p_transmit_disinfection_v2
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h2o2_ext_sensor_old_protocol
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update

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zhaohe 2 years ago
parent
ddc729c9cc
commit
7e66c5eb6e
9 changed files with 201 additions and 53 deletions
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  1. 10
      .cproject
  2. 2
      .settings/language.settings.xml
  3. 76
      .settings/org.eclipse.cdt.codan.core.prefs
  4. 6
      .settings/org.eclipse.cdt.core.prefs
  5. 14
      Core/Src/gpio.c
  6. 63
      flia_robot_arm_v1.ioc
  7. 2
      sdk
  8. 52
      usrc/main.cpp
  9. 29
      usrc/project_configs.h

10
.cproject
View File

@ -86,6 +86,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.1505174756" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags.1130332628" name="Other flags" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.otherflags" useByScannerDiscovery="true" valueType="stringList">
<listOptionValue builtIn="false" value="-Wno-volatile"/>
<listOptionValue builtIn="false" value="-Wno-format"/>
<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
</option>
@ -239,5 +240,12 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/flia_robot_arm_v1"/>
</configuration>
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/flia_robot_arm_v1"/>
</configuration>
</storageModule>
</cproject>

2
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<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="995387734699203926" 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="995385305838657757" 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>

76
.settings/org.eclipse.cdt.codan.core.prefs
View File

@ -0,0 +1,76 @@
com.st.stm32cube.ide.mcu.ide.oss.source.checker.libnano.problem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Float formatting support\\")"}
eclipse.preferences.version=1
org.eclipse.cdt.codan.checkers.errnoreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return\\")",implicit\=>false}
org.eclipse.cdt.codan.checkers.errreturnvalue.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused return value\\")"}
org.eclipse.cdt.codan.checkers.localvarreturn=-Warning
org.eclipse.cdt.codan.checkers.localvarreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Returning the address of a local variable\\")"}
org.eclipse.cdt.codan.checkers.nocommentinside.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Nesting comments\\")"}
org.eclipse.cdt.codan.checkers.nolinecomment.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Line comments\\")"}
org.eclipse.cdt.codan.checkers.noreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return value\\")",implicit\=>false}
org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Abstract class cannot be instantiated\\")"}
org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Ambiguous problem\\")"}
org.eclipse.cdt.codan.internal.checkers.AssignmentInConditionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment in condition\\")"}
org.eclipse.cdt.codan.internal.checkers.AssignmentToItselfProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment to itself\\")"}
org.eclipse.cdt.codan.internal.checkers.BlacklistProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.BlacklistProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function or method is blacklisted\\")",blacklist\=>()}
org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"C-Style cast instead of C++ cast\\")",checkMacro\=>true}
org.eclipse.cdt.codan.internal.checkers.CaseBreakProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No break at end of case\\")",no_break_comment\=>"no break",last_case_param\=>false,empty_case_param\=>false,enable_fallthrough_quickfix_param\=>false}
org.eclipse.cdt.codan.internal.checkers.CatchByReference.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Catching by reference is recommended\\")",unknown\=>false,exceptions\=>()}
org.eclipse.cdt.codan.internal.checkers.CircularReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Circular inheritance\\")"}
org.eclipse.cdt.codan.internal.checkers.ClassMembersInitialization.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Class members should be properly initialized\\")",skip\=>true}
org.eclipse.cdt.codan.internal.checkers.CopyrightProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.CopyrightProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Lack of copyright information\\")",regex\=>".*Copyright.*"}
org.eclipse.cdt.codan.internal.checkers.DecltypeAutoProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid 'decltype(auto)' specifier\\")"}
org.eclipse.cdt.codan.internal.checkers.FieldResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Field cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Direct float comparison\\")"}
org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Goto statement used\\")"}
org.eclipse.cdt.codan.internal.checkers.InvalidArguments.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid arguments\\")"}
org.eclipse.cdt.codan.internal.checkers.InvalidTemplateArgumentsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid template argument\\")"}
org.eclipse.cdt.codan.internal.checkers.LabelStatementNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Label statement not found\\")"}
org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Avoid magic numbers\\")",checkArray\=>true,checkOperatorParen\=>true,exceptions\=>(1,0,-1,2,1.0,0.0,-1.0)}
org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Member declaration not found\\")"}
org.eclipse.cdt.codan.internal.checkers.MethodResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Method cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.MissCaseProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissCaseProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing cases in switch\\")"}
org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing default in switch\\")",defaultWithAllEnums\=>false}
org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing reference return value in assignment operator\\")"}
org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing self check in assignment operator\\")"}
org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Multiple variable declaration\\")"}
org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Name convention for function\\")",pattern\=>"^[a-z]",macro\=>true,exceptions\=>()}
org.eclipse.cdt.codan.internal.checkers.NoDiscardProblem=Warning
org.eclipse.cdt.codan.internal.checkers.NoDiscardProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Return value not evaluated\\")",macro\=>true}
org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Class has a virtual method and non-virtual destructor\\")"}
org.eclipse.cdt.codan.internal.checkers.OverloadProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid overload\\")"}
org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid redeclaration\\")"}
org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid redefinition\\")"}
org.eclipse.cdt.codan.internal.checkers.ReturnStyleProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Return with parenthesis\\")"}
org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Format String Vulnerability\\")"}
org.eclipse.cdt.codan.internal.checkers.ShallowCopyProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.ShallowCopyProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Miss copy constructor or assignment operator\\")",onlynew\=>false}
org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Statement has no effect\\")",macro\=>true,exceptions\=>()}
org.eclipse.cdt.codan.internal.checkers.StaticVariableInHeaderProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.StaticVariableInHeaderProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Static variable in header file\\")"}
org.eclipse.cdt.codan.internal.checkers.StructuredBindingDeclarationProblem=Error
org.eclipse.cdt.codan.internal.checkers.StructuredBindingDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid structured binding declaration\\")"}
org.eclipse.cdt.codan.internal.checkers.SuggestedParenthesisProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Suggested parenthesis around expression\\")",paramNot\=>false}
org.eclipse.cdt.codan.internal.checkers.SuspiciousSemicolonProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Suspicious semicolon\\")",else\=>false,afterelse\=>false}
org.eclipse.cdt.codan.internal.checkers.SymbolShadowingProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.SymbolShadowingProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Symbol shadowing\\")",paramFuncParameters\=>true}
org.eclipse.cdt.codan.internal.checkers.TypeResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Type cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.UnusedFunctionDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused function declaration\\")",macro\=>true}
org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused static function\\")",macro\=>true}
org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused variable declaration in file scope\\")",macro\=>true,exceptions\=>("@(\#)","$Id")}
org.eclipse.cdt.codan.internal.checkers.UsingInHeaderProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.UsingInHeaderProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Using directive in header\\")"}
org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Symbol is not resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.VirtualMethodCallProblem=-Error
org.eclipse.cdt.codan.internal.checkers.VirtualMethodCallProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Virtual method call in constructor/destructor\\")"}

