12 changed files with 233 additions and 159 deletions
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4.settings/language.settings.xml
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2Core/Inc/stm32f4xx_it.h
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3Core/Inc/usart.h
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7Core/Src/dma.c
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1Core/Src/main.c
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30Core/Src/stm32f4xx_it.c
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44Core/Src/usart.c
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28a8000_cliptip_module.ioc
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2sdk
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12usrc/board.h
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207usrc/main.cpp
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52usrc/project_configs.h
@ -1 +1 @@ |
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Subproject commit af685a17a8fd229ca4773a9c62949db89369c55f |
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Subproject commit fbe10eeb6c72a4419f1e05c745bca2b7518e54e8 |
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@ -0,0 +1,12 @@ |
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#pragma once |
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// MOTOR1 |
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#define TMC_MOTOR_SPI hspi1 |
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#define TMC5130_MOTOR_NUM 1 |
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#define MOTOR0_CSN PA4 |
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#define MOTOR0_ENN PD0 |
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#define MOTOR1_SPI_MODE_SELECT PinNull |
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#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK" |
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#define BOARD_ID 2 |
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@ -1,142 +1,121 @@ |
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#include <stddef.h>
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#include <stddef.h>
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#include <stdio.h>
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#include <stdio.h>
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#include "sdk/os/zos.hpp"
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#include "sdk\components\flash\zsimple_flash.hpp"
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#include "sdk\components\zcancmder\zcanreceiver.hpp"
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#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
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//
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#include "sdk\components\flash\znvs.hpp"
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//
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#include "board.h"
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#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
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/*******************************************************************************
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* PROJECT_INCLUDE * |
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*******************************************************************************/ |
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
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#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\sensors\tmp117\tmp117.hpp"
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#include "sdk\components\ti\drv8710.hpp"
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
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// #include "M3078CodeScanner"
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#define TAG "main"
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#define TAG "main"
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using namespace iflytop; |
using namespace iflytop; |
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using namespace std; |
using namespace std; |
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static ZCancmderSubboardIniter initer; |
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extern void umain(); |
extern void umain(); |
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extern "C" { |
extern "C" { |
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void StartDefaultTask(void const* argument) { umain(); } |
void StartDefaultTask(void const* argument) { umain(); } |
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} |
} |
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extern "C" { |
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extern DMA_HandleTypeDef hdma_usart2_rx; |
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extern DMA_HandleTypeDef hdma_usart2_tx; |
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} |
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static ZCanCmder g_zcanCmder; |
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static ZIProtocolParser g_ziProtocolParser; |
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//
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static TMC5130 g_motor; |
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static StepMotorCtrlModule g_stepMotorCtrlModule; |
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//
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static PipetteModule g_pipetteModule; |
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// USART4_TX
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void init_and_reg_motor() { |
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/*******************************************************************************
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* GET_DEVICE_ID * |
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*******************************************************************************/ |
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static int32_t getDeviceId() { return BOARD_ID; } |
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/*******************************************************************************
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* INIT_SUBMODULE * |
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*******************************************************************************/ |
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void nvs_init_cb() {} |
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static void initsubmodule() { |
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osDelay(1000); |
osDelay(1000); |
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{ |
{ |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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static TMC5130 g_motor; |
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static StepMotorCtrlModule g_stepMotorCtrlModule; |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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}; |
}; |
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g_motor.initialize(&cfg); |
g_motor.initialize(&cfg); |
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g_motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
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} |
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g_motor.setAcceleration(100); |
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g_motor.setDeceleration(100); |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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static ZGPIO input[10]; |
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input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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g_stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &g_motor, input, ZARRAY_SIZE(input), MOTOR_CFG_FLASH_MARK); |
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g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule); |
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} |
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void init_and_reg_cliptip_module() { |
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// # RS232输出压力流
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// /1U2!0R\r
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// # 设置移液枪最大行程100,防止设备误操作导致吸入液体到设备中
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// /1u1,100R\r
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PipetteModule::config_t cfg = { |
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.limit_ul = 100, |
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}; |
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PipetteModule::hardward_config_t hardwarecfg = { |
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.uart = &huart2, |
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.hdma_rx = &hdma_usart2_rx, |
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.hdma_tx = &hdma_usart2_tx, |
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}; |
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g_pipetteModule.initialize(BOARD_ID * 10 + 2, &cfg, &hardwarecfg); |
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g_ziProtocolParser.registerModule(&g_pipetteModule); |
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} |
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void init_and_reg_m3078() { //
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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.uart = &huart2, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PD15, |
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}; |
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codescanner.initialize(BOARD_ID * 10 + 3, &cfg); |
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g_ziProtocolParser.registerModule(&codescanner); |
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} |
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void umain() { |
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chip_cfg_t chipcfg; |
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chipcfg.us_dleay_tim = &DELAY_US_TIMER; |
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chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER; |
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chipcfg.huart = &DEBUG_UART; |
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chipcfg.debuglight = DEBUG_LIGHT_GPIO; |
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chip_init(&chipcfg); |
