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Merged
ShotaAk merged 2 commits into from
Jan 24, 2024
Merged

STEP/DIR add at STEP8 #3

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53d472c
STEP/DIR add at STEP8
aoki-rt Jan 17, 2024
edb7924
Refactoring to pass clang-format check
Jan 24, 2024
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5 changes: 5 additions & 0 deletions TMC5072_STEP8_micromouse/TMC5072.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@

int shadowRegister[0x80] = {0};

t_TMC5072Mode g_TMC5072_mode;

t_TMC5072Mode getTMC5072Mode(void) { return g_TMC5072_mode; }

unsigned int TMC5072Read_no_status(unsigned char add)
{
unsigned char data[5];
Expand Down Expand Up @@ -110,6 +114,7 @@ void TMC5072Write(unsigned char add, unsigned int writedata)

void TMC5072Setting(t_TMC5072Mode mode)
{
g_TMC5072_mode = mode;
switch (mode) {
case STEPDIR: //Ramp Generator velocity-modeに近い使い方
TMC5072Write(TMC5072_IHOLD_IRUN1, 0x00071703); //IHOLDDELAY=7 IRUN=17/32 IHOLD=3/32
Expand Down
33 changes: 31 additions & 2 deletions TMC5072_STEP8_micromouse/TMC5072_STEP8_micromouse.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -76,9 +76,11 @@ void execByMode(int mode)

switch (mode) {
case 1: //左手法
TMC5072Setting(VELOCITY);
searchLefthand();
break;
case 2: //足立法
TMC5072Setting(VELOCITY);
g_map_control.positionInit();
searchAdachi(g_map_control.getGoalX(), g_map_control.getGoalY());
rotate(right, 2);
Expand All @@ -92,6 +94,7 @@ void execByMode(int mode)
mapWrite();
break;
case 3: //最短走行
TMC5072Setting(VELOCITY);
copyMap();
g_map_control.positionInit();
fastRun(g_map_control.getGoalX(), g_map_control.getGoalY());
Expand All @@ -105,10 +108,36 @@ void execByMode(int mode)
g_map_control.nextDir(right);
break;
case 4:
TMC5072Setting(STEPDIR);
searchLefthand();
break;
case 5:
case 5: //足立法
TMC5072Setting(STEPDIR);
g_map_control.positionInit();
searchAdachi(g_map_control.getGoalX(), g_map_control.getGoalY());
rotate(right, 2);
g_map_control.nextDir(right);
g_map_control.nextDir(right);
goalAppeal();
searchAdachi(0, 0);
rotate(right, 2);
g_map_control.nextDir(right);
g_map_control.nextDir(right);
mapWrite();
break;
case 6:
case 6: //最短走行
TMC5072Setting(STEPDIR);
copyMap();
g_map_control.positionInit();
fastRun(g_map_control.getGoalX(), g_map_control.getGoalY());
rotate(right, 2);
g_map_control.nextDir(right);
g_map_control.nextDir(right);
goalAppeal();
fastRun(0, 0);
rotate(right, 2);
g_map_control.nextDir(right);
g_map_control.nextDir(right);
break;
case 7:
break;
Expand Down
280 changes: 139 additions & 141 deletions TMC5072_STEP8_micromouse/TMCL.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -15,175 +15,173 @@
#include "TMC5072.h"
#include "stdio.h"

// clang-format off

// these addresses are fixed
#define SERIAL_MODULE_ADDRESS 1
#define SERIAL_HOST_ADDRESS 2
#define SERIAL_MODULE_ADDRESS 1
#define SERIAL_HOST_ADDRESS 2

const int BUILD_VERSION = 30824;
const char * VersionString = "0016V308";
#define ID_TMC5072 7
const char *VersionString = "0016V308";
#define ID_TMC5072 7
#define TMC_ADDRESS_MASK 0x7F
#define TMC_ADDRESS(x) ((x) & (TMC_ADDRESS_MASK))
#define CAST_Sn_TO_S32(value, n) \
((value) | (((value) & ((uint32_t)1 << ((n)-1))) ? ~(((uint32_t)1 << (n)) - 1) : 0))
#define CAST_Sn_TO_S32(value, n) ((value) | (((value) & ((uint32_t)1<<((n)-1)))? ~(((uint32_t)1<<(n))-1) : 0 ))

