基质喷涂V2 修复

User/BSP/base/apphardware.cpp

@@ -55,7 +55,7 @@ void AppHardware::initialize() {
 #if 0
     MOTO1.setIHOLD_IRUN(0, 7, 100);
 #else
-    MOTO1.setIHOLD_IRUN(0, 8, 100);
+    MOTO1.setIHOLD_IRUN(5, 10, 100);
 #endif
     MOTO1.setScale(1000);
     MOTO1.setEncResolution(-1000);
@@ -68,7 +68,7 @@ void AppHardware::initialize() {
 #if 0
     MOTO2.setIHOLD_IRUN(0, 10, 100);
 #else
-    MOTO2.setIHOLD_IRUN(0, 8, 100);
+    MOTO2.setIHOLD_IRUN(5, 10, 100);
 #endif
     MOTO2.setScale(1000);
     MOTO2.setEncResolution(-1000);
@@ -78,7 +78,7 @@ void AppHardware::initialize() {
     MOTO3.initialize(2, tmc5130cfg3);
 
     MOTO3.enable(false);
-    MOTO3.setIHOLD_IRUN(0, 8, 100);
+    MOTO3.setIHOLD_IRUN(5, 10, 100);
     MOTO3.setScale(1000);
     MOTO3.setEncResolution(-1000);
 

User/BSP/status/elc_motor.cpp

@@ -65,7 +65,7 @@ void ECLMotor::readMotorPosition() {
 
     if (!last_is_move_finished && is_move_finished) {
         //处理移动结束的问题
-        if (!isHomeSuc()) {
+        if (isRunHomingTask) {
             ZLOGI(TAG, "[TIMER] HOMING EVENT_MOTOR_MOVE_FINISHED");
             osMutexAcquire(mutex_, osWaitForever);
             home_event_.event_type = EVENT_MOTOR_MOVE_FINISHED;
@@ -106,7 +106,7 @@ ECLMotor::ECLMotor() {
     is_home_init_ = false;
     is_home_suc_ = false;
     home_state_ = STATE_INIT;
-    isRunHomingTask = true;
+    isRunHomingTask = false;
 
     // 创建定时器
     osTimerAttr_t timerAttr = {
@@ -263,10 +263,6 @@ void ECLMotor::setMotorIndex(int32_t index) {
     this->index_ = index;
 }
 
-bool ECLMotor::isHomeInit() {
-    return is_home_init_;
-}
-
 bool ECLMotor::isHomeSuc() {
     osMutexAcquire(mutex_, osWaitForever);
     bool is_home_suc = is_home_suc_;
@@ -288,6 +284,7 @@ void ECLMotor::runhomeSuc() {
     this->is_home_init_ = true;
     this->is_home_suc_ = true;
     this->home_state_ = STATE_INIT;
+    isRunHomingTask = false;
     osMutexRelease(mutex_);
 
     ZLOGI(TAG, "【 MOVE TO HOME SUC 】");
@@ -300,23 +297,26 @@ void ECLMotor::runhomeSuc() {
 }
 
 void ECLMotor::startMoveHome() {
-    home_start_tick_ = 0;
-
     osMutexAcquire(mutex_, osWaitForever);
     this->is_home_suc_ = false;
+    isRunHomingTask = true;
     osMutexRelease(mutex_);
 
     const bool isAtOrigin = ELCMotorHelper::isAtOrigin(this->index_);
     // 当前是否在原点
     if (isAtOrigin) {
+        osMutexAcquire(mutex_, osWaitForever);
         home_event_.event_type = EVENT_IN_ORIGIN;
+        osMutexRelease(mutex_);
         ZLOGI(TAG, "[PUT] EVENT IN ORIGIN");
         osStatus_t status = osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U);
         if (status != osOK) {
             ZLOGE(TAG, "EVENT IN ORIGIN SEND FAIL, status: %d", status);
         }
     } else {
+        osMutexAcquire(mutex_, osWaitForever);
         home_event_.event_type = EVENT_START_HOMING;
+        osMutexRelease(mutex_);
         ZLOGI(TAG, "[PUT] EVENT_START_HOMING");
         osStatus_t status = osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U);
         if (status != osOK) {
@@ -337,8 +337,11 @@ void ECLMotor::homingTask(void *arg) {
     ECLMotor *eclMotor = static_cast<ECLMotor *>(arg);
     HomeEvent home_event;
 
