步进电机速度控制验证通过
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idf_component_register(SRCS "emm_v5.c"
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INCLUDE_DIRS "."
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REQUIRES esp_driver_uart esp_driver_gpio driver esp_timer)
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/**
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* @file emm_v5.c
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* @brief Emm_V5.0 步进闭环电机驱动器 - ESP-IDF 实现
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*/
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#include "emm_v5.h"
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#include <string.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_timer.h"
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static const char *TAG = "EMM_V5";
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/* 运行时配置 (由 Emm_V5_Init 设置) */
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static uart_port_t s_uart_port;
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/* ============================================================
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* 初始化
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* ============================================================ */
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void Emm_V5_Init(uart_port_t port, int tx_pin, int rx_pin)
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{
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s_uart_port = port;
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uart_config_t uart_cfg = {
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.baud_rate = EMM_V5_UART_BAUDRATE,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_DEFAULT,
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};
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ESP_ERROR_CHECK(uart_driver_install(s_uart_port,
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EMM_V5_UART_BUF_SIZE * 2,
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EMM_V5_UART_BUF_SIZE * 2,
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0, NULL, 0));
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ESP_ERROR_CHECK(uart_param_config(s_uart_port, &uart_cfg));
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ESP_ERROR_CHECK(uart_set_pin(s_uart_port,
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tx_pin,
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rx_pin,
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UART_PIN_NO_CHANGE,
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UART_PIN_NO_CHANGE));
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gpio_reset_pin(EMM_V5_LED_GPIO);
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gpio_set_direction(EMM_V5_LED_GPIO, GPIO_MODE_OUTPUT);
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gpio_set_level(EMM_V5_LED_GPIO, 0);
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ESP_LOGI(TAG, "初始化完成 (UART%d, TX=%d, RX=%d, LED=GPIO%d)",
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s_uart_port, tx_pin, rx_pin, EMM_V5_LED_GPIO);
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}
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/* ============================================================
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* 内部辅助
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* ============================================================ */
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static inline void Emm_V5_Send(const uint8_t *cmd, uint8_t len)
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{
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uart_write_bytes(s_uart_port, (const char *)cmd, len);
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}
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/* ============================================================
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* 接收数据
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* ============================================================ */
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uint8_t Emm_V5_Receive_Data(uint8_t *rxCmd, uint8_t maxLen)
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{
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uint8_t count = 0;
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int64_t last_time, now;
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last_time = esp_timer_get_time();
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while (1) {
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int len = uart_read_bytes(s_uart_port, &rxCmd[count], 1,
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pdMS_TO_TICKS(10));
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if (len > 0) {
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count++;
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if (count >= maxLen) break;
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last_time = esp_timer_get_time();
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} else {
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now = esp_timer_get_time();
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if ((now - last_time) > (EMM_V5_RX_TIMEOUT_MS * 1000)) {
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break;
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}
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}
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}
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return count;
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}
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/* ============================================================
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* 控制命令 (协议与 Arduino 版本完全一致)
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* ============================================================ */
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void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr)
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{
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uint8_t cmd[4] = {addr, 0x0A, 0x6D, 0x6B};
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Emm_V5_Send(cmd, 4);
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}
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void Emm_V5_Reset_Clog_Pro(uint8_t addr)
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{
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uint8_t cmd[4] = {addr, 0x0E, 0x52, 0x6B};
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Emm_V5_Send(cmd, 4);
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}
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void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s)
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{
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uint8_t cmd[8] = {0};
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uint8_t i = 0;
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cmd[i++] = addr;
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switch (s) {
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case S_VER: cmd[i++] = 0x1F; break;
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case S_RL: cmd[i++] = 0x20; break;
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case S_PID: cmd[i++] = 0x21; break;
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case S_VBUS: cmd[i++] = 0x24; break;
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case S_CPHA: cmd[i++] = 0x27; break;
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case S_ENCL: cmd[i++] = 0x31; break;
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case S_TPOS: cmd[i++] = 0x33; break;
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case S_VEL: cmd[i++] = 0x35; break;
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case S_CPOS: cmd[i++] = 0x36; break;
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case S_PERR: cmd[i++] = 0x37; break;
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case S_FLAG: cmd[i++] = 0x3A; break;
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case S_ORG: cmd[i++] = 0x3B; break;
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case S_Conf: cmd[i++] = 0x42; cmd[i++] = 0x6C; break;
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case S_State: cmd[i++] = 0x43; cmd[i++] = 0x7A; break;
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default: break;
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}
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cmd[i++] = 0x6B;
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Emm_V5_Send(cmd, i);
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}
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void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode)
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{
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uint8_t cmd[6] = {addr, 0x46, 0x69, (uint8_t)svF, ctrl_mode, 0x6B};
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Emm_V5_Send(cmd, 6);
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}
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void Emm_V5_En_Control(uint8_t addr, bool state, bool snF)
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{
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uint8_t cmd[6] = {addr, 0xF3, 0xAB, (uint8_t)state, (uint8_t)snF, 0x6B};
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Emm_V5_Send(cmd, 6);
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}
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void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF)
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{
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uint8_t cmd[8] = {
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addr, 0xF6, dir,
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(uint8_t)(vel >> 8), (uint8_t)(vel >> 0),
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acc, (uint8_t)snF, 0x6B
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};
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Emm_V5_Send(cmd, 8);
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}
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void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
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uint32_t clk, bool raF, bool snF)
