p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_zarm
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v1.0.0

master
zhaohe 2 years ago
parent
9fdbeea4ef
commit
19e10384be
7 changed files with 32 additions and 31 deletions
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  1. 2
      Core/Inc/FreeRTOSConfig.h
  2. 4
      Core/Src/usart.c
  3. 9
      Intelligent_winding_robot_zarm.ioc
  4. 2
      Intelligent_winding_robot_zarm.launch
  5. 2
      sdk
  6. 42
      usrc/main.cpp
  7. 2
      usrc/project_configs.h

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)15360)
#define configTOTAL_HEAP_SIZE ((size_t)20000)
#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

4
Core/Src/usart.c
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@ -103,7 +103,7 @@ void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 1 */ /* USER CODE END USART2_Init 1 */
huart2.Instance = USART2; huart2.Instance = USART2;
huart2.Init.BaudRate = 38400;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Parity = UART_PARITY_NONE;
@ -132,7 +132,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */ /* USER CODE END USART3_Init 1 */
huart3.Instance = USART3; huart3.Instance = USART3;
huart3.Init.BaudRate = 9600;
huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Parity = UART_PARITY_NONE;

9
Intelligent_winding_robot_zarm.ioc
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@ -67,10 +67,11 @@ Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true 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.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configENABLE_FPU=1 FREERTOS.configENABLE_FPU=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTOTAL_HEAP_SIZE=20000
FREERTOS.configUSE_COUNTING_SEMAPHORES=1 FREERTOS.configUSE_COUNTING_SEMAPHORES=1
FREERTOS.configUSE_NEWLIB_REENTRANT=1 FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1 FREERTOS.configUSE_RECURSIVE_MUTEXES=1
@ -269,7 +270,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true 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.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=144000000 RCC.AHBFreq_Value=144000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -355,10 +356,10 @@ UART4.VirtualMode=Asynchronous
USART1.BaudRate=961200 USART1.BaudRate=961200
USART1.IPParameters=VirtualMode,BaudRate USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC USART1.VirtualMode=VM_ASYNC
USART2.BaudRate=9600
USART2.BaudRate=115200
USART2.IPParameters=VirtualMode,BaudRate USART2.IPParameters=VirtualMode,BaudRate
USART2.VirtualMode=VM_ASYNC USART2.VirtualMode=VM_ASYNC
USART3.BaudRate=9600
USART3.BaudRate=115200
USART3.IPParameters=VirtualMode,BaudRate USART3.IPParameters=VirtualMode,BaudRate
USART3.VirtualMode=VM_ASYNC USART3.VirtualMode=VM_ASYNC
VP_CRC_VS_CRC.Mode=CRC_Activate VP_CRC_VS_CRC.Mode=CRC_Activate

2
Intelligent_winding_robot_zarm.launch
View File

@ -51,7 +51,7 @@
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/> <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="system_reset"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_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="0046002C3132510838363431"/> <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="0046002C3132510838363431"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/> <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"/> <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>

2
sdk

@ -1 +1 @@
Subproject commit 283569575d2fdfa9a9719bbcfba1d874d52aff8f
Subproject commit 85b827815841cd0ad95352d5ee5917a6034c45e3

42
usrc/main.cpp
View File

@ -55,17 +55,17 @@ static void initsubmodule() {
input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); 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); 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); 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); g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
initer.register_module(&g_stepMotorCtrlModule); 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[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); 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); 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); g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
initer.register_module(&g_stepMotorCtrlModule); initer.register_module(&g_stepMotorCtrlModule);
@ -122,7 +122,7 @@ static void initsubmodule() {
feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx); feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
static MiniRobotCtrlModule::flash_config_t cfg = {0}; 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); mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 1, &cfg);
initer.register_module(&mini_servo); initer.register_module(&mini_servo);
} }

2
usrc/project_configs.h
View File

@ -1,5 +1,5 @@
#pragma once #pragma once
#define PC_VERSION "v1.0.1"
#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/" #define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "Intelligent_winding_robot_zarm" #define PC_PROJECT_NAME "Intelligent_winding_robot_zarm"
#define PC_IFLYTOP_ENABLE_OS 1 #define PC_IFLYTOP_ENABLE_OS 1

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