-    while (eclMotor->isRunHomingTask) {
+    while (true) {
         osStatus status = osMessageQueueGet(eclMotor->homeEventQueue, &home_event, NULL, osWaitForever);
+        if(!eclMotor->isRunHomingTask) {
+            continue;
+        }
         if (status == osOK) {
             TMC51X0 *motor = AppHardware::ins()->getPump(eclMotor->index_);
             if (motor == nullptr) {
@@ -354,7 +357,7 @@ void ECLMotor::homingTask(void *arg) {
                         int speed = ELCMotorHelper::getRPerMinMiddleSpeed(eclMotor->index_);
                         int absSpeed = abs(speed);
                         eclMotor->ECL_Rotate(-absSpeed);
-                        ZLOGI(TAG, "【HOME】 BACK TO ORIGIN MIDDLE");
+                        ZLOGI(TAG, "【HOME】 BACK TO ORIGIN MIDDLE 中速回原点");
                     break;
                 }
                 case EVENT_ORIGIN_ENTER: {
@@ -373,7 +376,7 @@ void ECLMotor::homingTask(void *arg) {
                         const int32_t speed = ELCMotorHelper::getRPerMinMiddleSpeed(eclMotor->index_);
                         eclMotor->moveToWithSpeed(ELCMotorHelper::getForwordMoveStep(eclMotor->index_), speed);
                         // 4000 4 圈
-                        ZLOGI(TAG, "【HOME】 [EVENT_ORIGIN_ENTER] FORWARD TO ORIGIN MIDDLE");
+                        ZLOGI(TAG, "【HOME】 [EVENT_ORIGIN_ENTER] FORWARD TO ORIGIN MIDDLE 中速向前10mm");
                     }
                     // if second enter
                     if (eclMotor->home_state_ == STATE_BACK_TO_ORIGIN_LOW) {
@@ -381,11 +384,12 @@ void ECLMotor::homingTask(void *arg) {
                         // 电机停止
                         // 回归原点成功
                         eclMotor->runhomeSuc();
+                        ZLOGI(TAG, "【HOME】 [EVENT_ORIGIN_ENTER] HOME SUC 回原点成功");
                     }
                     break;
                 }
                 case EVENT_IN_ORIGIN: {
-                    ZLOGI(TAG, "[]EVENT IN ORIGIN");
+                    ZLOGI(TAG, "[]EVENT IN ORIGIN 进入原点");
                     // 中速向前10mm
                     motor->setEncVal(0);
                     motor->setXACTUAL(0);
@@ -397,28 +401,40 @@ void ECLMotor::homingTask(void *arg) {
 
