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@ -7,22 +7,78 @@ |
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#include "project.hpp"
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//
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#include "sdk/hal/zhal.hpp"
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#define TAG "main"
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namespace iflytop { |
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Main gmain; |
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}; |
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using namespace iflytop; |
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void Main::run() { |
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iflytop_no_os_cfg_t cfg = { |
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iflytop_no_os_cfg_t oscfg = { |
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.delayhtim = &DELAY_US_TIMER, |
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.debuguart = &DEBUG_UART, |
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}; |
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iflytop_no_os_init(&cfg); |
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printf("Hello World!\r\n"); |
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iflytop_no_os_init(&oscfg); |
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ZLOGI(TAG, "robotic_core_xy:%s", VERSION); |
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DEBUG_LIGHT_GPIO.initAsOutput(true); |
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ZHAL_CORE_REG(200, { DEBUG_LIGHT_GPIO.toggleState(); }); |
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// while (true) {
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// chip_delay_us(1000 * 1000);
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// ZLOGI(TAG, ".....");
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// }
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TMC4361A motora; |
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TMC4361A motorb; |
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TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true); |
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TMC_MOTOR1_nFREEZE_IO.initAsOutput(true); |
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TMC_MOTOR1_nRESET_IO.initAsOutput(true); |
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TMC_MOTOR1_SUB_IC_ENN_IO.initAsOutput(true); |
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TMC_MOTOR2_SPI_SELECT1_IO.initAsOutput(true); |
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TMC_MOTOR2_nFREEZE_IO.initAsOutput(true); |
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TMC_MOTOR2_nRESET_IO.initAsOutput(true); |
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TMC_MOTOR2_SUB_IC_ENN_IO.initAsOutput(true); |
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{ |
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TMC4361A::cfg_t motora_cfg = {.spi = &TMC_MOTOR_SPI, |
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.csgpio = &TMC_MOTOR1_SPI_SELECT1_IO, |
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.resetPin = &TMC_MOTOR1_nRESET_IO, |
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.fREEZEPin = &TMC_MOTOR1_nFREEZE_IO, |
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.ennPin = NULL, |
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.driverIC_ennPin = &TMC_MOTOR1_SUB_IC_ENN_IO, |
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.driverIC_resetPin = NULL}; |
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motora.initialize(&motora_cfg); |
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int32_t ic4361Version = motora.readICVersion(); |
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int32_t ic2160Version = motora.readSubICVersion(); |
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ZLOGI(TAG, "motora:TMC4361Version:%lx TMC2160VERSION:%lx", ic4361Version, ic2160Version); |
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} |
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{ |
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TMC4361A::cfg_t motorb_cfg = {.spi = &TMC_MOTOR_SPI, |
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.csgpio = &TMC_MOTOR2_SPI_SELECT1_IO, |
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.resetPin = &TMC_MOTOR2_nRESET_IO, |
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.fREEZEPin = &TMC_MOTOR2_nFREEZE_IO, |
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.ennPin = NULL, |
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.driverIC_ennPin = &TMC_MOTOR2_SUB_IC_ENN_IO, |
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.driverIC_resetPin = NULL}; |
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motorb.initialize(&motorb_cfg); |
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int32_t ic4361Version = motorb.readICVersion(); |
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int32_t ic2160Version = motorb.readSubICVersion(); |
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ZLOGI(TAG, "motorb:TMC4361Version:%lx TMC2160VERSION:%lx", ic4361Version, ic2160Version); |
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} |
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motora.setIHOLD_IRUN(1, 28, 0); // 小臂
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motora.setMotorShaft(0); |
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motorb.setIHOLD_IRUN(1, 28, 0); // 小臂
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motorb.setMotorShaft(0); |
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ZHAL_CORE_REG(300, { DEBUG_LIGHT_GPIO.toggleState(); }); |
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motora.rotate(1200000); |
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motorb.rotate(1200000); |
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while (1) { |
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ZHALCORE::getInstance()->loop(); |
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