v1.0-step1

.settings/stm32cubeide.project.prefs

@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=6180EFBD1DA04EB1319C95830D4DB159
 66BE74F758C12D739921AEA421D593D3=5
-8DF89ED150041C4CBC7CB9A9CAA90856=F84C9880C15B9874E9E687B6E474D0B5
-DC22A860405A8BF2F2C095E5B6529F12=F84C9880C15B9874E9E687B6E474D0B5
+8DF89ED150041C4CBC7CB9A9CAA90856=9FE8B57A80F4C5C9B24FE12120255044
+DC22A860405A8BF2F2C095E5B6529F12=9FE8B57A80F4C5C9B24FE12120255044
 eclipse.preferences.version=1

Core/Inc/FreeRTOSConfig.h

@@ -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)30000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)40000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1

Intelligent_winding_robot_main_board.ioc

@@ -95,7 +95,7 @@ Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
 FREERTOS.FootprintOK=true
 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=20000
+FREERTOS.configTOTAL_HEAP_SIZE=25000
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FREERTOS.configUSE_RECURSIVE_MUTEXES=1
 File.Version=6
@@ -212,7 +212,7 @@ ProjectManager.DeviceId=STM32F407ZGTx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
 ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
-ProjectManager.HeapSize=0x8000
+ProjectManager.HeapSize=0x2000
 ProjectManager.KeepUserCode=true
 ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1

Intelligent_winding_robot_main_board.launch

@@ -36,7 +36,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="001D003E3431511731343632"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>

STM32F407ZGTX_FLASH.ld

@@ -39,7 +39,7 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
 
-_Min_Heap_Size = 0x8000; /* required amount of heap */
+_Min_Heap_Size = 0x2000; /* required amount of heap */
 _Min_Stack_Size = 0x1000; /* required amount of stack */
 
 /* Memories definition */

sdk

@@ -1 +1 @@
-Subproject commit aa9d1dda89f177ad23af5013fdaf5d8f29c0f8a6
+Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3

usrc/device.cpp

@@ -32,6 +32,7 @@ void Device::init() {
   init_dm();
   init_bus();
   sub_module_init();
+  ZLOGI(TAG, "init end...");
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
@@ -78,7 +79,6 @@ void Device::init_bus() {
   ZLOGI(TAG, "init feite bus");
   ZASSERT(huart3.Init.BaudRate == 115200);
   m_feitebus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
-
   /*******************************************************************************
    *                              初始化MODBUS总线                               *
    *******************************************************************************/
@@ -101,7 +101,7 @@ void Device::sub_module_init() {
    */
   static MiniRobotCtrlModule::flash_config_t servo_cfg = {.default_torque = 330};
   static MiniRobotCtrlModule                 mini_servo[10];
-  for (size_t i = 0; i < 6; i++) {
+  for (size_t i = 1; i <= 6; i++) {
     int idnum = 10 + i;
     ZLOGI(TAG, "init servo:%d", idnum);
     mini_servo[i].initialize(idnum, &m_feitebus, idnum, &servo_cfg);
@@ -128,23 +128,27 @@ void Device::sub_module_init() {
   static ZIProtocolProxy z_axis_board_can_module_proxy[4];
   z_axis_board_can_module_proxy[0].initialize(30, &m_zcanbus);  // BOARD3 Z轴板子
   z_axis_board_can_module_proxy[1].initialize(31, &m_zcanbus);
-  z_axis_board_can_module_proxy[1].initialize(32, &m_zcanbus);
-  z_axis_board_can_module_proxy[2].initialize(33, &m_zcanbus);
+  z_axis_board_can_module_proxy[2].initialize(32, &m_zcanbus);
+  z_axis_board_can_module_proxy[3].initialize(33, &m_zcanbus);
   REG_SUB_MODULE(z_axis_board_can_module_proxy);
 
   /**
    * @brief 初始化
    *           CAN步进电机模块
    */
-  static ZIProtocolProxy can_step_motor_proxy[6];
-  can_step_motor_proxy[0].initialize(40, &m_zcanbus);  // BOARD4
-  can_step_motor_proxy[1].initialize(41, &m_zcanbus);
-
-  can_step_motor_proxy[2].initialize(50, &m_zcanbus);  // BOARD5
-  can_step_motor_proxy[3].initialize(51, &m_zcanbus);
-
-  can_step_motor_proxy[4].initialize(60, &m_zcanbus);  // BOARD6
-  can_step_motor_proxy[5].initialize(61, &m_zcanbus);
+  static ZIProtocolProxy can_step_motor_proxy[9];
+  int                    i = 0;
+  can_step_motor_proxy[i++].initialize(40, &m_zcanbus);  // BOARD4
+  can_step_motor_proxy[i++].initialize(41, &m_zcanbus);
+  can_step_motor_proxy[i++].initialize(42, &m_zcanbus);
+
+  can_step_motor_proxy[i++].initialize(50, &m_zcanbus);  // BOARD5
+  can_step_motor_proxy[i++].initialize(51, &m_zcanbus);
+  can_step_motor_proxy[i++].initialize(52, &m_zcanbus);
+
+  can_step_motor_proxy[i++].initialize(60, &m_zcanbus);  // BOARD6
+  can_step_motor_proxy[i++].initialize(61, &m_zcanbus);
+  can_step_motor_proxy[i++].initialize(62, &m_zcanbus);
   REG_SUB_MODULE(can_step_motor_proxy);
 }