                     const int32_t speed = ELCMotorHelper::getRPerMinMiddleSpeed(eclMotor->index_);
                     eclMotor->moveToWithSpeed(ELCMotorHelper::getForwordMoveStep(eclMotor->index_), speed);
-                    ZLOGI(TAG, "【HOME】 FORWARD TO ORIGIN MIDDLE");
+                    ZLOGI(TAG, "【HOME】 FORWARD TO ORIGIN MIDDLE 中速向前10mm");
                     break;
                 }
                 case EVENT_MOTOR_MOVE_FINISHED: {
-                    ZLOGI(TAG, "[]EVENT MOTOR MOVE FINISHED");
-                    if (eclMotor->home_state_ == STATE_LEAVE_ORIGIN_MIDDLE) {
+                    ZLOGI(TAG, "[]EVENT MOTOR MOVE FINISHED 移动结束");
+
+                    osMutexAcquire(eclMotor->mutex_, osWaitForever);
+                    HomeState home_state =eclMotor->home_state_;
+                    bool is_move_finished = eclMotor->is_move_finished_;
+                    osMutexRelease(eclMotor->mutex_);
+
+                    if(!is_move_finished) {
+                        // 电机没有移动结束
+                        ZLOGI(TAG, "【HOME】 MOTOR NOT MOVE FINISHED 电机没有移动结束");
+                        break;
+                    }
+
+                    if (home_state == STATE_LEAVE_ORIGIN_MIDDLE) {
                         // 低速回归
                         osMutexAcquire(eclMotor->mutex_, osWaitForever);
                         eclMotor->home_state_ = STATE_BACK_TO_ORIGIN_LOW;
                         osMutexRelease(eclMotor->mutex_);
                         const int speed = ELCMotorHelper::getRPerMinLowSpeed(eclMotor->index_);
                         eclMotor->ECL_Rotate(-speed);
-                        ZLOGI(TAG, "【HOME】 BACK TO ORIGIN LOW");
+                        ZLOGI(TAG, "【HOME】 BACK TO ORIGIN LOW 低速回原点");
                     }
                     break;
                 }
                 default:
+                    ZLOGI(TAG, "【HOME】 未处理事件类型 EVENT TYPE %d", home_event.event_type);
                     break;
             }
 #endif
         } else {
-            ZLOGI(TAG, "GET MESSAGE FAILED");
         }
     }
 }
@@ -430,7 +446,7 @@ void ECLMotor::moveToHome() {
 
 void ECLMotor::runZeroLimit(bool isEnter) {
     // 处理回home 位逻辑
-    if (!isHomeSuc()) {
+    if (isRunHomingTask) {
         TMC51X0 *motor = AppHardware::ins()->getPump(index_);
         if (motor == nullptr) {
             return;
@@ -439,11 +455,8 @@ void ECLMotor::runZeroLimit(bool isEnter) {
         if (isEnter) {
             home_event_.event_type = EVENT_ORIGIN_ENTER;
             motor->stop();
-            osDelay(10);
-            ZLOGI(TAG, "[PUT] EVENT_ORIGIN_ENTER");
         } else {
             home_event_.event_type = EVENT_ORIGIN_LEAVE;
-            ZLOGI(TAG, "[PUT] EVENT_ORIGIN_LEAVE");
         }
 
         osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U);
@@ -486,10 +499,6 @@ void ECLMotor::runEndLimit(bool isEnter) {
 
 void ECLMotor::runE_Stop() {
     // 发送CAN 消息
-    osMutexAcquire(mutex_, osWaitForever);
-    this->is_home_suc_ = false;
-    osMutexRelease(mutex_);
-
     this->runStop();
 }
 
@@ -499,11 +508,16 @@ void ECLMotor::runPause() {
 }
 
 void ECLMotor::runStop() {
+    osMutexAcquire(mutex_, osWaitForever);
+    this->isRunHomingTask = false;
+    osMutexRelease(mutex_);
+
     TMC51X0 *motor = AppHardware::ins()->getPump(index_);
     if (motor == nullptr) {
         return;
     }
     motor->stop();
+
     // 发送CAN 消息
 #if CAN_MODULE_ENABLE
     CanMessage msg = CanProtocolFactory::createUploadEvent(seq_id_home_, Motor_Move_Finished, index_);

User/BSP/status/elc_motor.h

@@ -59,7 +59,6 @@ private:
     int32_t target_pos_;        // 目标位置
     int32_t target_speed_;      // 目标速度
     bool is_move_finished_;     // 是否已经移动结束
-    bool isFoward_; // 是否正向运动
 
     osTimerId_t readTimer;
     osMutexId_t mutex_;
@@ -70,10 +69,7 @@ private:
     HomeEvent home_event_;
     osMessageQueueId_t homeEventQueue;  // 回原点事件队列
     HomeState home_state_{STATE_INIT};       // home 状态机
-    DistanceLevel level_ { DistanceLow };
 