// id detection state definitions
#define ID_STATE_WAIT_LOW 0 // id detection waiting for first edge (currently low)
#define ID_STATE_WAIT_HIGH 1 // id detection waiting for second edge (currently high)
#define ID_STATE_DONE 2 // id detection finished successfully
#define ID_STATE_INVALID \
3 // id detection failed - we got an answer, but no corresponding ID (invalid ID pulse length)
#define ID_STATE_NO_ANSWER 4 // id detection failed - board doesn't answer
#define ID_STATE_TIMEOUT 5 // id detection failed - board id pulse went high but not low
#define ID_STATE_NOT_IN_FW \
6 // id detection detected a valid id that is not supported in this firmware
#define ID_STATE_WAIT_LOW 0 // id detection waiting for first edge (currently low)
#define ID_STATE_WAIT_HIGH 1 // id detection waiting for second edge (currently high)
#define ID_STATE_DONE 2 // id detection finished successfully
#define ID_STATE_INVALID 3 // id detection failed - we got an answer, but no corresponding ID (invalid ID pulse length)
#define ID_STATE_NO_ANSWER 4 // id detection failed - board doesn't answer
#define ID_STATE_TIMEOUT 5 // id detection failed - board id pulse went high but not low
#define ID_STATE_NOT_IN_FW 6 // id detection detected a valid id that is not supported in this firmware

// todo CHECK 2: these are unused - delete? (LH) #11
// tmcl interpreter states
#define TM_IDLE 0
#define TM_RUN 1
#define TM_STEP 2
#define TM_RESET 3 // unused
#define TM_DOWNLOAD 4
#define TM_DEBUG 5 // wie TM_IDLE, es wird jedoch der Akku nicht modifiziert bei GAP etc.
#define TM_IDLE 0
#define TM_RUN 1
#define TM_STEP 2
#define TM_RESET 3 // unused
#define TM_DOWNLOAD 4
#define TM_DEBUG 5 // wie TM_IDLE, es wird jedoch der Akku nicht modifiziert bei GAP etc.

// todo CHECK 2: these are unused - delete? (LH) #12
#define TCS_IDLE 0
#define TCS_CAN7 1
#define TCS_CAN8 2
#define TCS_UART 3
#define TCS_UART_ERROR 4
#define TCS_UART_II 5
#define TCS_UART_II_ERROR 6
#define TCS_USB 7
#define TCS_USB_ERROR 8
#define TCS_MEM 9
#define TCS_IDLE 0
#define TCS_CAN7 1
#define TCS_CAN8 2
#define TCS_UART 3
#define TCS_UART_ERROR 4
#define TCS_UART_II 5
#define TCS_UART_II_ERROR 6
#define TCS_USB 7
#define TCS_USB_ERROR 8
#define TCS_MEM 9

