p_lusterinc_xsync
/
xsync_stm32
3
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

init

v5
zhaohe 2 years ago
parent
d9437a46ec
commit
25ae16828a
10 changed files with 143 additions and 107 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      .cproject
  2. 1
      Core/Inc/stm32f4xx_it.h
  3. 4
      Core/Src/dma.c
  4. 15
      Core/Src/stm32f4xx_it.c
  5. 24
      Core/Src/usart.c
  6. 16
      hbot_robot_controler.ioc
  7. 2
      sdk
  8. 29
      usrc/board.h
  9. 94
      usrc/main.cpp
  10. 55
      usrc/project_configs.h

2
.cproject
View File

@ -90,7 +90,7 @@
<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
</option>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" useByScannerDiscovery="false" value="false" valueType="boolean"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>

1
Core/Inc/stm32f4xx_it.h
View File

@ -62,6 +62,7 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

4
Core/Src/dma.c
View File

@ -41,6 +41,7 @@ void MX_DMA_Init(void)
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream5_IRQn interrupt configuration */
@ -49,6 +50,9 @@ void MX_DMA_Init(void)
/* DMA1_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
/* DMA2_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
}

15
Core/Src/stm32f4xx_it.c
View File

@ -59,6 +59,7 @@ extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart3;
@ -307,6 +308,20 @@ void TIM7_IRQHandler(void)
/* USER CODE END TIM7_IRQn 1 */
}
/**
* @brief This function handles DMA2 stream2 global interrupt.
*/
void DMA2_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
/* USER CODE END DMA2_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
/* USER CODE END DMA2_Stream2_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

24
Core/Src/usart.c
View File

@ -27,6 +27,7 @@
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart1_rx;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
@ -43,7 +44,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 1000000;
huart1.Init.BaudRate = 1500000;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@ -142,6 +143,25 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 DMA Init */
/* USART1_RX Init */
hdma_usart1_rx.Instance = DMA2_Stream2;
hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_rx.Init.Mode = DMA_NORMAL;
hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@ -253,6 +273,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USART1 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */

16
hbot_robot_controler.ioc
View File

@ -17,7 +17,18 @@ CAN1.TTCM=ENABLE
CAN1.TXFP=DISABLE
Dma.Request0=USART2_RX
Dma.Request1=USART2_TX
Dma.RequestsNb=2
Dma.Request2=USART1_RX
Dma.RequestsNb=3
Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART1_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART1_RX.2.Instance=DMA2_Stream2
Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
Dma.USART1_RX.2.Mode=DMA_NORMAL
Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART2_RX.0.Instance=DMA1_Stream5
@ -112,6 +123,7 @@ NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@ -208,7 +220,7 @@ 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_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-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_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true,15-MX_I2C1_Init-I2C1-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=144000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4

2
sdk

@ -1 +1 @@
Subproject commit 8ce6efeeb5117fb2d1cd878178dec0aff4d7ed63
Subproject commit 14654f98532a65013384eb1582845af08c9cf327

29
usrc/board.h
View File

@ -0,0 +1,29 @@
#pragma once
#define BOARD_ID 1
#define TMC_MOTOR_SPI hspi1
// MOTOR1
#define TMC_MOTOR1_CHANNEL 1
#define TMC_MOTOR1_SPI_SELECT1_IO PA4
#define TMC_MOTOR1_nFREEZE_IO PC2
#define TMC_MOTOR1_nRESET_IO PB3
#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
#define TMC_MOTOR1_ENN_IO // unused
// MOTOR2
#define TMC_MOTOR2_CHANNEL 2
#define TMC_MOTOR2_SPI_SELECT1_IO PA8
#define TMC_MOTOR2_nFREEZE_IO PC6
#define TMC_MOTOR2_nRESET_IO PB2
#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
#define TMC_MOTOR2_ENN_IO // unused
#define ARM_SENSOR1_GPIO PD0
#define ARM_SENSOR2_GPIO PD1
#define ARM_SENSOR3_GPIO PD2
#define ARM_SENSOR4_GPIO PD3
#define ARM_SENSOR5_GPIO PD4
#define ARM_SENSOR6_GPIO PD5
#define ARM_SENSOR7_GPIO PD6
#define ARM_SENSOR8_GPIO PD7

