgx0, 100, cg_get_phyt0(¶mCG), pulse.init[T32A_TIMERA].crx.prscl) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } // 200us --> Freq : 5kHz if(t32a_Calculator(&pulse.init[T32A_TIMERA].rgx1.rgx1, 200, cg_get_phyt0(¶mCG), pulse.init[T32A_TIMERA].crx.prscl) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if (t32a_timer_init(&pulse, T32A_TIMERA) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(flag) TT_M3HQ_PulseTimerStart(); else TT_M3HQ_PulseTimerStop(); }
复制代码3.4.串口初始化
static void TT_M3HQ_UART0_TxHandler(uint32_t id, TXZ_Result result){ } static void TT_M3HQ_UART0_RxHandler(uint32_t id, TXZ_Result result, uart_receive_t *p_info) { uint32_t i = 0; if(result == TXZ_SUCCESS) { for(i = 0; i < p_info->rx8.num; i++) { QUEUE_WRITE(QUEUE_DEBUG_RX_IDX, p_info->rx8.p_data[i]); } } } static void TT_M3HQ_InitUART0(void) { cg_t paramCG; paramCG.p_instance = TSB_CG; port.p_pa_instance = TSB_PA; if(gpio_init(&port, GPIO_PORT_A) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PA1 - UART0 TXD */ if(gpio_func(&port, GPIO_PORT_A, GPIO_PORT_1, (uint32_t)GPIO_PA1_UT0TXDA, GPIO_PIN_OUTPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* PA2 - UART0 RXD */ if(gpio_func(&port, GPIO_PORT_A, GPIO_PORT_2, (uint32_t)GPIO_PA2_UT0RXD, GPIO_PIN_INPUT) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } uart0.p_instance = TSB_UART0; uart0.init.id = 0; uart0.init.clock.prsel = UART_PLESCALER_1; if(uart_get_boudrate_setting(cg_get_phyt0(¶mCG), &uart0.init.clock, 115200, &uart0.init.boudrate) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } uart0.init.inttx = UART_TX_INT_ENABLE; uart0.init.intrx = UART_RX_INT_ENABLE; uart0.init.interr = UART_ERR_INT_ENABLE; uart0.init.txfifo.inttx = UART_TX_FIFO_INT_DISABLE; uart0.init.txfifo.level = 0; uart0.init.rxfifo.intrx = UART_RX_FIFO_INT_DISABLE; uart0.init.rxfifo.level = 8; uart0.init.nf = UART_NOISE_FILTER_NON; uart0.init.ctse = UART_CTS_DISABLE; uart0.init.rtse = UART_RTS_DISABLE; uart0.init.iv = UART_DATA_COMPLEMENTION_DISABLE; uart0.init.dir = UART_DATA_DIRECTION_LSB; uart0.init.sblen = UART_STOP_BIT_1; uart0.init.even = UART_PARITY_BIT_ODD; uart0.init.pe = UART_PARITY_DISABLE; uart0.init.sm = UART_DATA_LENGTH_8; uart0.transmit.handler = TT_M3HQ_UART0_TxHandler; uart0.receive.handler = TT_M3HQ_UART0_RxHandler; if(uart_init(&uart0) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } { uart_receive_t rx; rx.rx8.p_data = UART0_Buffer; rx.rx8.num = 100; if(uart_receiveIt(&uart0, &rx) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } } NVIC_EnableIRQ(INTUART0RX_IRQn); NVIC_EnableIRQ(INTUART0TX_IRQn); NVIC_EnableIRQ(INTUART0ERR_IRQn); }
复制代码3.5.电机运转使能、方向和速度控制
