p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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zhaohe 2 years ago
parent
c3347af35e
commit
fa5a592ff2
6 changed files with 17 additions and 9 deletions
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  1. 4
      .settings/language.settings.xml
  2. 4
      .settings/stm32cubeide.project.prefs
  3. 2
      Intelligent_winding_robot_main_board.ioc
  4. 2
      STM32F407ZGTX_FLASH.ld
  5. 2
      sdk
  6. 12
      usrc/device.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="-590189052051766916" 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="768666354458696857" 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="-596153906458205550" 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="762701500052258223" 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>

4
.settings/stm32cubeide.project.prefs
View File

@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=6180EFBD1DA04EB1319C95830D4DB159
66BE74F758C12D739921AEA421D593D3=5
8DF89ED150041C4CBC7CB9A9CAA90856=9FE8B57A80F4C5C9B24FE12120255044
DC22A860405A8BF2F2C095E5B6529F12=9FE8B57A80F4C5C9B24FE12120255044
8DF89ED150041C4CBC7CB9A9CAA90856=B8F564F3DE821C1660C221EB6DA11AB4
DC22A860405A8BF2F2C095E5B6529F12=B8F564F3DE821C1660C221EB6DA11AB4
eclipse.preferences.version=1

2
Intelligent_winding_robot_main_board.ioc
View File

@ -212,7 +212,7 @@ ProjectManager.DeviceId=STM32F407ZGTx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.27.1
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x2000
ProjectManager.HeapSize=0x4000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1

2
STM32F407ZGTX_FLASH.ld
View File

@ -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 = 0x2000; /* required amount of heap */
_Min_Heap_Size = 0x4000; /* required amount of heap */
_Min_Stack_Size = 0x1000; /* required amount of stack */
/* Memories definition */

2
sdk

@ -1 +1 @@
Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3
Subproject commit c754d770814e82b81340d943a3383fb81719a6fa

12
usrc/device.cpp
View File

@ -1,5 +1,7 @@
#include "device.hpp"
#include <string.h>
#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
@ -82,7 +84,7 @@ void Device::init_bus() {
/*******************************************************************************
* 初始化MODBUS总线 *
*******************************************************************************/
m_modbus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
m_modbus.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx);
}
#define REG_SUB_MODULE(table) \
@ -110,8 +112,10 @@ void Device::sub_module_init() {
/**
* @brief 初始化主轴电机
*/
static Eq20ServoMotor::servo_config_t default_servo_cfg = //
{.default_acc_time_ms = 1000, .default_velocity = 800, .find_zero_velocity = 100};
static Eq20ServoMotor eq20_motor;
eq20_motor.init(1, &m_modbus, 1);
eq20_motor.init(1, &m_modbus, 1, default_servo_cfg);
m_device_manager.registerModule(&eq20_motor);
/**
@ -150,6 +154,10 @@ void Device::sub_module_init() {
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);
m_device_manager.module_set_reg(42, kreg_stepmotor_ihold, 4);
m_device_manager.module_set_reg(42, kreg_stepmotor_irun, 28);
m_device_manager.module_active_cfg(42);
}
void Device::line_locking_solenoid_valve_init() {}

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