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1. 基质喷涂 新版V2 适配

develop
HSZ_HeSongZhen 3 weeks ago
parent
0cbf940151
commit
f91425d7bd
17 changed files with 202 additions and 64832 deletions
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  1. 2
      CMakeLists.txt
  2. 63302
      Debug/STM32F429GT6.list
  3. 4
      User/BSP/LED/high_voltage_pack.cpp
  4. 6
      User/BSP/LED/high_voltage_pack.h
  5. 14
      User/BSP/base/apphardware.cpp
  6. 8
      User/BSP/status/elc_motor_helper.cpp
  7. 21
      User/BSP/status/elc_motor_helper.h
  8. 3
      User/BSP/uart_cmd/cmd_process_service_process.h
  9. 18
      User/project_config.h
  10. 87
      cmake-build-debug-mingw-stm32/.cmake/api/v1/reply/codemodel-v2-7a7369e617a7acffd924.json
  11. 1320
      cmake-build-debug-mingw-stm32/.cmake/api/v1/reply/target-STM32F429GT6-Debug-88f9d46f5d40c96a874c.json
  12. 1
      cmake-build-debug-mingw-stm32/CMakeFiles/STM32F429GT6.dir/DependInfo.cmake
  13. 11
      cmake-build-debug-mingw-stm32/CMakeFiles/STM32F429GT6.dir/compiler_depend.internal
  14. 33
      cmake-build-debug-mingw-stm32/CMakeFiles/STM32F429GT6.dir/compiler_depend.make
  15. 6
      cmake-build-debug-mingw-stm32/CMakeFiles/STM32F429GT6.dir/flags.make
  16. 4
      cmake-build-debug-mingw-stm32/CMakeFiles/clion-Debug-MinGW-STM32-log.txt
  17. 194
      cmake-build-debug-mingw-stm32/compile_commands.json

2
CMakeLists.txt
View File

@ -118,6 +118,7 @@ add_executable(${CMAKE_PROJECT_NAME}
User/BSP/uart_control/uart_control.h
User/BSP/uart_cmd/cmd_process_service_process.cpp
User/BSP/uart_cmd/cmd_process_service_process.h
User/project_config.h
)
# Add STM32CubeMX generated sources
@ -136,6 +137,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths
User
User/app
User/BSP
User/components

63302
Debug/STM32F429GT6.list
File diff suppressed because it is too large
View File

4
User/BSP/LED/high_voltage_pack.cpp
View File

@ -43,11 +43,11 @@ void HighVoltagePack::turnOffPower() {
}
void HighVoltagePack::setDutyCycle(uint32_t dutyCycle) const {
if(dutyCycle == 0) {
if(dutyCycle == PWM_MIN_DUTY_CYCLE) {
bsp_SetTIMOutPWM(GY_PWM_PORT, GY_PWM_PIN, GY_PWM_TIMER_HANDLE, GY_PWM_TIMER_CHANNEL, 0, 0);
ZLOGI(TAG, "set pwm duty 0");
}
else if (dutyCycle == maxVDutyCycle){
else if (dutyCycle == PWM_MAX_DUTY_CYCLE){
bsp_SetTIMOutPWM(GY_PWM_PORT, GY_PWM_PIN, GY_PWM_TIMER_HANDLE, GY_PWM_TIMER_CHANNEL, 0, 10000);
ZLOGI(TAG, "set pwm duty 10000");
}

6
User/BSP/LED/high_voltage_pack.h
View File

@ -2,13 +2,12 @@
#define HIGH_VOLTAGE_PACK_H
#include <cstdint>
#include "project_config.h"
// 定义高压包供电控制引脚
#define GY_POWER_CTR_PORT GPIOE
#define GY_POWER_CTR_PIN GPIO_PIN_7
#define GY_USE_TIM4 0 // TIM 4 通道与 其他通道有冲突
// 定义 PWM 输出引脚
#if GY_USE_TIM4
#define GY_PWM_PORT GPIOD
@ -24,6 +23,9 @@
#define GY_PWM_TIMER_CHANNEL 4
#endif
#define PWM_MIN_DUTY_CYCLE 0
#define PWM_MAX_DUTY_CYCLE 10000
// 定义电压和占空比的范围
#define MIN_VOLTAGE 0.0
#define MAX_VOLTAGE 6000.0