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{
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uint8_t cmd[13] = {
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addr, 0xFD, dir,
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(uint8_t)(vel >> 8), (uint8_t)(vel >> 0), acc,
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(uint8_t)(clk >> 24), (uint8_t)(clk >> 16),
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(uint8_t)(clk >> 8), (uint8_t)(clk >> 0),
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(uint8_t)raF, (uint8_t)snF, 0x6B
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};
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Emm_V5_Send(cmd, 13);
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}
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void Emm_V5_Stop_Now(uint8_t addr, bool snF)
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{
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uint8_t cmd[5] = {addr, 0xFE, 0x98, (uint8_t)snF, 0x6B};
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Emm_V5_Send(cmd, 5);
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}
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void Emm_V5_Synchronous_motion(uint8_t addr)
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{
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uint8_t cmd[4] = {addr, 0xFF, 0x66, 0x6B};
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Emm_V5_Send(cmd, 4);
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}
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void Emm_V5_Origin_Set_O(uint8_t addr, bool svF)
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{
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uint8_t cmd[5] = {addr, 0x93, 0x88, (uint8_t)svF, 0x6B};
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Emm_V5_Send(cmd, 5);
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}
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void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode,
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uint8_t o_dir, uint16_t o_vel, uint32_t o_tm,
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uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF)
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{
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uint8_t cmd[20] = {
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addr, 0x4C, 0xAE, (uint8_t)svF,
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o_mode, o_dir,
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(uint8_t)(o_vel >> 8), (uint8_t)(o_vel >> 0),
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(uint8_t)(o_tm >> 24), (uint8_t)(o_tm >> 16),
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(uint8_t)(o_tm >> 8), (uint8_t)(o_tm >> 0),
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(uint8_t)(sl_vel >> 8), (uint8_t)(sl_vel >> 0),
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(uint8_t)(sl_ma >> 8), (uint8_t)(sl_ma >> 0),
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(uint8_t)(sl_ms >> 8), (uint8_t)(sl_ms >> 0),
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(uint8_t)potF, 0x6B
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};
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Emm_V5_Send(cmd, 20);
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}
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void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF)
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{
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uint8_t cmd[5] = {addr, 0x9A, o_mode, (uint8_t)snF, 0x6B};
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Emm_V5_Send(cmd, 5);
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}
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void Emm_V5_Origin_Interrupt(uint8_t addr)
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{
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uint8_t cmd[4] = {addr, 0x9C, 0x48, 0x6B};
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Emm_V5_Send(cmd, 4);
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}
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@@ -0,0 +1,89 @@
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/**
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* @file emm_v5.h
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* @brief Emm_V5.0 步进闭环电机驱动器 - ESP-IDF 组件
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* @author 移植自 Arduino 版本 (原作者: ZHANGDATOU)
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*
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* 通信协议: UART, 115200bps, 8N1
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* 使用方式:
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* Emm_V5_Init(UART_NUM_1, GPIO_NUM_6, GPIO_NUM_7);
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*/
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#ifndef EMM_V5_H
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#define EMM_V5_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "driver/uart.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ============================================================
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* 可配置常量
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* ============================================================ */
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#define EMM_V5_UART_BAUDRATE 115200
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#define EMM_V5_UART_BUF_SIZE 256
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/* LED 指示 (GPIO2 为多数 ESP32 板载 LED) */
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#define EMM_V5_LED_GPIO GPIO_NUM_2
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/* 接收超时时间 (毫秒) */
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#define EMM_V5_RX_TIMEOUT_MS 100
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/* ============================================================
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* 系统参数枚举 (与 Arduino 版本一致)
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* ============================================================ */
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typedef enum {
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S_VER = 0, /* 读取固件版本和对应的硬件版本 */
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S_RL = 1, /* 读取相电阻和相电感 */
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S_PID = 2, /* 读取PID参数 */
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S_VBUS = 3, /* 读取总线电压 */
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S_CPHA = 5, /* 读取相电流 */
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S_ENCL = 7, /* 读取经过线性化校准后的编码器值 */
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S_TPOS = 8, /* 读取电机目标位置角度 */
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S_VEL = 9, /* 读取电机实时转速 */
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S_CPOS = 10, /* 读取电机实时位置角度 */
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S_PERR = 11, /* 读取电机位置误差角度 */
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S_FLAG = 13, /* 读取使能/到位/堵转状态标志位 */
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S_Conf = 14, /* 读取驱动参数 */
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S_State = 15, /* 读取系统状态参数 */
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S_ORG = 16, /* 读取正在回零/回零失败状态标志位 */
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} EmmSysParams_t;
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/* ============================================================
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* API 函数声明
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* ============================================================ */
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/**
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* @brief 初始化 UART 和 LED GPIO
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* @param port UART 端口号, 如 UART_NUM_1
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* @param tx_pin TX 引脚, 如 GPIO_NUM_6
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* @param rx_pin RX 引脚, 如 GPIO_NUM_7
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*/
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void Emm_V5_Init(uart_port_t port, int tx_pin, int rx_pin);
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void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr);
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void Emm_V5_Reset_Clog_Pro(uint8_t addr);
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void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s);
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void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode);
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void Emm_V5_En_Control(uint8_t addr, bool state, bool snF);
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void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF);
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void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
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uint32_t clk, bool raF, bool snF);
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void Emm_V5_Stop_Now(uint8_t addr, bool snF);
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void Emm_V5_Synchronous_motion(uint8_t addr);
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void Emm_V5_Origin_Set_O(uint8_t addr, bool svF);
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void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode,
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uint8_t o_dir, uint16_t o_vel, uint32_t o_tm,
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uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF);
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void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF);
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void Emm_V5_Origin_Interrupt(uint8_t addr);
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uint8_t Emm_V5_Receive_Data(uint8_t *rxCmd, uint8_t maxLen);
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#ifdef __cplusplus
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}
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#endif
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#endif /* EMM_V5_H */
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