步进电机速度控制验证通过
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# macOS
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.DS_Store
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.AppleDouble
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.LSOverride
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# Directory metadata
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.directory
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||||
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# Temporary files
|
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*~
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*.swp
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*.swo
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*.bak
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*.tmp
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||||
|
||||
# Log files
|
||||
*.log
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||||
|
||||
# Build artifacts and directories
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**/build/
|
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build/
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*.o
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||||
*.a
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||||
*.out
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*.exe # For any host-side utilities compiled on Windows
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||||
# ESP-IDF specific build outputs
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*.bin
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||||
*.elf
|
||||
*.map
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flasher_args.json # Generated in build directory
|
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sdkconfig.old
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sdkconfig
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# ESP-IDF dependencies
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||||
# For older versions or manual component management
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||||
/components/.idf/
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**/components/.idf/
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# For modern ESP-IDF component manager
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||||
managed_components/
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# If ESP-IDF tools are installed/referenced locally to the project
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.espressif/
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||||
|
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# CMake generated files
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||||
CMakeCache.txt
|
||||
CMakeFiles/
|
||||
cmake_install.cmake
|
||||
install_manifest.txt
|
||||
CTestTestfile.cmake
|
||||
|
||||
# Python environment files
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*.pyc
|
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*.pyo
|
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*.pyd
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__pycache__/
|
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*.egg-info/
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dist/
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# Virtual environment folders
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venv/
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.venv/
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env/
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# Language Servers
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.clangd/
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.ccls-cache/
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compile_commands.json
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||||
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# Windows specific
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Thumbs.db
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ehthumbs.db
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Desktop.ini
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||||
|
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# User-specific configuration files
|
||||
*.user
|
||||
*.workspace # General workspace files, can be from various tools
|
||||
*.suo # Visual Studio Solution User Options
|
||||
*.sln.docstates # Visual Studio
|
||||
Vendored
+20
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{
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"configurations": [
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{
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"name": "ESP-IDF",
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"compilerPath": "C:\\Espressif\\tools\\xtensa-esp-elf\\esp-15.2.0_20251204\\xtensa-esp-elf\\bin\\xtensa-esp32-elf-gcc.exe",
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"compileCommands": "${config:idf.buildPath}/compile_commands.json",
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"intelliSenseMode": "gcc-x86",
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"includePath": [
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"${workspaceFolder}/**"
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],
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||||
"browse": {
|
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"path": [
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"${workspaceFolder}"
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||||
],
|
||||
"limitSymbolsToIncludedHeaders": true
|
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}
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}
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],
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"version": 4
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}
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Vendored
+10
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{