14
User/BSP/base/apphardware.cpp
View File

@ -50,7 +50,7 @@ void AppHardware::initialize() {
TMC51X0Cfg tmc5130cfg1 = {&MOTOR_SPI_INS, MOTO1_CSN_IO, MOTO1_DRV_ENN_IO};
MOTO1.initialize(0, tmc5130cfg1);
ZLOGI(TAG, "motor1 initialize TMC51X0: %02X", MOTO1.readICVersion());
MOTO1.enable(false);
#if 0
MOTO1.setIHOLD_IRUN(0, 7, 100);
@ -63,7 +63,7 @@ void AppHardware::initialize() {
// 配置 MOTO2
TMC51X0Cfg tmc5130cfg2 = {&MOTOR_SPI_INS, MOTO2_CSN_IO, MOTO2_DRV_ENN_IO};
MOTO2.initialize(1, tmc5130cfg2);
ZLOGI(TAG, "motor2 initialize TMC51X0: %02X", MOTO2.readICVersion());
MOTO2.enable(false);
#if 0
MOTO2.setIHOLD_IRUN(0, 10, 100);
@ -76,7 +76,7 @@ void AppHardware::initialize() {
// 配置 MOTO3
TMC51X0Cfg tmc5130cfg3 = {&MOTOR_SPI_INS, MOTO3_CSN_IO, MOTO3_DRV_ENN_IO};
MOTO3.initialize(2, tmc5130cfg3);
ZLOGI(TAG, "motor3 initialize TMC51X0: %02X", MOTO3.readICVersion());
MOTO3.enable(false);
MOTO3.setIHOLD_IRUN(0, 5, 100);
MOTO3.setScale(1000);
@ -89,6 +89,14 @@ void AppHardware::initialize() {
MOTO3.enable(true);
osDelay(10);
MOTO1.setGlobalScale(32);
MOTO2.setGlobalScale(32);
MOTO3.setGlobalScale(32);
ZLOGI(TAG, "motor1 initialize TMC51X0: %02X", MOTO1.readICVersion());
ZLOGI(TAG, "motor2 initialize TMC51X0: %02X", MOTO2.readICVersion());
ZLOGI(TAG, "motor3 initialize TMC51X0: %02X", MOTO3.readICVersion());
// GPIO 初始化
AirValve::initGPIO();
three_way_valve.initGPIO();

8
User/BSP/status/elc_motor_helper.cpp
View File

@ -37,7 +37,15 @@ const int32_t ELCMotorHelper::rPerMinLowSpeedArray[MOTOR_NUM] = {
const int32_t ELCMotorHelper::encLockRotorTH[MOTOR_NUM] = {500, 500, 500}; // 电机差半圈
#if SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V1
const bool ELCMotorHelper::isFlip_[MOTOR_NUM] = {true, false, true};
#elif SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V2
const bool ELCMotorHelper::isFlip_[MOTOR_NUM] = {false, true, false};
#else
#endif
bool ELCMotorHelper::isFlip(int motorIndex) {
if(!isValidMotorIndex(motorIndex)) {