6
.settings/org.eclipse.cdt.core.prefs
View File

@ -0,0 +1,6 @@
doxygen/doxygen_new_line_after_brief=true
doxygen/doxygen_use_brief_tag=false
doxygen/doxygen_use_javadoc_tags=true
doxygen/doxygen_use_pre_tag=false
doxygen/doxygen_use_structural_commands=false
eclipse.preferences.version=1

14
Core/Src/gpio.c
View File

@ -67,12 +67,14 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PC13 PC1 PC2 PC3
PC5 PC6 PC7 PC8
PC10 PC11 PC12 */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8
|GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12;
/*Configure GPIO pins : PC13 PC14 PC15 PC1
PC2 PC3 PC5 PC6
PC7 PC8 PC10 PC11
PC12 */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_1
|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_5|GPIO_PIN_6
|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_10|GPIO_PIN_11
|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

63
flia_robot_arm_v1.ioc
View File

@ -46,35 +46,33 @@ Mcu.IP9=TIM3
Mcu.IPNb=15
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PC14-OSC32_IN
Mcu.Pin1=PC15-OSC32_OUT
Mcu.Pin10=PC4
Mcu.Pin11=PB10
Mcu.Pin12=PB11
Mcu.Pin13=PC9
Mcu.Pin14=PA9
Mcu.Pin15=PA10
Mcu.Pin16=PA11
Mcu.Pin17=PA12
Mcu.Pin18=PA13
Mcu.Pin19=PA14
Mcu.Pin2=PH0-OSC_IN
Mcu.Pin20=VP_CRC_VS_CRC
Mcu.Pin21=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin22=VP_RNG_VS_RNG
Mcu.Pin23=VP_SYS_VS_tim11
Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
Mcu.Pin3=PH1-OSC_OUT
Mcu.Pin4=PC0
Mcu.Pin5=PA2
Mcu.Pin6=PA3
Mcu.Pin7=PA5
Mcu.Pin8=PA6
Mcu.Pin9=PA7
Mcu.PinsNb=28
Mcu.Pin0=PH0-OSC_IN
Mcu.Pin1=PH1-OSC_OUT
Mcu.Pin10=PB11
Mcu.Pin11=PC9
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA11
Mcu.Pin15=PA12
Mcu.Pin16=PA13
Mcu.Pin17=PA14
Mcu.Pin18=VP_CRC_VS_CRC
Mcu.Pin19=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin2=PC0
Mcu.Pin20=VP_RNG_VS_RNG
Mcu.Pin21=VP_SYS_VS_tim11
Mcu.Pin22=VP_TIM1_VS_ClockSourceINT
Mcu.Pin23=VP_TIM3_VS_ClockSourceINT
Mcu.Pin24=VP_TIM6_VS_ClockSourceINT
Mcu.Pin25=VP_TIM7_VS_ClockSourceINT
Mcu.Pin3=PA2
Mcu.Pin4=PA3
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PC4
Mcu.Pin9=PB10
Mcu.PinsNb=26
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VETx
@ -137,10 +135,6 @@ PB11.Mode=Asynchronous
PB11.Signal=USART3_RX
PC0.Locked=true
PC0.Signal=GPXTI0
PC14-OSC32_IN.Mode=LSE-External-Oscillator
PC14-OSC32_IN.Signal=RCC_OSC32_IN
PC15-OSC32_OUT.Mode=LSE-External-Oscillator
PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
PC4.Locked=true
PC4.Signal=GPXTI4
PC9.Locked=true
@ -198,7 +192,8 @@ RCC.HCLKFreq_Value=144000000
RCC.HSE_VALUE=8000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=64000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO1PinFreq_Value=36000000
RCC.MCO2PinFreq_Value=16000000

