diff --git a/.cproject b/.cproject
index a94d3ed..496ed70 100644
--- a/.cproject
+++ b/.cproject
@@ -29,7 +29,7 @@
-
+
-
+
@@ -216,7 +216,7 @@
-
+
@@ -237,10 +237,10 @@
-
+
-
+
\ No newline at end of file
diff --git a/.project b/.project
index 79a842e..58b6965 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
- zcancmder_debug_board
+ graphite_digester_zancmder_debug_board
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 7cbbd13..ecbf44d 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/sdk b/sdk
index a5aad9a..2b38f18 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit a5aad9a6baff180b9df97ecf2044280fc6af0a3e
+Subproject commit 2b38f182db4aa01a12d2c1e81caf3858782d65f6
diff --git a/usrc/cmdline_version.cpp b/usrc/cmdline_version.cpp
index 1c0f791..45e2980 100644
--- a/usrc/cmdline_version.cpp
+++ b/usrc/cmdline_version.cpp
@@ -9,6 +9,7 @@
//
#include "sdk\components\flash\znvs.hpp"
//
+#include "global.hpp"
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
@@ -25,7 +26,6 @@
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
-#include "global.hpp"
// #include "M3078CodeScanner"
#define TAG "main"
@@ -79,6 +79,107 @@ void cmdline_version_main() {
}
ZLOGI(TAG, "board init ok...");
+ osDelay(3000);
+
+ // 11 加热转盘
+ // 12 开盖1
+ // 21 主机械臂升降
+ // 22 主机械臂夹取
+ // 31 主机械臂旋转
+ // 41 加液机械臂旋转
+ // 51 加液转盘
+ // 61 加酸蠕动泵1
+ // 70 IO板
+
+ // 加热转盘
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_shaft, 0);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse, 10000);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_one_circle_pulse_denominator, 30);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_velocity, 150);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_acc, 25);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_default_dec, 10);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_ihold, 0);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_irun, 31);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_stepmotor_iholddelay, 100);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_speed, 120);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_run_to_zero_dec, 25);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_speed, 25);
+ // g_zModuleDeviceManager.module_set_reg(11, kreg_motor_look_zero_edge_dec, 50);
+ // g_zModuleDeviceManager.module_active_cfg(11);
+
+ // // 盖盖舵机
+ // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_velocity, 150);
+ // g_zModuleDeviceManager.module_set_reg(12, kreg_motor_default_torque, 1000);
+ // g_zModuleDeviceManager.module_active_cfg(12);
+
+ // // 升降
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_shaft, 0);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse, 1000);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_one_circle_pulse_denominator, 1);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_velocity, 150);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_acc, 25);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_default_dec, 10);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_ihold, 0);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_irun, 31);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_stepmotor_iholddelay, 100);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_speed, 120);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_run_to_zero_dec, 25);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_speed, 25);
+ // g_zModuleDeviceManager.module_set_reg(21, kreg_motor_look_zero_edge_dec, 50);
+ // g_zModuleDeviceManager.module_active_cfg(21);
+
+
+ // // 夹爪舵机
+ // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_velocity, 800);
+ // g_zModuleDeviceManager.module_set_reg(22, kreg_motor_default_torque, 330);
+ // g_zModuleDeviceManager.module_active_cfg(22);
+
+ // // 加液体泵
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_shaft, 0);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse, 10000);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_one_circle_pulse_denominator, 1);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_velocity, 50);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_acc, 300);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_motor_default_dec, 300);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_ihold, 0);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_irun, 4);
+ // g_zModuleDeviceManager.module_set_reg(61, kreg_stepmotor_iholddelay, 100);
+ // g_zModuleDeviceManager.module_active_cfg(61);
+
+ // 加热转盘
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_shaft, 0);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse, 1000);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_one_circle_pulse_denominator, 18);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_velocity, 50);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_acc, 300);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_default_dec, 300);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_ihold, 1);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_irun, 4);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_stepmotor_iholddelay, 100);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_max_d, 36000);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_max_d, 360);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_speed, 50);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_run_to_zero_dec, 300);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_speed, 50);
+ // g_zModuleDeviceManager.module_set_reg(41, kreg_motor_look_zero_edge_dec, 600);
+ // g_zModuleDeviceManager.module_active_cfg(41);
+
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_shaft, 0);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse, 3600);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_one_circle_pulse_denominator, 18);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_velocity, 100);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_acc, 300);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_default_dec, 300);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_ihold, 1);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_irun, 8);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_stepmotor_iholddelay, 100);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_max_d, 36000);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_max_d, 360);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_speed, 50);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_run_to_zero_dec, 300);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_speed, 50);
+ // g_zModuleDeviceManager.module_set_reg(51, kreg_motor_look_zero_edge_dec, 600);
+ // g_zModuleDeviceManager.module_active_cfg(51);
while (true) {
OSDefaultSchduler::getInstance()->loop();
diff --git a/usrc/main.cpp b/usrc/main.cpp
index e7f910f..7df6685 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -18,7 +18,7 @@ void StartDefaultTask(void const* argument) { umain(); }
}
void umain() {
- g_Key0.initAsInput(KEY0, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
+ g_Key0.initAsInput(KEY1, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
g_StateLight1.initAsOutput(STATE_LIGHT_GPIO, ZGPIO::kMode_pullup, false, false);
if (g_Key0.getState()) {
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 741754f..279c4d8 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -2,12 +2,12 @@
#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/"
-#define PC_PROJECT_NAME "zcancmder_debug_board"
+#define PC_PROJECT_NAME "graphite_digester_zancmder_debug_board"
#define PC_IFLYTOP_ENABLE_OS 1
#define PC_DEBUG_UART huart1
#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
-#define PC_DEBUG_UART_RX_BUF_SIZE 1024
+#define PC_DEBUG_UART_RX_BUF_SIZE 5000
#define PC_DEBUG_LIGHT_GPIO PF10
#define PC_SYS_DELAY_US_TIMER htim6 // US延时定时器
diff --git a/zcancmder_debug_board.ioc b/zcancmder_debug_board.ioc
index f958b88..358f696 100644
--- a/zcancmder_debug_board.ioc
+++ b/zcancmder_debug_board.ioc
@@ -220,8 +220,8 @@ ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=
ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=zcancmder_debug_board.ioc
-ProjectManager.ProjectName=zcancmder_debug_board
+ProjectManager.ProjectFileName=graphite_digester_zancmder_debug_board.ioc
+ProjectManager.ProjectName=graphite_digester_zancmder_debug_board
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x1000
diff --git a/zcancmder_debug_board.launch b/zcancmder_debug_board.launch
index 48f2121..7fd6a91 100644
--- a/zcancmder_debug_board.launch
+++ b/zcancmder_debug_board.launch
@@ -12,7 +12,7 @@
-
+
@@ -32,11 +32,11 @@
-
+
-
+
@@ -67,13 +67,13 @@
-
-
+
+
-
+