From 0d1c6cbd8d8d19098a45188ff7214edb78e949ed Mon Sep 17 00:00:00 2001 From: zhaohe Date: Tue, 15 Aug 2023 23:03:39 +0800 Subject: [PATCH] update --- .settings/language.settings.xml | 4 ++-- README.md | 24 ++++++++++++++++-------- sdk | 2 +- usrc/main.cpp | 40 ++++++++++++++++++++++++++-------------- 4 files changed, 45 insertions(+), 25 deletions(-) diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 089a477..0c64d05 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/README.md b/README.md index 583c218..b7440a2 100644 --- a/README.md +++ b/README.md @@ -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 ``` \ No newline at end of file diff --git a/sdk b/sdk index a7de98e..11b2ea8 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit a7de98e58158f59c3b3d78e37b2ef4c2ebe5c992 +Subproject commit 11b2ea877c103523e857108c1a521f2755700dac diff --git a/usrc/main.cpp b/usrc/main.cpp index 18cbfa1..10d21d0 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -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); }); /*******************************************************************************