p_graphite_digester
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graphite_digester_tmc5160
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update

master
zhaohe 1 year ago
parent
5f3a51ff3a
commit
818e2bb5da
4 changed files with 12824 additions and 7 deletions
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  1. 4
      .settings/language.settings.xml
  2. 12816
      hex_release/graphite_digester_tmc5160_v2.hex
  3. 9
      usrc/main.cpp
  4. 2
      usrc/project_configs.h

4
.settings/language.settings.xml
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@ -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="336939840050793459" 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="-1584731215987717150" 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="386067995912520420" 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="-1535603060125990189" 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>

12816
hex_release/graphite_digester_tmc5160_v2.hex
File diff suppressed because it is too large
View File

9
usrc/main.cpp
View File

@ -79,7 +79,7 @@ static void initsubmodule() {
float enc_const_fractional = 0.8; float enc_const_fractional = 0.8;
int32_t setval = (enc_const_integral << 16) + enc_const_fractional * 10000; int32_t setval = (enc_const_integral << 16) + enc_const_fractional * 10000;
setval = -setval;
// setval = -setval;
ZLOGI(TAG, "setval:%d", setval); ZLOGI(TAG, "setval:%d", setval);
g_motor.writeInt(TMC5130_ENC_CONST, setval); g_motor.writeInt(TMC5130_ENC_CONST, setval);
g_motor.writeInt(TMC5130_ENCMODE, 0x1 << 10); g_motor.writeInt(TMC5130_ENCMODE, 0x1 << 10);
@ -87,16 +87,17 @@ static void initsubmodule() {
g_motor.setIHOLD_IRUN(2, 6, 1000); g_motor.setIHOLD_IRUN(2, 6, 1000);
g_motor.setENCVAL(0); g_motor.setENCVAL(0);
g_motor.enable(true); g_motor.enable(true);
osDelay(100);
osDelay(100);
g_motor.setENCVAL(0); g_motor.setENCVAL(0);
// g_motor.moveBy(51200, 100000); // g_motor.moveBy(51200, 100000);
g_motor.moveBy(51200, 100000);
// g_motor.moveBy(51200, 100000);
while (true) { while (true) {
int32_t enc = g_motor.readInt(TMC5130_XENC); int32_t enc = g_motor.readInt(TMC5130_XENC);
int32_t xactual = g_motor.readInt(TMC5130_XACTUAL); int32_t xactual = g_motor.readInt(TMC5130_XACTUAL);
ZLOGI(TAG, "enc:%d %d %d", enc, xactual, enc - xactual); ZLOGI(TAG, "enc:%d %d %d", enc, xactual, enc - xactual);
osDelay(1000);
osDelay(3000);
g_motor.moveBy(51200/4, 100000);
} }
#endif #endif

2
usrc/project_configs.h
View File

@ -1,5 +1,5 @@
#pragma once #pragma once
#define PC_VERSION "v1.0.0"
#define PC_VERSION "v2.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/" #define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "graphite_digester_tmc5160" #define PC_PROJECT_NAME "graphite_digester_tmc5160"
#define PC_IFLYTOP_ENABLE_OS 1 #define PC_IFLYTOP_ENABLE_OS 1

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