-    int32_t home_start_tick_ { 0 };       // 回 home 点计数 超时清零
-    int32_t max_home_tick_ { 60 * 1000 };      // 60 s 后自动重置 home 状态
 
     bool is_home_init_{ false };       // 是否已经第一次（初始化回过原点）回过原点
     bool is_home_suc_ { false };        // 是否已经成功回原点
@@ -87,14 +83,9 @@ public:
     ~ECLMotor();
     void setMotorIndex(int32_t index);
 
-    // 是否已经回归到原点
-    bool isHomeInit();
-
     // 是否正在回原点的逻辑
     bool isHomeSuc();
 
-    void runhomeSuc();
-
     void startMoveHome();
 
     void setHomeSeqId(uint8_t seq_id);
@@ -128,7 +119,8 @@ public:
     void setEncoderPosition(int32_t encoderPos);
 
     int32_t getRTSpeed();
-
+private:
+    void runhomeSuc();
     // 回原点任务
     static void homingTask(void *arg);
 

User/BSP/status/elc_motor_helper.cpp

@@ -14,6 +14,8 @@ const int32_t ELCMotorHelper::rEncPosLimitArray[MOTOR_NUM] = {
 };
 
 #if MOTOR_REAL
+
+#if SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V1
 const int32_t ELCMotorHelper::rPerMinHighSpeedArray[MOTOR_NUM] = {
     600, 600, 600
 };
@@ -23,6 +25,18 @@ const int32_t ELCMotorHelper::rPerMinMiddleSpeedArray[MOTOR_NUM] = {
 const int32_t ELCMotorHelper::rPerMinLowSpeedArray[MOTOR_NUM] = {
     60, 30, 30
 };
+#elif SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V2
+const int32_t ELCMotorHelper::rPerMinHighSpeedArray[MOTOR_NUM] = {
+    600, 600, 600
+};
+const int32_t ELCMotorHelper::rPerMinMiddleSpeedArray[MOTOR_NUM] = {
+    300, 300, 300
+};
+const int32_t ELCMotorHelper::rPerMinLowSpeedArray[MOTOR_NUM] = {
+    60, 60, 60
+};
+#else
+#endif // SUB_SPRAY_VERVION
 #else
 const int32_t ELCMotorHelper::rPerMinHighSpeedArray[MOTOR_NUM] = {
     600, 600, 600
@@ -42,8 +56,9 @@ const int32_t ELCMotorHelper::encLockRotorTH[MOTOR_NUM] = {500, 500, 500};  //
 const bool ELCMotorHelper::isFlip_[MOTOR_NUM] = {true, false, true};
 #elif SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V2
 const bool ELCMotorHelper::isFlip_[MOTOR_NUM] = {true, true, false};
-
+// const bool ELCMotorHelper::isFlip_[MOTOR_NUM] = {true, false, false};
 #else
+
 #endif
 
 

User/components/tmcdriver/tmc51x0/tmc51x0.cpp

@@ -87,16 +87,16 @@ void TMC51X0::initialize(int mid, TMC51X0Cfg cfg) {
   writeInt(TMC5130_VACTUAL, 0x00000000);
   writeInt(TMC5130_TZEROWAIT, 0);
 
-  setVstart(100);
+  setVstart(0);
   setA1(15);
   setAmax(15);
   setV1(500);
   setDmax(15);
   setD1(15);
-  setVstop(100);
+  setVstop(10);
   setTzerowait(100);
 
-  setIHOLD_IRUN(0, 30, 100);
+  setIHOLD_IRUN(0, 5, 100);
   enable(false);
 }