p_transmit_disinfection
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dbdb_liquid_path_control_protocol_v1
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update

master
zhaohe 2 years ago
parent
9b82bd1bd9
commit
bebaea96b3
4 changed files with 16 additions and 18 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      sdk
  3. 21
      usrc/main.cpp
  4. 7
      usrc/project_configs.h

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1069001987885984253" 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="1902476025430760114" 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.g++"/>
</provider>
@ -16,7 +16,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1057391452571803630" 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="1890865490116579491" 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.g++"/>
</provider>

2
sdk

@ -1 +1 @@
Subproject commit 5f412fc13617a87778caecdfcc7847038536ed7b
Subproject commit 245a8e32a993dd2e9c17a64eed522d22841b3928

21
usrc/main.cpp
View File

@ -2,15 +2,14 @@
#include <stdio.h>
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk/components/zcancmder_module/zcan_step_motor_ctrl_module.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#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\xy_robot_ctrl_module\zcan_xy_robot_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcancmder_module\zcan_xy_robot_module.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
@ -30,9 +29,7 @@ static TMC4361A motorb;
static ZCanCmder zcanCmder;
static ZCanBasicOrderModule zcanBasicOrderModule;
static StepMotorCtrlModule stepMotorCtrlModule;
static ZCanStepMotorCtrlModule zcanStepMotorCtrlModule;
static StepMotorCtrlModule stepMotorCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
@ -50,6 +47,8 @@ void umain() {
zos_cfg_t zoscfg;
zos_init(&zoscfg);
ZLOGI(TAG, "boardid:%d moduleid:%d", BOARD_ID, MODULE_ID);
/*******************************************************************************
* NVSINIT *
*******************************************************************************/
@ -92,17 +91,17 @@ void umain() {
ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
}
motora.setAcceleration(300000);
motora.setDeceleration(300000);
motora.setAcceleration(300);
motora.setDeceleration(300);
motora.setIHOLD_IRUN(0, 2, 10);
motorb.setAcceleration(300000);
motorb.setDeceleration(300000);
motorb.setAcceleration(300);
motorb.setDeceleration(300);
motorb.setIHOLD_IRUN(0, 2, 10);
motora.rotate(0);
motorb.rotate(0);
auto zcanCmder_cfg = zcanCmder.createCFG(DEVICE_ID);
auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
zcanCmder.init(zcanCmder_cfg);
/*******************************************************************************
@ -136,7 +135,7 @@ void umain() {
xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], XYRobotCtrlModule_1_FLASH_MARK);
xyRobotCtrlModule.dumpcfg();
zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
while (true) {
OSDefaultSchduler::getInstance()->loop();

7
usrc/project_configs.h
View File

@ -1,9 +1,8 @@
#pragma once
#define VERSION "v1.0.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "filarobot_arm"
#define PROJECT_NAME "xy_robot_board"
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PE2
@ -14,8 +13,8 @@
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
#define DEVICE_ID (2)
#define MODULE_ID (1)
#define BOARD_ID (1 + ZCAN_CMD_PUBLIC_DEVICE_ID_XY_ROBOT_BOARD_OFFEST)
/****************************************FLASH***************************************/
#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8

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