p_transmit_disinfection
/
liquid_path_control
1
0
Fork 1
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
0806e55067
commit
0d1c6cbd8d
4 changed files with 45 additions and 25 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. 4
      .settings/language.settings.xml
  2. 24
      README.md
  3. 2
      sdk
  4. 40
      usrc/main.cpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" 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 class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="803182146675939763" 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="1807653951974078926" 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-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" 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 class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="849230406584337526" 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="1853702211882476689" 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>

24
README.md
View File

@ -1,10 +1,18 @@
```
1. CAN测试通过 OK
2. 测试驱动器 OK
3. 三色报警灯
4. 测试IO输入
5. 测试ADC读值 （电流）
测试
1. 测试蠕动泵1
pumpctrl_c1004 1 300 1000
2. 测试蠕动泵2
pumpctrl_c1004 2 300 1000
3. 测试压力传感器1,2,3,4
huacheng_pressure_sensor_read_c1005 1
huacheng_pressure_sensor_read_c1005 2
huacheng_pressure_sensor_read_c1005 3
huacheng_pressure_sensor_read_c1005 4
4. 测试报警指示灯
1002:1
warning_light_ctrl_c1002 1 255 255 255 255
5. 测试漏液检测
readio 1
readio 2
```

2
sdk

@ -1 +1 @@
Subproject commit a7de98e58158f59c3b3d78e37b2ef4c2ebe5c992
Subproject commit 11b2ea877c103523e857108c1a521f2755700dac

40
usrc/main.cpp
View File

@ -57,6 +57,26 @@ ZCanPumpCtrlModule m_pumpCtrlModule;
ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;
HuachengPressureSensor m_huachengPressureSensor;
void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
int32_t ppm = rpm / 60.0 * 51200;
int32_t acc = acc_rpm2 / 60.0 * 51200;
int16_t _idlepower = 1;
int16_t _power = 31;
if (idlepower > 0 && idlepower < 31) {
_idlepower = idlepower;
}
if (power > 0 && power < 31) {
_power = power;
}
motor->setIHOLD_IRUN(_idlepower, _power, 10); // 5W
motor->setAcceleration(acc);
motor->setDeceleration(acc);
motor->rotate(ppm);
}
void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
for (size_t i = 0; i < len; i++) {
@ -134,7 +154,7 @@ void Main::run() {
m_motor1.initialize(&cfg);
int32_t chipv = m_motor1.readChipVERSION();
ZLOGI(TAG, "m_motor1:%lx", chipv);
m_motor1.setIHOLD_IRUN(1, 31, 0);
m_motor1.setIHOLD_IRUN(1, 20, 0);
m_motor1.setMotorShaft(true);
m_motor1.setAcceleration(300000);
@ -148,7 +168,7 @@ void Main::run() {
m_motor2.initialize(&cfg);
int32_t chipv = m_motor2.readChipVERSION();
ZLOGI(TAG, "m_motor2:%lx", chipv);
m_motor2.setIHOLD_IRUN(1, 31, 0);
m_motor2.setIHOLD_IRUN(1, 20, 0); // 5W
m_motor2.setMotorShaft(true);
m_motor2.setAcceleration(300000);
@ -157,21 +177,13 @@ void Main::run() {
}
m_pumpCtrlModule.initialize(&m_canReceiver);
m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm) {
m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm);
int32_t ppm = rpm / 60.0 * 51200;
int32_t acc = acc_rpm2 / 60.0 * 51200;
m_motor1.setAcceleration(acc);
m_motor1.setDeceleration(acc);
m_motor1.rotate(ppm);
setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power);
});
m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm) {
m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc_rpm2, rpm);
int32_t ppm = rpm / 60.0 * 51200;
int32_t acc = acc_rpm2 / 60.0 * 51200;
m_motor2.setAcceleration(acc);
m_motor2.setDeceleration(acc);
m_motor2.rotate(ppm);
setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power);
});
/*******************************************************************************

Write Preview
Loading…
Cancel
Save