diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index a021519..f47c628 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 4d81392..869fb2d 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -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
diff --git a/Intelligent_winding_robot_hbot.ioc b/Intelligent_winding_robot_hbot.ioc
index 6270449..8705a1b 100644
--- a/Intelligent_winding_robot_hbot.ioc
+++ b/Intelligent_winding_robot_hbot.ioc
@@ -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
diff --git a/sdk b/sdk
index 1bd944d..6ceb8d9 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 1bd944d7ea168f6378ac8d8da86badf4c2f0ba27
+Subproject commit 6ceb8d97e51bb2a68aa4c50541ebfb4866f69c4f
diff --git a/usrc/board.h b/usrc/board.h
index a22ba29..4411905 100644
--- a/usrc/board.h
+++ b/usrc/board.h
@@ -1,6 +1,6 @@
#pragma once
-#define BOARD_ID 1
+#define BOARD_ID 2
#define TMC_MOTOR_SPI hspi1
// MOTOR1
diff --git a/usrc/main.cpp b/usrc/main.cpp
index cadebf3..048e14d 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -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);
/*******************************************************************************