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Intelligent_winding_robot_main_board
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zhaohe 2 years ago
parent
a57b555f3d
commit
53682ebad4
6 changed files with 46 additions and 120 deletions
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  1. 4
      .settings/stm32cubeide.project.prefs
  2. 2
      Core/Inc/FreeRTOSConfig.h
  3. 7
      Intelligent_winding_robot_main_board.ioc
  4. 4
      STM32F407ZGTX_FLASH.ld
  5. 2
      sdk
  6. 147
      usrc/main.cpp

4
.settings/stm32cubeide.project.prefs
View File

@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=6180EFBD1DA04EB1319C95830D4DB159
66BE74F758C12D739921AEA421D593D3=5
8DF89ED150041C4CBC7CB9A9CAA90856=C40676F5C274295C653AEC2EC599A69D
DC22A860405A8BF2F2C095E5B6529F12=C40676F5C274295C653AEC2EC599A69D
8DF89ED150041C4CBC7CB9A9CAA90856=F84C9880C15B9874E9E687B6E474D0B5
DC22A860405A8BF2F2C095E5B6529F12=F84C9880C15B9874E9E687B6E474D0B5
eclipse.preferences.version=1

2
Core/Inc/FreeRTOSConfig.h
View File

@ -64,7 +64,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)15360)
#define configTOTAL_HEAP_SIZE ((size_t)30000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1

7
Intelligent_winding_robot_main_board.ioc
View File

@ -60,8 +60,9 @@ Dma.USART3_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=30000
FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1
File.Version=6
@ -167,7 +168,7 @@ ProjectManager.DeviceId=STM32F407ZGTx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.HeapSize=0x8000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
@ -179,7 +180,7 @@ ProjectManager.ProjectFileName=Intelligent_winding_robot_main_board.ioc
ProjectManager.ProjectName=Intelligent_winding_robot_main_board
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.StackSize=0x1000
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=

4
STM32F407ZGTX_FLASH.ld
View File

@ -39,8 +39,8 @@ ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
_Min_Heap_Size = 0x8000; /* required amount of heap */
_Min_Stack_Size = 0x1000; /* required amount of stack */
/* Memories definition */
MEMORY

2
sdk

@ -1 +1 @@
Subproject commit 68d4e5e6315c6cc16ec1d19cf3f0344716faa6b3
Subproject commit b953c9fc5b6b58c1fcccf72e4bfa9686289cf0df

