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TMC4210 Datasheet(PDF) 26 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 26 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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26 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 26 www.trinamic.com 6.1.9.2.3 Calculation Example: PMUL and PDIV /* PROGRAM EXAMPLE ‘pmulpdiv.c’ : How to Calculate p_mul & p_div for the TMC4210 */ #include <math.h> #include <stdio.h> #include <stdlib.h> #include <string.h> void CalcPMulPDiv(int a_max, int ramp_div, int pulse_div, float p_reduction, int *p_mul, int *p_div, double *PIdeal, double *PBest, double *PRedu ) { int pdiv, pmul, pm, pd ; double p_ideal, p_best, p, p_reduced; pm=-1; pd=-1; // -1 indicates : no valid pair found p_ideal = a_max / (pow(2, ramp_div-pulse_div)*128.0); p = a_max / ( 128.0 * pow(2, ramp_div-pulse_div) ); p_reduced = p * ( 1.0 – p_reduction ); for (pdiv=0; pdiv<=13; pdiv++) { pmul = (int)(p_reduced * 8.0 * pow(2, pdiv)) – 128; if ( (0 <= pmul) && (pmul <= 127) ) { pm = pmul + 128; pd = pdiv; } } *p_mul = pm; *p_div = pd; p_best = ((double)(pm)) / ((double)pow(2,pd+3)); *PIdeal = p_ideal; *PBest = p_best; *PRedu = p_reduced; } int main(int argc, char **argv) { int a_max=0, ramp_div=0, pulse_div=0, p_mul, p_div, a_max_lower_limit=0, a_max_upper_limit=0; double pideal, pbest, predu; float p_reduction=0.0; char **argp; if (argc>1) { while (argv++, argc--) { argp = argv + 1; if (*argp==NULL) break; if ( (!strcmp(*argv,”-a”)) ) sscanf(*argp,”%d”,&a_max); else if ( (!strcmp(*argv,”-r”)) ) sscanf(*argp,”%d”,&ramp_div); else if ( (!strcmp(*argv,”-p”)) ) sscanf(*argp,”%d”,&pulse_div); else if ( (!strcmp(*argv,”-pr”))) sscanf(*argp,”%f”,&p_reduction); } } else { fprintf(stderr,”\n USAGE : pmulpdiv –a <a_max> -r <ramp_div> -p <pulse_div> -pr <0.00 .. 0.10>\n” “ EXAMPLE : pmulpdiv –a 10 –r 3 –p 3 –pr 0.05\n”); return 1; } printf(“\n\n a_max=%d\tramp_div=%d\tpulse_div=%d\tp_reduction=%f\n\n”, a_max, ramp_div, pulse_div, p_reduction); CalcPMulPDiv(a_max, ramp_div, pulse_div, p_reduction, &p_mul, &p_div, &pideal, &pbest, &predu ); printf(“ p_mul = %3.3d\n p_div = %3d\n\n p_ideal = %f\n p_best = %f\n p_redu = %f\n\n”, p_mul, p_div, pideal, pbest, predu); a_max_lower_limit = (int)pow(2,(ramp_div-pulse_div-1)); printf(“\n a_max_lower_limit = %d”,a_max_lower_limit); if (a_max < a_max_lower_limit) printf(“ [WARNING: a_max < a_max_lower_limit]”); a_max_upper_limit = ((int)pow(2,(12+(ramp_div-pulse_div)))) -1; printf(“\n a_max_upper_limit = %d”,a_max_upper_limit); if (a_max > a_max_upper_limit) printf(“ [WARNING: a_max > a_max_upper_limit]”); printf(“\n\n”); return 0; } /* -------------------------------------------------------------------------- */ |
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