From dd639e9101d9fb6958abc3cce5856f2972fb986c Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 16 Oct 2023 16:39:14 +0800 Subject: [PATCH] update --- .settings/language.settings.xml | 4 ++-- Core/Inc/FreeRTOSConfig.h | 2 +- Intelligent_winding_robot_main_board.ioc | 2 +- sdk | 2 +- usrc/main.cpp | 14 ++++++++------ 5 files changed, 13 insertions(+), 11 deletions(-) diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 09534a6..08c9439 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 1eb7a78..0660fd8 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/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)50000) #define configMAX_TASK_NAME_LEN ( 16 ) #define configUSE_16_BIT_TICKS 0 #define configUSE_MUTEXES 1 diff --git a/Intelligent_winding_robot_main_board.ioc b/Intelligent_winding_robot_main_board.ioc index d8afeb7..77cb4ad 100644 --- a/Intelligent_winding_robot_main_board.ioc +++ b/Intelligent_winding_robot_main_board.ioc @@ -62,7 +62,7 @@ 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=30000 +FREERTOS.configTOTAL_HEAP_SIZE=50000 FREERTOS.configUSE_NEWLIB_REENTRANT=1 FREERTOS.configUSE_RECURSIVE_MUTEXES=1 File.Version=6 diff --git a/sdk b/sdk index a796f5c..13227d8 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit a796f5c582eef8b06107d7558b3dfafe6be0f639 +Subproject commit 13227d849942f51f842cc22754b6a6a0afef13b2 diff --git a/usrc/main.cpp b/usrc/main.cpp index 39f39ba..7a61409 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -55,7 +55,7 @@ static chip_cfg_t chipcfg = { static StepMotor45::cfg_t cfg1 = { .max_pos = -1, - .enable_zero_limit = false, + .enable_zero_limit = true, .enable_max_pos_limit = false, .mirror = true, @@ -69,13 +69,13 @@ static StepMotor45::cfg_t cfg1 = { static StepMotor45::cfg_t cfg2 = { .max_pos = -1, - .enable_zero_limit = false, + .enable_zero_limit = true, .enable_max_pos_limit = false, .mirror = true, .zeroPin = PG1, .ioPollType = ZGPIO::kMode_pullup, - .zeroPinMirror = false, + .zeroPinMirror = true, .driverPin = {PG2, PG3, PG4, PG5}, .driverPinMirror = true, @@ -83,13 +83,13 @@ static StepMotor45::cfg_t cfg2 = { static StepMotor45::cfg_t cfg3 = { .max_pos = -1, - .enable_zero_limit = false, + .enable_zero_limit = true, .enable_max_pos_limit = false, .mirror = true, .zeroPin = PB12, .ioPollType = ZGPIO::kMode_pullup, - .zeroPinMirror = false, + .zeroPinMirror = true, .driverPin = {PG6, PG7, PG8, PC6}, .driverPinMirror = true, @@ -147,7 +147,7 @@ FeiTeServoMotor g_feiteservomotor_bus; *******************************************************************************/ StepMotor45 g_step_motor45[7]; Eq20ServoMotor g_main_servo_motor; -MiniRobotCtrlModule g_mini_servo[5]; +MiniRobotCtrlModule g_mini_servo[6]; /******************************************************************************* * CANÉ豸 * *******************************************************************************/ @@ -210,6 +210,7 @@ void Main::run() { 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); + g_mini_servo[5].initialize(&g_feiteservomotor_bus, 6); StepMotor45Scheduler step_motor45_scheduler; step_motor45_scheduler.initialize(&htim10, 1000); @@ -240,6 +241,7 @@ void Main::run() { 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_mini_servo_motor_ctrl_module.regmodule(6, &g_mini_servo[5]); g_script_step_motor45.initialize(&g_cmdScheduler); g_script_step_motor45.regmodule(1, &g_step_motor45[0]);