From 67d8a85eaf383c200b24e69785ade207089f270e Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 25 Jul 2023 22:16:37 +0800
Subject: [PATCH] update

---
 .cproject                                        |  2 +-
 .settings/com.st.stm32cube.ide.mcu.sfrview.prefs |  2 +
 .vscode/settings.json                            | 41 ++++++++++++++-
 Core/Src/tim.c                                   |  2 +-
 robotic_core_xy.ioc                              |  2 +-
 usrc/main.cpp                                    | 64 ++++++++++++++++++++++--
 usrc/project.hpp                                 |  2 +-
 7 files changed, 106 insertions(+), 9 deletions(-)
 create mode 100644 .settings/com.st.stm32cube.ide.mcu.sfrview.prefs

diff --git a/.cproject b/.cproject
index b900dfb..8b70b2b 100644
--- a/.cproject
+++ b/.cproject
@@ -130,7 +130,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2026007863" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.772961433" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1999660059" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1733776023" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" value="144" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1733776023" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1767941885" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/robotic_core_xy}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1109588320" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1819027329" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
new file mode 100644
index 0000000..98a69fc
--- /dev/null
+++ b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 6d51097..3080e17 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -21,6 +21,45 @@
         "cstdint": "c",
         "stm32f4xx_hal_rcc.h": "c",
         "stm32f4xx_hal_def.h": "c",
-        "stm32_hal_legacy.h": "c"
+        "stm32_hal_legacy.h": "c",
+        "array": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "concepts": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "typeinfo": "cpp"
     }
 }
\ No newline at end of file
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 07c46ea..4157ad3 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -124,7 +124,7 @@ void MX_TIM6_Init(void)
 
   /* USER CODE END TIM6_Init 1 */
   htim6.Instance = TIM6;
-  htim6.Init.Prescaler = 81;
+  htim6.Init.Prescaler = 71;
   htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim6.Init.Period = 65535;
   htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
diff --git a/robotic_core_xy.ioc b/robotic_core_xy.ioc
index 3bd9f99..b203f1f 100644
--- a/robotic_core_xy.ioc
+++ b/robotic_core_xy.ioc
@@ -215,7 +215,7 @@ TIM3.IPParameters=Prescaler,Period
 TIM3.Period=9999
 TIM3.Prescaler=71
 TIM6.IPParameters=Prescaler
-TIM6.Prescaler=81
+TIM6.Prescaler=71
 TIM7.IPParameters=Prescaler
 TIM7.Prescaler=81
 USART1.IPParameters=VirtualMode
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 2353eab..857c9a5 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -7,22 +7,78 @@
 #include "project.hpp"
 //
 #include "sdk/hal/zhal.hpp"
+#include "sdk\components\tmc\ic\ztmc4361A.hpp"
+
+#define TAG "main"
 namespace iflytop {
 Main gmain;
 };
 
 using namespace iflytop;
 void Main::run() {
-  iflytop_no_os_cfg_t cfg = {
+  iflytop_no_os_cfg_t oscfg = {
       .delayhtim = &DELAY_US_TIMER,
       .debuguart = &DEBUG_UART,
   };
-  iflytop_no_os_init(&cfg);
-  printf("Hello World!\r\n");
+  iflytop_no_os_init(&oscfg);
+
+  ZLOGI(TAG, "robotic_core_xy:%s", VERSION);
 
   DEBUG_LIGHT_GPIO.initAsOutput(true);
+  ZHAL_CORE_REG(200, { DEBUG_LIGHT_GPIO.toggleState(); });
+
+  // while (true) {
+  //   chip_delay_us(1000 * 1000);
+  //   ZLOGI(TAG, ".....");
+  // }
+  TMC4361A motora;
+  TMC4361A motorb;
+  TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true);
+  TMC_MOTOR1_nFREEZE_IO.initAsOutput(true);
+  TMC_MOTOR1_nRESET_IO.initAsOutput(true);
+  TMC_MOTOR1_SUB_IC_ENN_IO.initAsOutput(true);
+  TMC_MOTOR2_SPI_SELECT1_IO.initAsOutput(true);
+  TMC_MOTOR2_nFREEZE_IO.initAsOutput(true);
+  TMC_MOTOR2_nRESET_IO.initAsOutput(true);
+  TMC_MOTOR2_SUB_IC_ENN_IO.initAsOutput(true);
+  {
+    TMC4361A::cfg_t motora_cfg = {.spi               = &TMC_MOTOR_SPI,
+                                  .csgpio            = &TMC_MOTOR1_SPI_SELECT1_IO,
+                                  .resetPin          = &TMC_MOTOR1_nRESET_IO,
+                                  .fREEZEPin         = &TMC_MOTOR1_nFREEZE_IO,
+                                  .ennPin            = NULL,
+                                  .driverIC_ennPin   = &TMC_MOTOR1_SUB_IC_ENN_IO,
+                                  .driverIC_resetPin = NULL};
+
+    motora.initialize(&motora_cfg);
+    int32_t ic4361Version = motora.readICVersion();
+    int32_t ic2160Version = motora.readSubICVersion();
+    ZLOGI(TAG, "motora:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+  }
+
+  {
+    TMC4361A::cfg_t motorb_cfg = {.spi               = &TMC_MOTOR_SPI,
+                                  .csgpio            = &TMC_MOTOR2_SPI_SELECT1_IO,
+                                  .resetPin          = &TMC_MOTOR2_nRESET_IO,
+                                  .fREEZEPin         = &TMC_MOTOR2_nFREEZE_IO,
+                                  .ennPin            = NULL,
+                                  .driverIC_ennPin   = &TMC_MOTOR2_SUB_IC_ENN_IO,
+                                  .driverIC_resetPin = NULL};
+
+    motorb.initialize(&motorb_cfg);
+    int32_t ic4361Version = motorb.readICVersion();
+    int32_t ic2160Version = motorb.readSubICVersion();
+    ZLOGI(TAG, "motorb:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+  }
+
+  motora.setIHOLD_IRUN(1, 28, 0);  // 小臂
+  motora.setMotorShaft(0);
+
+  motorb.setIHOLD_IRUN(1, 28, 0);  // 小臂
+  motorb.setMotorShaft(0);
 
-  ZHAL_CORE_REG(300, { DEBUG_LIGHT_GPIO.toggleState(); });
+  motora.rotate(1200000);
+  motorb.rotate(1200000);
 
   while (1) {
     ZHALCORE::getInstance()->loop();
diff --git a/usrc/project.hpp b/usrc/project.hpp
index e50609a..397f3b6 100644
--- a/usrc/project.hpp
+++ b/usrc/project.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#define VERSION "v1.0"
+#define VERSION "v2.0"
 // 设备ID
 #define DEVICE_ID (128 + 3)
 // 调试串口