2
sdk

@ -1 +1 @@
Subproject commit ce97b66ff5b87e53464b361f6f2699969697b6a2
Subproject commit 8de2a83d2ad130ac129af84c58b2f587a3f9afe3

52
usrc/main.cpp
View File

@ -2,7 +2,7 @@
#include <stdio.h>
#include "sdk/os/zos.hpp"
#include "sdk\components\dwin\dwin_screen.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#define TAG "main"
using namespace iflytop;
using namespace std;
@ -11,10 +11,13 @@ extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
#define TMC_MOTOR_SPI hspi1
void umain() {
/*******************************************************************************
* 系统初始化 *
* *
*******************************************************************************/
chip_cfg_t chipcfg;
chipcfg.us_dleay_tim = &DELAY_US_TIMER;
@ -27,6 +30,51 @@ void umain() {
zos_cfg_t zoscfg;
zos_init(&zoscfg);
osDelay(1000);
static TMC4361A motora;
static TMC4361A motorb;
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = TMC_MOTOR1_SPI_SELECT1_IO, //
.resetPin = TMC_MOTOR1_nRESET_IO, //
.fREEZEPin = TMC_MOTOR1_nFREEZE_IO, //
.ennPin = PinNull, //
.driverIC_ennPin = TMC_MOTOR1_SUB_IC_ENN_IO, //
.driverIC_resetPin = PinNull, //
};
motora.initialize(&cfg);
ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.readSubICVersion());
}
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = TMC_MOTOR2_SPI_SELECT1_IO, //
.resetPin = TMC_MOTOR2_nRESET_IO, //
.fREEZEPin = TMC_MOTOR2_nFREEZE_IO, //
.ennPin = PinNull, //
.driverIC_ennPin = TMC_MOTOR2_SUB_IC_ENN_IO, //
.driverIC_resetPin = PinNull, //
};
motorb.initialize(&cfg);
ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
}
motora.setAcceleration(300000);
motora.setDeceleration(300000);
motora.setIHOLD_IRUN(0, 2, 10);
motorb.setAcceleration(300000);
motorb.setDeceleration(300000);
motorb.setIHOLD_IRUN(0, 2, 10);
motora.rotate(0);
motorb.rotate(0);
// motorb.rotate(100000);
while (true) {
OSDefaultSchduler::getInstance()->loop();
osDelay(1);

29
usrc/project_configs.h
View File

@ -1,19 +1,32 @@
#pragma once
#define VERSION "v1.0.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "ecom_monitor"
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PA1
#define VERSION "v1.0.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "ecom_monitor"
#define DEBUG_UART huart1
#define DEBUG_LIGHT_GPIO PE2
#define DELAY_US_TIMER htim6 // US延时定时器
#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_ENABLE_OS 1
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
/*********************************************************************************/
#define VELOCITY_MAX_NUM 5000
#define FLOW_RATE_MAX_NUM 10.0
// MOTOR1
#define TMC_MOTOR1_CHANNEL 1
#define TMC_MOTOR1_SPI_SELECT1_IO PA4
#define TMC_MOTOR1_nFREEZE_IO PC2
#define TMC_MOTOR1_nRESET_IO PB3
#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
#define TMC_MOTOR1_ENN_IO // unused
// MOTOR2
#define TMC_MOTOR2_CHANNEL 2
#define TMC_MOTOR2_SPI_SELECT1_IO PA8
#define TMC_MOTOR2_nFREEZE_IO PC6
#define TMC_MOTOR2_nRESET_IO PB2
#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
#define TMC_MOTOR2_ENN_IO // unused
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