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"version": "0.2.0",
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"configurations": [
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{
|
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"type": "gdbtarget",
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"request": "attach",
|
||||
"name": "Eclipse CDT GDB Adapter"
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}
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]
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}
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Vendored
+18
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{
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"C_Cpp.intelliSenseEngine": "default",
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"idf.extensionActivationMode": "always",
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"idf.openOcdConfigs": [
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"board/esp32c5-builtin.cfg"
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],
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"idf.currentSetup": "C:\\esp\\v6.0.2\\esp-idf",
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"idf.customExtraVars": {
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"IDF_TARGET": "esp32c5"
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},
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"clangd.path": "C:\\Espressif\\tools\\esp-clang\\esp-20.1.1_20250829\\esp-clang\\bin\\clangd.exe",
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"clangd.arguments": [
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"--background-index",
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"--query-driver=**",
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"--compile-commands-dir=c:\\Users\\Kirl\\Desktop\\EDC\\edc-mcu\\build"
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],
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"idf.portWin": "COM4"
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}
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@@ -0,0 +1,6 @@
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# The following five lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.22)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(edc-mcu)
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@@ -0,0 +1,3 @@
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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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@@ -0,0 +1,214 @@
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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 */
|
||||
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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||||
/* ============================================================
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||||
* API 函数声明
|
||||
* ============================================================ */
|
||||
|
||||
/**
|
||||
* @brief 初始化 UART 和 LED GPIO
|
||||
* @param port UART 端口号, 如 UART_NUM_1
|
||||
* @param tx_pin TX 引脚, 如 GPIO_NUM_6
|
||||
* @param rx_pin RX 引脚, 如 GPIO_NUM_7
|
||||
*/
|
||||
void Emm_V5_Init(uart_port_t port, int tx_pin, int rx_pin);
|
||||
void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr);
|
||||
void Emm_V5_Reset_Clog_Pro(uint8_t addr);
|
||||
void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s);
|
||||
void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode);
|
||||
void Emm_V5_En_Control(uint8_t addr, bool state, bool snF);
|
||||
void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF);
|
||||
void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
|
||||
uint32_t clk, bool raF, bool snF);
|
||||
void Emm_V5_Stop_Now(uint8_t addr, bool snF);
|
||||
void Emm_V5_Synchronous_motion(uint8_t addr);
|
||||
void Emm_V5_Origin_Set_O(uint8_t addr, bool svF);
|
||||
void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode,
|
||||
uint8_t o_dir, uint16_t o_vel, uint32_t o_tm,
|
||||
uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF);
|
||||
void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF);
|
||||
void Emm_V5_Origin_Interrupt(uint8_t addr);
|
||||
uint8_t Emm_V5_Receive_Data(uint8_t *rxCmd, uint8_t maxLen);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* EMM_V5_H */
|
||||
@@ -0,0 +1,3 @@
|
||||
idf_component_register(SRCS "main.c"
|
||||
INCLUDE_DIRS "."
|
||||
PRIV_REQUIRES emm_v5)
|
||||
+58
@@ -0,0 +1,58 @@
|
||||
/**
|
||||
* @file main.c
|
||||
* @brief Emm_V5.0 步进闭环电机驱动演示 (ESP-IDF)
|
||||
*
|
||||
* 硬件接线:
|
||||
* ESP32 TX (GPIO6) -> 电机 RX
|
||||
* ESP32 RX (GPIO7) -> 电机 TX
|
||||
* ESP32 GND -> 电机 GND
|
||||
*/
|
||||
|
||||
#include "emm_v5.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
uint8_t rx_buf[128] = {0};
|
||||
uint8_t rx_len;
|
||||
|
||||
/* 初始化驱动 (UART1, TX=GPIO6, RX=GPIO7, LED=GPIO2) */
|
||||
Emm_V5_Init(UART_NUM_1, GPIO_NUM_6, GPIO_NUM_7);
|
||||
|
||||
/* 上电延时 2 秒, 等待电机闭环初始化完毕 */
|
||||
ESP_LOGI("MAIN", "等待电机初始化...");
|
||||
vTaskDelay(pdMS_TO_TICKS(2000));
|
||||
|
||||
/* ---- 速度模式演示 ---- */
|
||||
ESP_LOGI("MAIN", "发送速度控制命令: 地址1, CW, 1000RPM, 加速度10");
|
||||
Emm_V5_Vel_Control(1, 0, 100, 10, false);
|
||||
|
||||
/* 接收电机返回的数据 */
|
||||
rx_len = Emm_V5_Receive_Data(rx_buf, sizeof(rx_buf));
|
||||
|
||||
/* 验证校验字节 (0x6B), 点亮/熄灭 LED */
|
||||
if (rx_len > 0 && rx_buf[rx_len - 1] == 0x6B) {
|
||||
gpio_set_level(EMM_V5_LED_GPIO, 1);
|
||||
ESP_LOGI("MAIN", "通信正常 (校验通过, LED亮)");
|
||||
} else {
|
||||
gpio_set_level(EMM_V5_LED_GPIO, 0);
|
||||
ESP_LOGW("MAIN", "通信异常 (校验失败, LED灭)");
|
||||
}
|
||||
|
||||
/* 打印返回的原始数据 (调试用, 每个字节+1 避免与电机地址冲突) */
|
||||
ESP_LOGI("MAIN", "返回数据长度: %d", rx_len);
|
||||
if (rx_len > 0) {
|
||||
printf("返回数据(+1偏移): ");
|
||||
for (int i = 0; i < rx_len; i++) {
|
||||
printf("%02X ", rx_buf[i] + 1);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
ESP_LOGI("MAIN", "演示完成, 程序挂起");
|
||||
while (1) {
|
||||
vTaskDelay(pdMS_TO_TICKS(1000));
|
||||
}
|
||||
}
|
||||
|
||||
Reference in new issue
Block a user