147
usrc/main.cpp
View File

@ -21,6 +21,8 @@
#include "sdk\components/xy_robot_ctrl_module/zcan_xy_robot_master_module.hpp"
#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\step_motor_45\script_cmder_step_motor_45.hpp"
// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
@ -152,72 +154,13 @@ I_StepMotorCtrlModule* g_z_step_motor = nullptr;
/*******************************************************************************
* ´®¿ÚÖ¸Áî *
*******************************************************************************/
StepMotorCtrlScriptCmderModule g_step_motor_ctrl_script_cmder_module;
XYRobotScriptCmderModule g_script_xyrobot;
ScriptCmderEq20Servomotor g_script_eq20servomotor;
StepMotorCtrlScriptCmderModule g_step_motor_ctrl_script_cmder_module;
XYRobotScriptCmderModule g_script_xyrobot;
ScriptCmderEq20Servomotor g_script_eq20servomotor;
ScirptCmderMiniServoMotorCtrlModule g_script_mini_servo_motor_ctrl_module;
ScriptCmderStepMotor45 g_script_step_motor45;
} // namespace iflytop
#if 0
void regfn() {
// setzero
// set4095
// moveto
#if 0
cmdScheduler.registerCmd("mini_servo_set_zero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int id = atoi(argv[1]);
ZLOGI(TAG, "mini_servo_set_zero %d", id);
g_feiteservomotor.reCalibration(id, 0);
ZLOGI(TAG, "mini_servo_set_zero %d done", id);
});
cmdScheduler.registerCmd("mini_servo_set_4095", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
int id = atoi(argv[1]);
ZLOGI(TAG, "mini_servo_set_4095 %d", id);
g_feiteservomotor.reCalibration(id, 4095);
ZLOGI(TAG, "mini_servo_set_4095 %d done", id);
});
cmdScheduler.registerCmd("mini_servo_move_to", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(3);
int id = atoi(argv[1]);
int pos = atoi(argv[2]);
int torque = atoi(argv[3]);
ZLOGI(TAG, "mini_servo_move_to %d %d %d %d", id, pos, 2700, torque);
g_feiteservomotor.moveTo(id, pos, 2700, torque);
});
cmdScheduler.registerCmd("mini_servo_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int id = atoi(argv[1]);
int speed = atoi(argv[2]);
// int v = atoi(3000);
ZLOGI(TAG, "mini_servo_rotate %d %d %d", id, speed, 10, 2700);
g_feiteservomotor.rotate(id, speed, 10);
});
cmdScheduler.registerCmd("mini_servo_move_with_torque", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(2);
int id = atoi(argv[1]);
int torque = atoi(argv[2]);
// int v = atoi(3000);
if (torque == 0) {
g_feiteservomotor.moveWithTorque(id, 1);
} else {
g_feiteservomotor.moveWithTorque(id, torque);
}
});
cmdScheduler.registerCmd("sleep_ms", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
osDelay(atoi(argv[1]));
});
cmdScheduler.registerCmd("hbot_enable", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(0);
g_xyrobotctrlmodule->enable(false);
});
#endif
}
#endif
extern "C" {
extern DMA_HandleTypeDef hdma_usart3_rx;
@ -259,7 +202,22 @@ void Main::run() {
ZASSERT(g_z_step_motor != nullptr);
g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
g_mini_servo[0].initialize(&g_feiteservomotor_bus, 1);
g_mini_servo[1].initialize(&g_feiteservomotor_bus, 2);
g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3);
g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4);
g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5);
StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10, 1000);
g_step_motor45[0].initialize(&step_motor45_scheduler, cfg1);
g_step_motor45[1].initialize(&step_motor45_scheduler, cfg2);
g_step_motor45[2].initialize(&step_motor45_scheduler, cfg3);
g_step_motor45[3].initialize(&step_motor45_scheduler, cfg4);
g_step_motor45[4].initialize(&step_motor45_scheduler, cfg5);
g_step_motor45[5].initialize(&step_motor45_scheduler, cfg6);
step_motor45_scheduler.start();
/*******************************************************************************
* CMD *
@ -272,56 +230,23 @@ void Main::run() {
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);
// g_xyrobotctrlmodule->enable(false);
g_stepmotorctrlmodule = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
// g_stepmotorctrlmodule->rotate(300000, 0, [this](int32_t end) {});
cmdScheduler
xyRobotScriptCmderModule.initialize(&cmdScheduler);
xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule);
g_script_mini_servo_motor_ctrl_module.initialize(&g_cmdScheduler);
g_script_mini_servo_motor_ctrl_module.regmodule(1, &g_mini_servo[0]);
g_script_mini_servo_motor_ctrl_module.regmodule(2, &g_mini_servo[1]);
g_script_mini_servo_motor_ctrl_module.regmodule(3, &g_mini_servo[2]);
g_script_mini_servo_motor_ctrl_module.regmodule(4, &g_mini_servo[3]);
g_script_mini_servo_motor_ctrl_module.regmodule(5, &g_mini_servo[4]);
g_script_step_motor45.initialize(&g_cmdScheduler);
g_script_step_motor45.regmodule(1, &g_step_motor45[0]);
g_script_step_motor45.regmodule(2, &g_step_motor45[1]);
g_script_step_motor45.regmodule(3, &g_step_motor45[2]);
g_script_step_motor45.regmodule(4, &g_step_motor45[3]);
g_script_step_motor45.regmodule(5, &g_step_motor45[4]);
g_script_step_motor45.regmodule(6, &g_step_motor45[5]);
regfn();
int i = 1;
g_step_motor[i++].initialize(11, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(12, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(13, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(14, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(15, 10000, &m_IflytopCanMaster);
g_step_motor[i++].initialize(16, 10000, &m_IflytopCanMaster);
g_step_motor45[0].initialize(cfg1);
g_step_motor45[1].initialize(cfg1);
g_step_motor45[2].initialize(cfg2);
g_step_motor45[3].initialize(cfg3);
g_step_motor45[4].initialize(cfg4);
g_step_motor45[5].initialize(cfg5);
g_step_motor45[6].initialize(cfg6);
StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10, 1000);
step_motor45_scheduler.addMotor(&g_step_motor45[1]);
step_motor45_scheduler.addMotor(&g_step_motor45[2]);
step_motor45_scheduler.addMotor(&g_step_motor45[3]);
step_motor45_scheduler.addMotor(&g_step_motor45[4]);
step_motor45_scheduler.addMotor(&g_step_motor45[5]);
step_motor45_scheduler.addMotor(&g_step_motor45[6]);
// g_step_motor45_1.rotate(true, 1000);
step_motor45_scheduler.start();
g_modbusblockhost.initialize(&huart2);
g_eq20servomotor.init(&g_modbusblockhost);
g_feiteservomotor.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
#endif
#if 0
step_motor_cmd_reg();
#endif

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