// TMCL commands
#define TMCL_ROR 1
#define TMCL_ROL 2
#define TMCL_MST 3
#define TMCL_MVP 4
#define TMCL_SAP 5
#define TMCL_GAP 6
#define TMCL_STAP 7
#define TMCL_RSAP 8
#define TMCL_SGP 9
#define TMCL_GGP 10
#define TMCL_STGP 11
#define TMCL_RSGP 12
#define TMCL_RFS 13
#define TMCL_SIO 14
#define TMCL_GIO 15
#define TMCL_CALC 19
#define TMCL_COMP 20
#define TMCL_JC 21
#define TMCL_JA 22
#define TMCL_CSUB 23
#define TMCL_RSUB 24
#define TMCL_EI 25
#define TMCL_DI 26
#define TMCL_WAIT 27
#define TMCL_STOP 28
#define TMCL_SAC 29
#define TMCL_SCO 30
#define TMCL_GCO 31
#define TMCL_CCO 32
#define TMCL_CALCX 33
#define TMCL_AAP 34
#define TMCL_AGP 35
#define TMCL_CLE 36
#define TMCL_VECT 37
#define TMCL_RETI 38
#define TMCL_ACO 39
#define TMCL_ROR 1
#define TMCL_ROL 2
#define TMCL_MST 3
#define TMCL_MVP 4
#define TMCL_SAP 5
#define TMCL_GAP 6
#define TMCL_STAP 7
#define TMCL_RSAP 8
#define TMCL_SGP 9
#define TMCL_GGP 10
#define TMCL_STGP 11
#define TMCL_RSGP 12
#define TMCL_RFS 13
#define TMCL_SIO 14
#define TMCL_GIO 15
#define TMCL_CALC 19
#define TMCL_COMP 20
#define TMCL_JC 21
#define TMCL_JA 22
#define TMCL_CSUB 23
#define TMCL_RSUB 24
#define TMCL_EI 25
#define TMCL_DI 26
#define TMCL_WAIT 27
#define TMCL_STOP 28
#define TMCL_SAC 29
#define TMCL_SCO 30
#define TMCL_GCO 31
#define TMCL_CCO 32
#define TMCL_CALCX 33
#define TMCL_AAP 34
#define TMCL_AGP 35
#define TMCL_CLE 36
#define TMCL_VECT 37
#define TMCL_RETI 38
#define TMCL_ACO 39

#define TMCL_UF0 64
#define TMCL_UF1 65
#define TMCL_UF2 66
#define TMCL_UF3 67
#define TMCL_UF4 68
#define TMCL_UF5 69
#define TMCL_UF6 70
#define TMCL_UF7 71
#define TMCL_UF8 72
#define TMCL_UF0 64
#define TMCL_UF1 65
#define TMCL_UF2 66
#define TMCL_UF3 67
#define TMCL_UF4 68
#define TMCL_UF5 69
#define TMCL_UF6 70
#define TMCL_UF7 71
#define TMCL_UF8 72

#define TMCL_ApplStop 128
#define TMCL_ApplRun 129
#define TMCL_ApplStep 130
#define TMCL_ApplReset 131
#define TMCL_DownloadStart 132
#define TMCL_DownloadEnd 133
#define TMCL_ReadMem 134
#define TMCL_GetStatus 135
#define TMCL_GetVersion 136
#define TMCL_FactoryDefault 137
#define TMCL_SetEvent 138
#define TMCL_SetASCII 139
#define TMCL_SecurityCode 140
#define TMCL_Breakpoint 141
#define TMCL_RamDebug 142
#define TMCL_GetIds 143
#define TMCL_UF_CH1 144
#define TMCL_UF_CH2 145
#define TMCL_writeRegisterChannel_1 146
#define TMCL_writeRegisterChannel_2 147
#define TMCL_readRegisterChannel_1 148
#define TMCL_readRegisterChannel_2 149
#define TMCL_ApplStop 128
#define TMCL_ApplRun 129
#define TMCL_ApplStep 130
#define TMCL_ApplReset 131
#define TMCL_DownloadStart 132
#define TMCL_DownloadEnd 133
#define TMCL_ReadMem 134
#define TMCL_GetStatus 135
#define TMCL_GetVersion 136
#define TMCL_FactoryDefault 137
#define TMCL_SetEvent 138
#define TMCL_SetASCII 139
#define TMCL_SecurityCode 140
#define TMCL_Breakpoint 141
#define TMCL_RamDebug 142
#define TMCL_GetIds 143
#define TMCL_UF_CH1 144
#define TMCL_UF_CH2 145
#define TMCL_writeRegisterChannel_1 146
#define TMCL_writeRegisterChannel_2 147
#define TMCL_readRegisterChannel_1 148
#define TMCL_readRegisterChannel_2 149

#define TMCL_BoardMeasuredSpeed 150
#define TMCL_BoardError 151
#define TMCL_BoardReset 152
#define TMCL_BoardMeasuredSpeed 150
#define TMCL_BoardError 151
#define TMCL_BoardReset 152