void TT_M3HQ_MotorDIR(uint32_t dir){ if(dir) { gpio_write_bit(&port, GPIO_PORT_J, GPIO_PORT_3, GPIO_Mode_DATA, GPIO_PIN_RESET); // DIR 顺时针 } else { gpio_write_bit(&port, GPIO_PORT_J, GPIO_PORT_3, GPIO_Mode_DATA, GPIO_PIN_SET); // DIR 逆时针 } } void TT_M3HQ_MotorPUL(uint32_t Hz) { cg_t paramCG; uint32_t rgx0 = 0; uint32_t rgx1 = 0; uint32_t time = 1000 * 1000 / Hz; /* CG Driver Register Address Allocation. */ paramCG.p_instance = TSB_CG; if(t32a_Calculator(&rgx0, (time / 2), cg_get_phyt0(¶mCG), pulse.init[T32A_TIMERA].crx.prscl) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } if(t32a_Calculator(&rgx1, (time / 1), cg_get_phyt0(¶mCG), pulse.init[T32A_TIMERA].crx.prscl) != TXZ_SUCCESS) { TT_M3HQ_Warning(); } /* T32A Timer Register A0 Set */ pulse.p_instance->RGA0 = 0; pulse.p_instance->RGA0 = rgx0; /* T32A Timer Register A1 Set */ pulse.p_instance->RGA1 = 0; pulse.p_instance->RGA1 = rgx1; } void TT_M3HQ_MotorRUN(uint32_t en) { if(en) { gpio_write_bit(&port, GPIO_PORT_J, GPIO_PORT_5, GPIO_Mode_DATA, GPIO_PIN_SET); // ENA 使能 } else { gpio_write_bit(&port, GPIO_PORT_J, GPIO_PORT_5, GPIO_Mode_DATA, GPIO_PIN_RESET); // ENA 禁止 } }
复制代码3.6.PC控制命令解析和执行
static void MessageHandler(void){ uint8_t i = 0; static uint32_t frequency = 5000; if(QUEUE_EMPTY(QUEUE_DEBUG_RX_IDX) == 0) { gucDebugBuffer[guiDebugLength++] = QUEUE_READ(QUEUE_DEBUG_RX_IDX); if(strncmp((char *)(gucDebugBuffer + guiDebugLength - 2), "\r\n", 2) == 0) { if(strcmp((char *)gucDebugBuffer, "\r\n") == 0) { printf("\r\nEmpty Line"); } else { char *line = strtok((char *)gucDebugBuffer, "\r\n"); if( strcmp(line, "start") == 0) TT_M3HQ_MotorRUN(1); else if(strcmp(line, "stop" ) == 0) TT_M3HQ_MotorRUN(0); else if(strcmp(line, "dir=1") == 0) TT_M3HQ_MotorDIR(1); else if(strcmp(line, "dir=0") == 0) TT_M3HQ_MotorDIR(0); else if(strcmp(line, "led=1") == 0) {for(i = 0; i < 4; i++) TT_M3HQ_LEDOnOFF(i, 1);} else if(strcmp(line, "led=0") == 0) {for(i = 0; i < 4; i++) TT_M3HQ_LEDOnOFF(i, 0);} else if(strcmp(line, "rgx++") == 0) {frequency += 500; TT_M3HQ_MotorPUL(frequency);} else if(strcmp(line, "rgx--") == 0) {frequency -= 500; TT_M3HQ_MotorPUL(frequency);} else printf("\r\nInvalid command"); printf("\r\n%s", line); } guiDebugLength = 0; memset(gucDebugBuffer, 0, sizeof(gucDebugBuffer)); } } }
复制代码4.调试运行
4.1.PC调试软件及控制指令
4.2.电机运转在500Hz的频率下
4.3.电机运转在13kHz的频率下
5.关于SCOU输出的疑问
参照原厂的代码，external_losc_enable如果调用，SCOUT选择fs，烧录程序后复位运行，SCOUT有32.768kHz的频率输出；这个时候如果不调用external_losc_enable，SCOUT选择fs，烧录程序后复位运行，SCOUT仍然有32.768kHz的频率输出；只的在整个板子断电后再上电运行，SCOUT才没有输出；也就是说，复位对选择fs进行SCOUT输出没有影响，这是正常现象吗？
6.工程代码
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