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g_motor.setMotorShaft(false); |
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g_motor.setAcceleration(100); |
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g_motor.setDeceleration(100); |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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static ZGPIO input[10]; |
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input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.distance_scale = 100; |
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smcm_cfg.base_param.distance_scale_denominator = 1; |
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smcm_cfg.base_param.ihold = 1; |
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smcm_cfg.base_param.irun = 8; |
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smcm_cfg.base_param.x_shaft = true; |
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smcm_cfg.base_param.maxspeed = 300; |
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smcm_cfg.base_param.run_to_zero_speed = 50; |
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smcm_cfg.base_param.max_x = 0; |
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smcm_cfg.base_param.min_x = 0; |
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g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); |
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initer.register_module(&g_stepMotorCtrlModule); |
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} |
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zos_cfg_t zoscfg; |
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zos_init(&zoscfg); |
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{ |
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static PipetteModule g_pipetteModule; |
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PipetteModule::config_t cfg = { |
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.limit_ul = 100, |
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}; |
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ZLOGI(TAG, "boardId:%d", BOARD_ID); |
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PipetteModule::hardward_config_t hardwarecfg = { |
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.uart = &huart2, |
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.hdma_rx = &hdma_usart2_rx, |
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.hdma_tx = &hdma_usart2_tx, |
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}; |
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g_pipetteModule.initialize(initer.get_module_id(2), &cfg, &hardwarecfg); |
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initer.register_module(&g_pipetteModule); |
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} |
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/*******************************************************************************
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* NVSINIT * |
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*******************************************************************************/ |
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ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR); |
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{ |
{ |
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static I_StepMotorCtrlModule::flash_config_t cfg; |
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StepMotorCtrlModule::create_default_cfg(cfg); |
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ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg)); |
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//
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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.uart = &huart2, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PD15, |
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}; |
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codescanner.initialize(initer.get_module_id(3), &cfg); |
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initer.register_module(&codescanner); |
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} |
} |
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ZNVS::ins().init_config(); |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID); |
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g_zcanCmder.init(zcanCmder_cfg); |
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g_ziProtocolParser.initialize(&g_zcanCmder); |
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init_and_reg_motor(); |
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init_and_reg_cliptip_module(); |
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init_and_reg_m3078(); |
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} |
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while (true) { |
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OSDefaultSchduler::getInstance()->loop(); |
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g_zcanCmder.loop(); |
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} |
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}; |
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/*******************************************************************************
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* MAIN * |
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*******************************************************************************/ |
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void umain() { |
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ZCancmderSubboardIniter::cfg_t cfg = //
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{ |
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.deviceId = getDeviceId(), |
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.input_gpio = {}, |
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.output_gpio = {}, |
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}; |
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initer.init(&cfg); |
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initsubmodule(); |
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initer.loop(); |
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} |
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@ -1,43 +1,21 @@ |
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#pragma once |
#pragma once |
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#define PC_VERSION "v1.0.1" |
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#define PC_MANUFACTURER "http://www.iflytop.com/" |
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#define PC_PROJECT_NAME "a8000_cliptip_module" |
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#define PC_IFLYTOP_ENABLE_OS 1 |
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#define VERSION "v1.0.0" |
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#define MANUFACTURER "http://www.iflytop.com/" |
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#define PROJECT_NAME "a8000_cliptip_module" |
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#define DEBUG_UART huart1 |
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#define DEBUG_LIGHT_GPIO PE2 |
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#define PC_DEBUG_UART huart1 |
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#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx |
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#define PC_DEBUG_UART_RX_BUF_SIZE 1024 |
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#define PC_DEBUG_LIGHT_GPIO PE2 |
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#define DELAY_US_TIMER htim6 // US延时定时器 |
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#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器 |
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#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器 |
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#define PC_SYS_DELAY_US_TIMER htim6 // US延时定时器 |
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#define PC_SYS_ZTICKET_TIMER TIM11 // 系统ticket定时器 |
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#define PC_SYS_TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器 |
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#define IFLYTOP_ENABLE_OS 1 |
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#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5 |
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#define PC_IRQ_PREEMPTPRIORITY_DEFAULT 5 |
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#define PC_NVS_ENABLE 1 |
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#define PC_NVS_CONFIG_FLASH_SECTOR 8 |
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/****************************************FLASH***************************************/ |
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#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8 |
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/*********************************************************************************/ |
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// MOTOR1 |
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#define TMC_MOTOR_SPI hspi1 |
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#define TMC5130_MOTOR_NUM 1 |
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#define MOTOR0_CSN PA4 |
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#define MOTOR0_ENN PD0 |
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#define MOTOR1_SPI_MODE_SELECT PinNull |
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#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK" |
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#define BOARD_ID 2 |
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#if 0 |
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#define STEPPER_MOTOR_ZERO_SENSOR SENSOR_INT0 |
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#define STEPPER_MOTOR_FORWARD_SENSOR SENSOR_INT8 |
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#define STEPPER_MOTOR_BACKWARD_SENSOR SENSOR_INT9 |
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#endif |
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#define ID0_IO PD11 |
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#define ID1_IO PD12 |
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#define ID2_IO PD13 |
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#define ID3_IO PD14 |
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#define ID4_IO PD15 |
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#define BOARD_ID 8 |
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