#define TMCL_WLAN 160
#define TMCL_WLAN_CMD 160
#define TMCL_WLAN_IS_RTS 161
#define TMCL_WLAN_CMDMODE_EN 162
#define TMCL_WLAN_IS_CMDMODE 163
#define TMCL_WLAN 160
#define TMCL_WLAN_CMD 160
#define TMCL_WLAN_IS_RTS 161
#define TMCL_WLAN_CMDMODE_EN 162
#define TMCL_WLAN_IS_CMDMODE 163

#define TMCL_MIN 170
#define TMCL_MAX 171
#define TMCL_OTP 172
#define TMCL_MIN 170
#define TMCL_MAX 171
#define TMCL_OTP 172

#define TMCL_Boot 242
#define TMCL_SoftwareReset 255
#define TMCL_Boot 242
#define TMCL_SoftwareReset 255

// Command type variants
#define MVP_ABS 0
#define MVP_REL 1
#define MVP_PRF 2
#define MVP_ABS 0
#define MVP_REL 1
#define MVP_PRF 2

// GetVersion() Format types
#define VERSION_FORMAT_ASCII 0
#define VERSION_FORMAT_BINARY 1
#define VERSION_BOOTLOADER \
2 // todo CHECK 2: implemented this way in IDE - probably means getting the bootloader version. Not implemented in firmware (LH)
#define VERSION_SIGNATURE \
3 // todo CHECK 2: implemented under "Signature" in IDE. Not sure what to return for that. Not implemented in firmware (LH)
#define VERSION_BOARD_DETECT_SRC \
4 // todo CHECK 2: This doesn't really fit under GetVersion, but its implemented there in the IDE - change or leave this way? (LH)
#define VERSION_BUILD 5
#define VERSION_FORMAT_ASCII 0
#define VERSION_FORMAT_BINARY 1
#define VERSION_BOOTLOADER 2 // todo CHECK 2: implemented this way in IDE - probably means getting the bootloader version. Not implemented in firmware (LH)
#define VERSION_SIGNATURE 3 // todo CHECK 2: implemented under "Signature" in IDE. Not sure what to return for that. Not implemented in firmware (LH)
#define VERSION_BOARD_DETECT_SRC 4 // todo CHECK 2: This doesn't really fit under GetVersion, but its implemented there in the IDE - change or leave this way? (LH)
#define VERSION_BUILD 5

//Statuscodes
#define REPLY_OK 100
#define REPLY_CMD_LOADED 101
#define REPLY_CHKERR 1
#define REPLY_INVALID_CMD 2
#define REPLY_INVALID_TYPE 3
#define REPLY_INVALID_VALUE 4
#define REPLY_EEPROM_LOCKED 5
#define REPLY_CMD_NOT_AVAILABLE 6
#define REPLY_CMD_LOAD_ERROR 7
#define REPLY_WRITE_PROTECTED 8
#define REPLY_MAX_EXCEEDED 9
#define REPLY_DOWNLOAD_NOT_POSSIBLE 10
#define REPLY_CHIP_READ_FAILED 11
#define REPLY_DELAYED 128
#define REPLY_ACTIVE_COMM 129
#define REPLY_OK 100
#define REPLY_CMD_LOADED 101
#define REPLY_CHKERR 1
#define REPLY_INVALID_CMD 2
#define REPLY_INVALID_TYPE 3
#define REPLY_INVALID_VALUE 4
#define REPLY_EEPROM_LOCKED 5
#define REPLY_CMD_NOT_AVAILABLE 6
#define REPLY_CMD_LOAD_ERROR 7
#define REPLY_WRITE_PROTECTED 8
#define REPLY_MAX_EXCEEDED 9
#define REPLY_DOWNLOAD_NOT_POSSIBLE 10
#define REPLY_CHIP_READ_FAILED 11
#define REPLY_DELAYED 128
#define REPLY_ACTIVE_COMM 129

// TMCL communication status
#define TMCL_RX_ERROR_NONE 0
#define TMCL_RX_ERROR_NODATA 1
#define TMCL_RX_ERROR_CHECKSUM 2
#define TMCL_RX_ERROR_NONE 0
#define TMCL_RX_ERROR_NODATA 1
#define TMCL_RX_ERROR_CHECKSUM 2

// clang-format on

uint32_t vmax_position[2];

Expand Down
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