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@ -41,7 +41,7 @@ static void initsubmodule() { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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.spi_mode_select = MOTOR0_SPI_MODE_SELECT, //
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}; |
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g_motor.initialize(&cfg); |
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
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@ -52,10 +52,8 @@ static void initsubmodule() { |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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static ZGPIO input[10]; |
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input[0].initAsInput(PD2 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(PD1 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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@ -74,34 +72,78 @@ static void initsubmodule() { |
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} |
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{ |
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static PipetteModule g_pipetteModule; |
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PipetteModule::config_t cfg = { |
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.limit_ul = 30, |
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static TMC5130 g_motor; |
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static StepMotorCtrlModule g_stepMotorCtrlModule; |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR1_CSN, //
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.ennPin = MOTOR1_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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}; |
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g_motor.initialize(&cfg); |
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
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PipetteModule::hardward_config_t hardwarecfg = { |
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.uart = &huart2, |
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.hdma_rx = &hdma_usart2_rx, |
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.hdma_tx = &hdma_usart2_tx, |
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}; |
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g_pipetteModule.initialize(initer.get_module_id(2), &cfg, &hardwarecfg); |
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initer.register_module(&g_pipetteModule); |
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g_motor.setMotorShaft(false); |
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g_motor.setAcceleration(100); |
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g_motor.setDeceleration(100); |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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static ZGPIO input[10]; |
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input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.distance_scale = 80; |
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smcm_cfg.base_param.distance_scale_denominator = 1; |
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smcm_cfg.base_param.ihold = 1; |
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smcm_cfg.base_param.irun = 8; |
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smcm_cfg.base_param.x_shaft = false; |
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smcm_cfg.base_param.maxspeed = 500; |
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smcm_cfg.base_param.run_to_zero_speed = 100; |
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smcm_cfg.base_param.max_x = 0; |
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smcm_cfg.base_param.min_x = 0; |
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g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); |
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initer.register_module(&g_stepMotorCtrlModule); |
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} |
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{ |
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//
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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.uart = &huart4, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PD15, |
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}; |
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codescanner.initialize(initer.get_module_id(3), &cfg); |
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initer.register_module(&codescanner); |
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{ |
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{ |
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/*******************************************************************************
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* 试管夹舵机 * |
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*******************************************************************************/ |
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static FeiTeServoMotor feiteservomotor_bus; // 飞特舵机总线
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static MiniRobotCtrlModule mini_servo; |
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// 飞特舵机总线
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ZASSERT(huart2.Init.BaudRate == 115200); |
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feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx); |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 100; |
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mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 1, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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// {
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// // 115200
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// /*******************************************************************************
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// *******************************************************************************/
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// static FeiTeServoMotor feiteservomotor_bus; // 飞特舵机总线
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// static MiniRobotCtrlModule mini_servo;
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// // 飞特舵机总线
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// ZASSERT(huart3.Init.BaudRate == 115200);
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// feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
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// static MiniRobotCtrlModule::flash_config_t cfg = {0};
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// cfg.default_torque = 330;
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// mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 2, &cfg);
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// initer.register_module(&mini_servo);
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// }
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} |
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} |
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} |
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