diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index c0a8ac3..3c7e84e 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)15360)
+#define configTOTAL_HEAP_SIZE ((size_t)20000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index b1ec447..9e0c7b4 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -103,7 +103,7 @@ void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
- huart2.Init.BaudRate = 38400;
+ huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
@@ -132,7 +132,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
- huart3.Init.BaudRate = 9600;
+ huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
diff --git a/Intelligent_winding_robot_zarm.ioc b/Intelligent_winding_robot_zarm.ioc
index e7a600b..26d0b7f 100644
--- a/Intelligent_winding_robot_zarm.ioc
+++ b/Intelligent_winding_robot_zarm.ioc
@@ -67,10 +67,11 @@ Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
+FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
+FREERTOS.configTOTAL_HEAP_SIZE=20000
FREERTOS.configUSE_COUNTING_SEMAPHORES=1
FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1
@@ -269,7 +270,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_I2C1_Init-I2C1-false-HAL-true,15-MX_ADC1_Init-ADC1-false-HAL-true,16-MX_TIM2_Init-TIM2-false-HAL-true,17-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_I2C1_Init-I2C1-false-HAL-true,15-MX_ADC1_Init-ADC1-false-HAL-true,16-MX_TIM2_Init-TIM2-false-HAL-true,17-MX_USART2_UART_Init-USART2-false-HAL-true,18-MX_UART4_Init-UART4-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=144000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -355,10 +356,10 @@ UART4.VirtualMode=Asynchronous
USART1.BaudRate=961200
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
-USART2.BaudRate=9600
+USART2.BaudRate=115200
USART2.IPParameters=VirtualMode,BaudRate
USART2.VirtualMode=VM_ASYNC
-USART3.BaudRate=9600
+USART3.BaudRate=115200
USART3.IPParameters=VirtualMode,BaudRate
USART3.VirtualMode=VM_ASYNC
VP_CRC_VS_CRC.Mode=CRC_Activate
diff --git a/Intelligent_winding_robot_zarm.launch b/Intelligent_winding_robot_zarm.launch
index 281c803..6221db8 100644
--- a/Intelligent_winding_robot_zarm.launch
+++ b/Intelligent_winding_robot_zarm.launch
@@ -51,7 +51,7 @@
-
+
diff --git a/sdk b/sdk
index 2835695..85b8278 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 283569575d2fdfa9a9719bbcfba1d874d52aff8f
+Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3
diff --git a/usrc/main.cpp b/usrc/main.cpp
index f07f931..b2f0772 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -55,17 +55,17 @@ static void initsubmodule() {
input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
- I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+ StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
StepMotorCtrlModule::create_default_cfg(smcm_cfg);
- smcm_cfg.base_param.distance_scale = 80;
- smcm_cfg.base_param.distance_scale_denominator = 1;
- smcm_cfg.base_param.ihold = 1;
- smcm_cfg.base_param.irun = 8;
- smcm_cfg.base_param.x_shaft = false;
- smcm_cfg.base_param.maxspeed = 500;
- smcm_cfg.base_param.run_to_zero_speed = 100;
- smcm_cfg.base_param.max_x = 0;
- smcm_cfg.base_param.min_x = 0;
+ smcm_cfg.base_param.motor_one_circle_pulse = 80;
+ smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
+ smcm_cfg.base_param.stepmotor_ihold = 1;
+ smcm_cfg.base_param.stepmotor_irun = 8;
+ smcm_cfg.base_param.motor_shaft = false;
+ smcm_cfg.base_param.motor_default_velocity = 500;
+ smcm_cfg.base_param.motor_run_to_zero_speed = 100;
+ smcm_cfg.base_param.max_d = 0;
+ smcm_cfg.base_param.min_d = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
initer.register_module(&g_stepMotorCtrlModule);
@@ -92,17 +92,17 @@ static void initsubmodule() {
input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
- I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+ StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
StepMotorCtrlModule::create_default_cfg(smcm_cfg);
- smcm_cfg.base_param.distance_scale = 80;
- smcm_cfg.base_param.distance_scale_denominator = 1;
- smcm_cfg.base_param.ihold = 1;
- smcm_cfg.base_param.irun = 8;
- smcm_cfg.base_param.x_shaft = false;
- smcm_cfg.base_param.maxspeed = 500;
- smcm_cfg.base_param.run_to_zero_speed = 100;
- smcm_cfg.base_param.max_x = 0;
- smcm_cfg.base_param.min_x = 0;
+ smcm_cfg.base_param.motor_one_circle_pulse = 100;
+ smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
+ smcm_cfg.base_param.stepmotor_ihold = 4;
+ smcm_cfg.base_param.stepmotor_irun = 16;
+ smcm_cfg.base_param.motor_shaft = true;
+ smcm_cfg.base_param.motor_default_velocity = 50;
+ smcm_cfg.base_param.motor_run_to_zero_speed = 50;
+ smcm_cfg.base_param.max_d = 0;
+ smcm_cfg.base_param.min_d = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
initer.register_module(&g_stepMotorCtrlModule);
@@ -122,7 +122,7 @@ static void initsubmodule() {
feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
static MiniRobotCtrlModule::flash_config_t cfg = {0};
- cfg.default_torque = 100;
+ cfg.default_torque = 400;
mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 1, &cfg);
initer.register_module(&mini_servo);
}
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 7718615..e9c9196 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,5 +1,5 @@
#pragma once
-#define PC_VERSION "v1.0.1"
+#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "Intelligent_winding_robot_zarm"
#define PC_IFLYTOP_ENABLE_OS 1