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xsync_stm32
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init

v5
zhaohe 2 years ago
parent
d9437a46ec
commit
25ae16828a
10 changed files with 143 additions and 107 deletions
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  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. 96
      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

96
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"
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);
#define FLASH_MASK_XYRobotCtrlModule1 "XYRobotCtrlModule_1"
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().init_config();
osDelay(1000);
ZNVS::ins().alloc_config(FLASH_MASK_XYRobotCtrlModule1, (uint8_t*)&cfg, sizeof(cfg));
}
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);
initer.register_module(&xyRobotCtrlModule);
}
while (true) {
OSDefaultSchduler::getInstance()->loop();
zcanCmder.loop();
}
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
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