diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..35eb1dd --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/User/BSP/status/elc_motor.cpp b/User/BSP/status/elc_motor.cpp index 4a8fdd2..6619245 100644 --- a/User/BSP/status/elc_motor.cpp +++ b/User/BSP/status/elc_motor.cpp @@ -57,10 +57,6 @@ void ECLMotor::readMotorPosition() { x_actual = motor->getXACTUAL(); // 获取实时位置 rt_speed = motor->getVACTUAL(); // 获取实时速度 -#if 1 - handlePosEnc(x_actual, enc_val); // 用于处理 回 HOME 逻辑 -#endif - TMC5130RampStat ramp_stat = motor->getRampStat(); is_reached = motor->isReachTarget(&ramp_stat); @@ -534,19 +530,6 @@ void ECLMotor::homingTask(void *arg) { } break; } - case EVENT_ENCODER_BIG_DIFF: { - // ZLOGI(TAG, "[]EVENT_ENCODER_BIG_DIFF"); - if (eclMotor->homeState_ == STATE_BACK_TO_ORIGIN_MIDDLE) { - eclMotor->homeState_ = STATE_FORWARD_TO_ORIGIN_MIDDLE; - // 停止 - // 中速向前 - int speed = ELCMotorHelper::getRPerMinMiddleSpeed(eclMotor->index_); - eclMotor->ECL_Rotate(speed); - ZLOGI(TAG, "【ENCODER BIG DIFF】"); - ZLOGI(TAG, "【HOME】 FORWARD TO ORIGIN MIDDLE"); - } - break; - } case EVENT_IN_ORIGIN: { // ZLOGI(TAG, "[]EVENT_IN_ORIGIN"); if (eclMotor->homeState_ == STATE_INIT) { @@ -599,46 +582,6 @@ void ECLMotor::homingTask(void *arg) { } } -void ECLMotor::handlePosEnc(int32_t pos, int32_t enc_val) { - const bool isDoHoming = this->isHoming(); - if (!isDoHoming) { - return; - } - - if (isHomed()) { - // 处理加减速的问题 - DistanceLevel level = ELCMotorHelper::getDistanceLevel(this->index_, x_actual_, enc_val_); - if (level != level_) { - level_ = level; - ZLOGI(TAG, "【HOMED LEVEL CHANGED】"); - - switch (level) { - case DistanceLow: { - home_event_.event_type = EVENT_ENCODER_NEAR_ORIGN; - osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U); - break; - } - case DistanceMiddle: { - home_event_.event_type = EVENT_ENCODER_MODERATE_ORIGIN; - osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U); - break; - } - case DistanceHigh: { - home_event_.event_type = EVENT_ENCODER_FAR_ORIGIN; - osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U); - break; - } - } - } - } else { - // 倒转的时候发生堵转 - if (ELCMotorHelper::isLockRotor(index_, pos, enc_val)) { - home_event_.event_type = EVENT_ENCODER_BIG_DIFF; - ZLOGI(TAG, "isLockRotor"); - osMessageQueuePut(homeEventQueue, &home_event_, 0U, 0U); - } - } -} void ECLMotor::moveToHome() { #if 0 diff --git a/User/BSP/status/elc_motor.h b/User/BSP/status/elc_motor.h index b17ab2d..9136f2b 100644 --- a/User/BSP/status/elc_motor.h +++ b/User/BSP/status/elc_motor.h @@ -100,9 +100,6 @@ public: void setMoveFinishSeqId(uint8_t seq_id); - // Send 编码器事件 - void handlePosEnc(int32_t pos, int32_t enc_val); - int32_t getPosition(); void setTargetPosition(int32_t target); void setShiftPosition(int32_t shift_target); diff --git a/cmake-build-debug-mingw-stm32/CMakeCache.txt b/cmake-build-debug-mingw-stm32/CMakeCache.txt index 344955a..a850413 100644 --- a/cmake-build-debug-mingw-stm32/CMakeCache.txt +++ b/cmake-build-debug-mingw-stm32/CMakeCache.txt @@ -1,5 +1,5 @@ # This is the CMakeCache file. -# For build in directory: d:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake-build-debug-mingw-stm32 +# For build in directory: d:/code/stm32/Sub_Spray_STM32/cmake-build-debug-mingw-stm32 # It was generated by CMake: C:/Program Files/JetBrains/CLion 2024.1.4/bin/cmake/win/x64/bin/cmake.exe # You can edit this file to change values found and used by cmake. # If you do not want to change any of the values, simply exit the editor. @@ -121,7 +121,7 @@ CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= //Value Computed by CMake. -CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake-build-debug-mingw-stm32/CMakeFiles/pkgRedirects +CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=D:/code/stm32/Sub_Spray_STM32/cmake-build-debug-mingw-stm32/CMakeFiles/pkgRedirects //Install path prefix, prepended onto install directories. CMAKE_INSTALL_PREFIX:PATH=C:/Program Files (x86) @@ -230,22 +230,22 @@ CMAKE_TAPI:FILEPATH=CMAKE_TAPI-NOTFOUND CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE //Value Computed by CMake -STM32F429GT6_BINARY_DIR:STATIC=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake-build-debug-mingw-stm32 +STM32F429GT6_BINARY_DIR:STATIC=D:/code/stm32/Sub_Spray_STM32/cmake-build-debug-mingw-stm32 //Value Computed by CMake STM32F429GT6_IS_TOP_LEVEL:STATIC=ON //Value Computed by CMake -STM32F429GT6_SOURCE_DIR:STATIC=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6 +STM32F429GT6_SOURCE_DIR:STATIC=D:/code/stm32/Sub_Spray_STM32 //Value Computed by CMake -stm32cubemx_BINARY_DIR:STATIC=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake-build-debug-mingw-stm32/cmake/stm32cubemx +stm32cubemx_BINARY_DIR:STATIC=D:/code/stm32/Sub_Spray_STM32/cmake-build-debug-mingw-stm32/cmake/stm32cubemx //Value Computed by CMake stm32cubemx_IS_TOP_LEVEL:STATIC=OFF //Value Computed by CMake -stm32cubemx_SOURCE_DIR:STATIC=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake/stm32cubemx +stm32cubemx_SOURCE_DIR:STATIC=D:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx ######################## @@ -272,7 +272,7 @@ CMAKE_ASM_FLAGS_RELEASE-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_ASM_FLAGS_RELWITHDEBINFO CMAKE_ASM_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 //This is the directory where this CMakeCache.txt was created -CMAKE_CACHEFILE_DIR:INTERNAL=d:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6/cmake-build-debug-mingw-stm32 +CMAKE_CACHEFILE_DIR:INTERNAL=d:/code/stm32/Sub_Spray_STM32/cmake-build-debug-mingw-stm32 //Major version of cmake used to create the current loaded cache CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 //Minor version of cmake used to create the current loaded cache @@ -343,7 +343,7 @@ CMAKE_GENERATOR_PLATFORM:INTERNAL= CMAKE_GENERATOR_TOOLSET:INTERNAL= //Source directory with the top level CMakeLists.txt file for this // project -CMAKE_HOME_DIRECTORY:INTERNAL=D:/code/stm32/SubSpray/kkk/SubSpray/SubSpray_STM32F429GT6 +CMAKE_HOME_DIRECTORY:INTERNAL=D:/code/stm32/Sub_Spray_STM32 //ADVANCED property for variable: CMAKE_MAKE_PROGRAM CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS