p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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update

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zhaohe 2 years ago
parent
106373284f
commit
dd639e9101
5 changed files with 13 additions and 11 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      Core/Inc/FreeRTOSConfig.h
  3. 2
      Intelligent_winding_robot_main_board.ioc
  4. 2
      sdk
  5. 14
      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 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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="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">
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="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">
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

2
Core/Inc/FreeRTOSConfig.h
View File

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

2
Intelligent_winding_robot_main_board.ioc
View File

@ -62,7 +62,7 @@ Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
FREERTOS.FootprintOK=true FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE 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.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_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1 FREERTOS.configUSE_RECURSIVE_MUTEXES=1
File.Version=6 File.Version=6

2
sdk

@ -1 +1 @@
Subproject commit a796f5c582eef8b06107d7558b3dfafe6be0f639
Subproject commit 13227d849942f51f842cc22754b6a6a0afef13b2

14
usrc/main.cpp
View File

@ -55,7 +55,7 @@ static chip_cfg_t chipcfg = {
static StepMotor45::cfg_t cfg1 = { static StepMotor45::cfg_t cfg1 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = false,
.enable_zero_limit = true,
.enable_max_pos_limit = false, .enable_max_pos_limit = false,
.mirror = true, .mirror = true,
@ -69,13 +69,13 @@ static StepMotor45::cfg_t cfg1 = {
static StepMotor45::cfg_t cfg2 = { static StepMotor45::cfg_t cfg2 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = false,
.enable_zero_limit = true,
.enable_max_pos_limit = false, .enable_max_pos_limit = false,
.mirror = true, .mirror = true,
.zeroPin = PG1, .zeroPin = PG1,
.ioPollType = ZGPIO::kMode_pullup, .ioPollType = ZGPIO::kMode_pullup,
.zeroPinMirror = false,
.zeroPinMirror = true,
.driverPin = {PG2, PG3, PG4, PG5}, .driverPin = {PG2, PG3, PG4, PG5},
.driverPinMirror = true, .driverPinMirror = true,
@ -83,13 +83,13 @@ static StepMotor45::cfg_t cfg2 = {
static StepMotor45::cfg_t cfg3 = { static StepMotor45::cfg_t cfg3 = {
.max_pos = -1, .max_pos = -1,
.enable_zero_limit = false,
.enable_zero_limit = true,
.enable_max_pos_limit = false, .enable_max_pos_limit = false,
.mirror = true, .mirror = true,
.zeroPin = PB12, .zeroPin = PB12,
.ioPollType = ZGPIO::kMode_pullup, .ioPollType = ZGPIO::kMode_pullup,
.zeroPinMirror = false,
.zeroPinMirror = true,
.driverPin = {PG6, PG7, PG8, PC6}, .driverPin = {PG6, PG7, PG8, PC6},
.driverPinMirror = true, .driverPinMirror = true,
@ -147,7 +147,7 @@ FeiTeServoMotor g_feiteservomotor_bus;
*******************************************************************************/ *******************************************************************************/
StepMotor45 g_step_motor45[7]; StepMotor45 g_step_motor45[7];
Eq20ServoMotor g_main_servo_motor; Eq20ServoMotor g_main_servo_motor;
MiniRobotCtrlModule g_mini_servo[5];
MiniRobotCtrlModule g_mini_servo[6];
/******************************************************************************* /*******************************************************************************
* CANÉ豸 * * CANÉ豸 *
*******************************************************************************/ *******************************************************************************/
@ -210,6 +210,7 @@ void Main::run() {
g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3); g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3);
g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4); g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4);
g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5); g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5);
g_mini_servo[5].initialize(&g_feiteservomotor_bus, 6);
StepMotor45Scheduler step_motor45_scheduler; StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10, 1000); 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(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(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(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.initialize(&g_cmdScheduler);
g_script_step_motor45.regmodule(1, &g_step_motor45[0]); g_script_step_motor45.regmodule(1, &g_step_motor45[0]);

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