p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_hbot
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update

master
zhaohe 2 years ago
parent
992aaf16bc
commit
00d9a40ded
6 changed files with 64 additions and 43 deletions
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  1. 4
      .settings/language.settings.xml
  2. 20
      Core/Src/gpio.c
  3. 65
      Intelligent_winding_robot_hbot.ioc
  4. 2
      sdk
  5. 2
      usrc/board.h
  6. 14
      usrc/main.cpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-636232727787099613" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="722622678723364160" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="762701500052258223" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

20
Core/Src/gpio.c
View File

@ -55,6 +55,9 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_3|GPIO_PIN_7, GPIO_PIN_SET);
/*Configure GPIO pins : PE2 PE3 PE4 PE5
PE6 PE7 PE8 PE9
PE10 PE11 PE12 PE13
@ -68,13 +71,11 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PC13 PC14 PC15 PC1
PC2 PC3 PC5 PC6
PC7 PC8 PC10 PC11
PC12 */
PC2 PC5 PC6 PC8
PC10 PC11 PC12 */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_1
|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_5|GPIO_PIN_6
|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_10|GPIO_PIN_11
|GPIO_PIN_12;
|GPIO_PIN_2|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_8
|GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
@ -85,6 +86,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PC3 PC7 */
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PA0 PA1 PA4 PA8
PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_8

65
Intelligent_winding_robot_hbot.ioc
View File

@ -84,33 +84,35 @@ Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN
Mcu.Pin1=PH1-OSC_OUT
Mcu.Pin10=PB11
Mcu.Pin11=PC9
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=PB6
Mcu.Pin19=PB7
Mcu.Pin10=PB10
Mcu.Pin11=PB11
Mcu.Pin12=PC7
Mcu.Pin13=PC9
Mcu.Pin14=PA9
Mcu.Pin15=PA10
Mcu.Pin16=PA11
Mcu.Pin17=PA12
Mcu.Pin18=PA13
Mcu.Pin19=PA14
Mcu.Pin2=PC0
Mcu.Pin20=VP_CRC_VS_CRC
Mcu.Pin21=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin22=VP_RNG_VS_RNG
Mcu.Pin23=VP_SYS_VS_tim11
Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
Mcu.Pin3=PA2
Mcu.Pin4=PA3
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PC4
Mcu.Pin9=PB10
Mcu.PinsNb=28
Mcu.Pin20=PB6
Mcu.Pin21=PB7
Mcu.Pin22=VP_CRC_VS_CRC
Mcu.Pin23=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin24=VP_RNG_VS_RNG
Mcu.Pin25=VP_SYS_VS_tim11
Mcu.Pin26=VP_TIM1_VS_ClockSourceINT
Mcu.Pin27=VP_TIM3_VS_ClockSourceINT
Mcu.Pin28=VP_TIM6_VS_ClockSourceINT
Mcu.Pin29=VP_TIM7_VS_ClockSourceINT
Mcu.Pin3=PC3
Mcu.Pin4=PA2
Mcu.Pin5=PA3
Mcu.Pin6=PA5
Mcu.Pin7=PA6
Mcu.Pin8=PA7
Mcu.Pin9=PC4
Mcu.PinsNb=30
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VETx
@ -180,8 +182,19 @@ PB7.Mode=I2C
PB7.Signal=I2C1_SDA
PC0.Locked=true
PC0.Signal=GPXTI0
PC3.GPIOParameters=PinState,GPIO_PuPd
PC3.GPIO_PuPd=GPIO_PULLUP
PC3.Locked=true
PC3.PinState=GPIO_PIN_SET
PC3.Signal=GPIO_Output
PC4.Locked=true
PC4.Signal=GPXTI4
PC7.GPIOParameters=PinState,GPIO_PuPd,GPIO_ModeDefaultOutputPP
PC7.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
PC7.GPIO_PuPd=GPIO_PULLUP
PC7.Locked=true
PC7.PinState=GPIO_PIN_SET
PC7.Signal=GPIO_Output
PC9.Locked=true
PC9.Mode=Clock-out-2
PC9.Signal=RCC_MCO_2

2
sdk

@ -1 +1 @@
Subproject commit 1bd944d7ea168f6378ac8d8da86badf4c2f0ba27
Subproject commit 6ceb8d97e51bb2a68aa4c50541ebfb4866f69c4f

2
usrc/board.h
View File

@ -1,6 +1,6 @@
#pragma once
#define BOARD_ID 1
#define BOARD_ID 2
#define TMC_MOTOR_SPI hspi1
// MOTOR1

14
usrc/main.cpp
View File

@ -61,6 +61,12 @@ static void initsubmodule() {
ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.readSubICVersion());
}
motora.setAcceleration(300);
motora.setDeceleration(300);
motora.setIHOLD_IRUN(0, 1, 10);
motora.enable(false);
osDelay(1000);
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
@ -76,16 +82,10 @@ static void initsubmodule() {
motorb.setGLOBAL_SCALER(32);
ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
}
motora.setAcceleration(300);
motora.setDeceleration(300);
motora.setIHOLD_IRUN(0, 1, 10);
osDelay(1000);
motorb.setAcceleration(300);
motorb.setDeceleration(300);
motorb.setIHOLD_IRUN(0, 1, 10);
motora.enable(false);
motorb.enable(false);
/*******************************************************************************

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