p_transmit_disinfection
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liquid_path_control
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zhaohe 2 years ago
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66788da70b
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7a219d4cbf
3 changed files with 98 additions and 24 deletions
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  1. 109
      usrc/main.cpp
  2. 11
      usrc/main.hpp
  3. 2
      usrc/project.hpp

109
usrc/main.cpp
View File

@ -7,6 +7,7 @@
#include "project.hpp"
//
#include "sdk/hal/zhal.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#define TAG "main"
@ -15,6 +16,41 @@ Main gmain;
};
using namespace iflytop;
IflytopCanProtocolStackProcesser m_protocolStack;
TMC4361A m_motora;
TMC4361A m_motorb;
void input_sensors_init() {
ARM_SENSOR1_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR2_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR3_GPIO.initAsInput();
ARM_SENSOR4_GPIO.initAsInput();
ARM_SENSOR5_GPIO.initAsInput();
ARM_SENSOR6_GPIO.initAsInput();
ARM_SENSOR7_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR8_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
}
uint32_t intput_sensors_get_table0() {
uint32_t val = 0;
val |= ARM_SENSOR1_GPIO.getStateUint32() << 1;
val |= ARM_SENSOR2_GPIO.getStateUint32() << 2;
val |= ARM_SENSOR3_GPIO.getStateUint32() << 3;
val |= ARM_SENSOR4_GPIO.getStateUint32() << 4;
val |= ARM_SENSOR5_GPIO.getStateUint32() << 5;
val |= ARM_SENSOR6_GPIO.getStateUint32() << 6;
val |= ARM_SENSOR7_GPIO.getStateUint32() << 7;
val |= ARM_SENSOR8_GPIO.getStateUint32() << 8;
return val;
}
STM32_GPIO *input_sensors_get_arm1_homegpio() { return &ARM_SENSOR8_GPIO; }
STM32_GPIO *input_sensors_get_arm2_homegpio() { return &ARM_SENSOR7_GPIO; }
icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) {}
icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) {}
void Main::onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event) {}
void Main::run() {
iflytop_no_os_cfg_t oscfg = {
.delayhtim = &DELAY_US_TIMER,
@ -27,12 +63,15 @@ void Main::run() {
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;
/*******************************************************************************
* GPIO输入初始化 *
*******************************************************************************/
input_sensors_init();
intput_sensors_get_table0();
/*******************************************************************************
* 电机初始化 *
*******************************************************************************/
TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true);
TMC_MOTOR1_nFREEZE_IO.initAsOutput(true);
TMC_MOTOR1_nRESET_IO.initAsOutput(true);
@ -50,10 +89,10 @@ void Main::run() {
.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);
m_motora.initialize(&motora_cfg);
int32_t ic4361Version = m_motora.readICVersion();
int32_t ic2160Version = m_motora.readSubICVersion();
ZLOGI(TAG, "m_motora:TMC4361Version:%lx TMC2160VERSION:%lx", ic4361Version, ic2160Version);
}
{
@ -65,20 +104,50 @@ void Main::run() {
.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);
m_motorb.initialize(&motorb_cfg);
int32_t ic4361Version = m_motorb.readICVersion();
int32_t ic2160Version = m_motorb.readSubICVersion();
ZLOGI(TAG, "m_motorb:TMC4361Version:%lx TMC2160VERSION:%lx", ic4361Version, ic2160Version);
}
/*******************************************************************************
* 扫码枪初始化 *
*******************************************************************************/
{
// static ZUART uart;
// PB6.initAsOutput(STM32_GPIO::kOutput_nopull, true, false);
// ZUART::cfg_t cfg = {
// .name = "CODE_SCANER_UART",
// .huart = &CODE_SCANER_UART,
// .rxbuffersize = 300,
// .rxovertime_ms = 10,
// };
// uart.initialize(&cfg,[](){})
// uart.initialize_basic("CODE_SCANER_UART", &m_hardware, &CODE_SCANER_UART);
// uart.initialize_setRxBuffer(300);
// uart.initialize_setRxOvertime(33);
// uart.initialize_finished();
}
/*******************************************************************************
* 协议栈初始化 *
*******************************************************************************/
{
auto *cfg = IflytopCanProtocolStackProcesser::createDefaultConfig(DEVICE_ID, 128);
m_protocolStack.initialize(cfg);
m_protocolStack.setDumpPacketFlag(false);
m_protocolStack.registerListener(this);
m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
}
motora.setIHOLD_IRUN(1, 12, 0); // 小臂
motora.setMotorShaft(0);
m_motora.setIHOLD_IRUN(1, 12, 0); // 小臂
m_motora.setMotorShaft(0);
motorb.setIHOLD_IRUN(1, 12, 0); // 小臂
motorb.setMotorShaft(0);
m_motorb.setIHOLD_IRUN(1, 12, 0); // 小臂
m_motorb.setMotorShaft(0);
motora.rotate(1200000);
motorb.rotate(1200000);
m_motora.rotate(1200000);
m_motorb.rotate(1200000);
while (1) {
ZHALCORE::getInstance()->loop();

11
usrc/main.hpp
View File

@ -1,14 +1,21 @@
#pragma once
#include <stdio.h>
#include <stdint.h>
#include <stdio.h>
#include <functional>
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
namespace iflytop {
using namespace std;
class Main {
class Main : public IflytopCanProtocolStackProcesserListener {
private:
/* data */
public:
virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event);
virtual icps::error_t onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event);
virtual void onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event);
Main(/* args */){};
~Main(){};
void run();

2
usrc/project.hpp
View File

@ -47,8 +47,6 @@
#define DEVICE_BASIC_CTRL_ADD_BASE 0
#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
#define REG_MOTOR1_CTRL_ADD_BASE 10000 // 机械臂电机1控制基地址
#define REG_MOTOR2_CTRL_ADD_BASE 10100 // 机械臂电机2控制基地址
#define REG_SCARA_CTRL_ADD_BASE 11200 // 机械臂控制基地址
#define REG_BARCODE_CTRL_ADD_BASE 20000 // 扫码器控制基地址

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