21
User/BSP/status/elc_motor_helper.h
View File

@ -6,7 +6,7 @@
#define ELC_MOTOR_HELPER_H
#include <cstdint>
#define MOTOR_REAL 1
#include "project_config.h"
/**
* 电机数量
@ -18,21 +18,38 @@
* 丝杠导程 转/毫米 (r/mm)
*/
#if MOTOR_REAL
#if SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V1
#define MOTOR_X_R_PER_MM 2.0
#define MOTOR_Y_R_PER_MM 5.0
#define MOTOR_Z_R_PER_MM 5.0
#elif SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V2
#define MOTOR_X_R_PER_MM 5.0
#define MOTOR_Y_R_PER_MM 5.0
#define MOTOR_Z_R_PER_MM 2.0
#else
#endif // SUB_SPRAY_VERVION
#else
#define MOTOR_X_R_PER_MM 5.0
#define MOTOR_Y_R_PER_MM 5.0
#define MOTOR_Z_R_PER_MM 6.0
#endif
#endif // MOTOR_REAL
/**
* 丝杠长度限制 毫米（mm）
*/
#if SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V1
#define MOTOR_X_MAX_DISTANCE 200.0
#define MOTOR_Y_MAX_DISTANCE 150.0
#define MOTOR_Z_MAX_DISTANCE 100.0
#elif SUB_SPRAY_VERVION == SUB_SPRAY_VERVION_V2
#define MOTOR_X_MAX_DISTANCE 350.0
#define MOTOR_Y_MAX_DISTANCE 200.0
#define MOTOR_Z_MAX_DISTANCE 100.0
#else
#endif // SUB_SPRAY_VERVION
/**
* 电机首次回原点后向前移动距离 毫米（mm）

3
User/BSP/uart_cmd/cmd_process_service_process.h
View File

@ -5,8 +5,7 @@
#ifndef CMD_PROCESS_SERVICE_PROCESS_H
#define CMD_PROCESS_SERVICE_PROCESS_H
#define HG_ENABLE 1 // 高压包使能
#define TW_ENABLE 1 // 三通阀使能
#include "project_config.h"
#ifdef __cplusplus
extern "C" {

18
User/project_config.h
View File

@ -0,0 +1,18 @@
//
// Created by iflyt on 2025/7/10.
//
#ifndef PROJECT_CONFG_H
#define PROJECT_CONFG_H
#define SUB_SPRAY_VERVION_V1 1
#define SUB_SPRAY_VERVION_V2 2
#define SUB_SPRAY_VERVION SUB_SPRAY_VERVION_V2
#define MOTOR_REAL 1 // 真实电机导程
#define GY_USE_TIM4 0 // TIM 4 通道与 其他通道有冲突, 新版 设置为 0
#define HG_ENABLE 1 // 高压包使能
#define TW_ENABLE 1 // 三通阀使能
#endif //PROJECT_CONFG_H

87
cmake-build-debug-mingw-stm32/.cmake/api/v1/reply/codemodel-v2-7a7369e617a7acffd924.json
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@ -1,87 +0,0 @@
{
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{
"directories" :
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{
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"command": "C:/Soft/arm-gnu-toolchain-14.2.rel1-mingw-w64-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc.exe -DDEBUG -DSTM32F429xx -DSTM32_THREAD_SAFE_STRATEGY=4 -DUSE_HAL_DRIVER -ID:/code/stm32/Sub_Spray_STM32/User -ID:/code/stm32/Sub_Spray_STM32/User/app -ID:/code/stm32/Sub_Spray_STM32/User/BSP -ID:/code/stm32/Sub_Spray_STM32/User/components -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Core/Inc -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/include -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include -ID:/code/stm32/Sub_Spray_STM32/cmake/stm32cubemx/../../Drivers/CMSIS/Include -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections -O0 -g3 -x assembler-with-cpp -MMD -MP -g -o CMakeFiles/STM32F429GT6.dir/startup_stm32f429xx.s.obj -c D:/code/stm32/Sub_Spray_STM32/startup_stm32f429xx.s",
"file": "D:/code/stm32/Sub_Spray_STM32/startup_stm32f429xx.s",
"output": "CMakeFiles/STM32F429GT6.dir/startup_stm32f429xx.s.obj"
}
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