94
usrc/main.cpp
View File

@ -7,59 +7,44 @@
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
#include "sdk\components\zcancmder\zcan_board_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
//
#include "board.h"
#include "sdk\components\flash\znvs.hpp"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
//
#define TAG "main"
using namespace iflytop;
using namespace std;
static ZCancmderSubboardIniter initer;
extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
#define TMC_MOTOR_SPI hspi1
static TMC4361A motora;
static TMC4361A motorb;
static ZCanCmder zcanCmder;
static StepMotorCtrlModule stepMotorCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static ZIProtocolParser g_ziProtocolParser;
#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
#define FLASH_MASK_XYRobotCtrlModule1 "XYRobotCtrlModule_1"
void umain() {
chip_cfg_t chipcfg;
chipcfg.us_dleay_tim = &DELAY_US_TIMER;
chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
chipcfg.huart = &DEBUG_UART;
chipcfg.debuglight = DEBUG_LIGHT_GPIO;
chip_init(&chipcfg);
zos_cfg_t zoscfg;
zos_init(&zoscfg);
ZLOGI(TAG, "boardid:%d moduleid:%d", BOARD_ID, MODULE_ID);
/*******************************************************************************
* NVSINIT *
*******************************************************************************/
ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
{
void initmodule() {}
static int32_t getDeviceId() { return BOARD_ID; }
void nvs_init_cb() {
/**
* @brief 初始化配置，系统中需要配置都需要在这里进行初始化
*/
static I_XYRobotCtrlModule::flash_config_t cfg;
XYRobotCtrlModule::create_default_cfg(cfg);
ZNVS::ins().alloc_config(XYRobotCtrlModule_1_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
ZNVS::ins().alloc_config(FLASH_MASK_XYRobotCtrlModule1, (uint8_t*)&cfg, sizeof(cfg));
}
ZNVS::ins().init_config();
osDelay(1000);
static void initsubmodule() {
static XYRobotCtrlModule xyRobotCtrlModule;
static TMC4361A motora;
static TMC4361A motorb;
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
@ -100,23 +85,6 @@ void umain() {
motora.rotate(0);
motorb.rotate(0);
auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
zcanCmder.init(zcanCmder_cfg);
/*******************************************************************************
* zcanBasicOrderModule *
*******************************************************************************/
#if 0
zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
zcanBasicOrderModule.reg_read_io(1, []() {
ZLOGI(TAG, "read io 1");
return 1;
});
zcanBasicOrderModule.reg_read_adc(1, []() {
ZLOGI(TAG, "read adc 1");
return 123;
});
#endif
/*******************************************************************************
* zcanXYRobotCtrlModule *
@ -131,15 +99,25 @@ void umain() {
input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
xyRobotCtrlModule.initialize(BOARD_ID, &motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
xyRobotCtrlModule.initialize(initer.get_module_id(1), &motora, &motorb, &input[0], 8, FLASH_MASK_XYRobotCtrlModule1);
xyRobotCtrlModule.dumpcfg();
// zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
g_ziProtocolParser.initialize(&zcanCmder);
g_ziProtocolParser.registerModule(&xyRobotCtrlModule);
while (true) {
OSDefaultSchduler::getInstance()->loop();
zcanCmder.loop();
initer.register_module(&xyRobotCtrlModule);
}
void umain() {
ZCancmderSubboardIniter::cfg_t cfg = //
{
.deviceId = getDeviceId(),
.input_gpio =
{
// {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
},
.output_gpio =
{
// {PD0, ZGPIO::kMode_nopull, false, false},
},
};
initer.init(&cfg);
initer.loop();
}

55
usrc/project_configs.h
View File

@ -1,46 +1,21 @@
#pragma once
#define VERSION "v1.0.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "xy_robot_board"
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PE2
#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "xy_robot_board"
#define PC_IFLYTOP_ENABLE_OS 1
#define DELAY_US_TIMER htim6 // US延时定时器
#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器
#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_LIGHT_GPIO PE2
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
#define PC_SYS_DELAY_US_TIMER htim6 // US延时定时器
#define PC_SYS_ZTICKET_TIMER TIM11 // 系统ticket定时器
#define PC_SYS_TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
#define MODULE_ID (1)
#define BOARD_ID (1)
#define PC_IRQ_PREEMPTPRIORITY_DEFAULT 5
/****************************************FLASH***************************************/
#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
/*********************************************************************************/
// MOTOR1
#define TMC_MOTOR1_CHANNEL 1
#define TMC_MOTOR1_SPI_SELECT1_IO PA4
#define TMC_MOTOR1_nFREEZE_IO PC2
#define TMC_MOTOR1_nRESET_IO PB3
#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
#define TMC_MOTOR1_ENN_IO // unused
// MOTOR2
#define TMC_MOTOR2_CHANNEL 2
#define TMC_MOTOR2_SPI_SELECT1_IO PA8
#define TMC_MOTOR2_nFREEZE_IO PC6
#define TMC_MOTOR2_nRESET_IO PB2
#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
#define TMC_MOTOR2_ENN_IO // unused
#define ARM_SENSOR1_GPIO PD0
#define ARM_SENSOR2_GPIO PD1
#define ARM_SENSOR3_GPIO PD2
#define ARM_SENSOR4_GPIO PD3
#define ARM_SENSOR5_GPIO PD4
#define ARM_SENSOR6_GPIO PD5
#define ARM_SENSOR7_GPIO PD6
#define ARM_SENSOR8_GPIO PD7
#define PC_NVS_ENABLE 1
#define PC_NVS_CONFIG_FLASH_SECTOR 8
#define PC_NVS_INIT_CB nvs_init_cb
Write Preview
Loading…
Cancel
Save