p_Intelligent_winding_robot_v2
/
Intelligent_winding_robot_main_board
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
9e8a1ca0fd
commit
49ee1d5d5a
3 changed files with 27 additions and 8 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      .settings/language.settings.xml
  2. 2
      sdk
  3. 29
      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="1057391452571803630" 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="1890865490116579491" 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="1057391452571803630" 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="1890865490116579491" 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>

2
sdk

@ -1 +1 @@
Subproject commit c13f0f786605b749458956e3b77c66b065315c7a
Subproject commit 6dbc5fa5c7389d75f8766fd8fd11faa72a407c24

29
usrc/main.cpp
View File

@ -152,7 +152,7 @@ I_StepMotorCtrlModule* g_z_step_motor = nullptr;
/*******************************************************************************
* 串口指令 *
*******************************************************************************/
StepMotorCtrlScriptCmderModule g_script_zmotor;
StepMotorCtrlScriptCmderModule g_step_motor_ctrl_script_cmder_module;
XYRobotScriptCmderModule g_script_xyrobot;
ScriptCmderEq20Servomotor g_script_eq20servomotor;
@ -239,19 +239,39 @@ void Main::run() {
zos_cfg_t zoscfg;
zos_init(&zoscfg);
/*******************************************************************************
* 总线初始化 *
*******************************************************************************/
// 指令总线
g_cmdScheduler.initialize(&DEBUG_UART, 1000);
// can总线
auto* cfg = m_zcanCommnaderMaster.createCFG();
m_zcanCommnaderMaster.init(cfg);
g_cmdScheduler.initialize(&DEBUG_UART, 1000);
// 飞特舵机总线
g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
// modbus总线
g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx);
g_main_servo_motor.init(&g_modbusblockhost, 1);
/*******************************************************************************
* 设备构造和初始化 *
*******************************************************************************/
g_z_step_motor = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
ZASSERT(g_z_step_motor != nullptr);
g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
/*******************************************************************************
* CMD *
*******************************************************************************/
g_script_eq20servomotor.initialize(&g_cmdScheduler);
g_script_eq20servomotor.regmodule(1, &g_main_servo_motor);
g_step_motor_ctrl_script_cmder_module.initialize(&g_cmdScheduler);
g_step_motor_ctrl_script_cmder_module.regmodule(1, g_z_step_motor);
g_script_xyrobot.initialize(&g_cmdScheduler);
g_script_xyrobot.regmodule(1, g_xyrobotctrlmodule);
#if 0
g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
@ -264,8 +284,7 @@ void Main::run() {
xyRobotScriptCmderModule.initialize(&cmdScheduler);
xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule);
stepMotorCtrlScriptCmderModule.initialize(&cmdScheduler);
stepMotorCtrlScriptCmderModule.regmodule(1, g_stepmotorctrlmodule);
regfn();

Write Preview
Loading…
Cancel
Save