13 changed files with 497 additions and 511 deletions
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10.cproject
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2.project
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4.settings/language.settings.xml
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4.settings/stm32cubeide.project.prefs
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0dap.cfg
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2sdk
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117usrc/main.cpp
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107usrc/project.hpp
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4zapp.ioc
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14zapp.launch
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8DF89ED150041C4CBC7CB9A9CAA90856=763711B08F1ABC1A77FC8FA1A08B45FA |
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DC22A860405A8BF2F2C095E5B6529F12=763711B08F1ABC1A77FC8FA1A08B45FA |
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8DF89ED150041C4CBC7CB9A9CAA90856=F6DE5292A9642B92EC07AFF89A393D1B |
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DC22A860405A8BF2F2C095E5B6529F12=D76CD03FA6D6925E54EEE32EC928F8C2 |
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eclipse.preferences.version=1 |
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Subproject commit c081915dfcdc6901b278c969f861458ee386eae0 |
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Subproject commit f28856b68a9c6fd2b06070a2a10c6f40dfe9896d |
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@ -1,64 +1,83 @@ |
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#pragma once
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#define VERSION "v2.0"
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#define VERSION "v1.0"
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// 设备ID
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#define DEVICE_ID (128 + 3)
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#define DEVICE_ID (128 + 5)
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// 调试串口
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#define DEBUG_UART huart1
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// 调试指示灯
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#define DEBUG_LIGHT_GPIO PE2
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#define DEBUG_LIGHT_GPIO PE8
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// 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置
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// http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md
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#define DELAY_US_TIMER htim6
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// 电机通道编号
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#define TMC_MOTOR_SPI hspi1
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// MOTOR1
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#define TMC_MOTOR1_CHANNEL 1
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#define TMC_MOTOR1_SPI_SELECT1_IO PA4
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#define TMC_MOTOR1_nFREEZE_IO PC2
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#define TMC_MOTOR1_nRESET_IO PB3
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#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
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#define TMC_MOTOR1_ENN_IO // unused
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#define DELAY_US_TIMER htim6
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#define MICROSWITCH_NUM 6
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//
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/*******************************************************************************
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* 主从485通讯 * |
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*******************************************************************************/ |
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#define MASTER_SLAVE_485_UART huart2
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/*******************************************************************************
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* 反应盒扫码传感器 * |
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*******************************************************************************/ |
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#define REACTION_BOX_SWEEP_SENSOR_UART huart3
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/*******************************************************************************
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* MOTOR * |
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*******************************************************************************/ |
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/**
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* |
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* |
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*/ |
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#define MOTOR_SPI hspi1
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// MOTOR2
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#define TMC_MOTOR2_CHANNEL 2
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#define TMC_MOTOR2_SPI_SELECT1_IO PA8
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#define TMC_MOTOR2_nFREEZE_IO PC6
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#define TMC_MOTOR2_nRESET_IO PB2
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#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
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#define TMC_MOTOR2_ENN_IO // unused
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#define TMC5130_MOTOR_NUM 2
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#define MOTOR_CH(n) (n)
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// FYBJ_PY
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#define MOTOR0_CSN PA4 // 平移电机片选信号
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#define MOTOR0_ENN PE14
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// FYBJ_TJ_DRV
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#define MOTOR1_CSN PC4 // 添加电机片选信号
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#define MOTOR1_ENN PE13
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/*******************************************************************************
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* MotorConfig * |
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* REG LIST * |
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*******************************************************************************/ |
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#define MOTOR_REDUCTION_RATIO1 50
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#define MOTOR_REDUCTION_RATIO2 50
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#define DEVICE_BASIC_CONTROLLER_ADD_BASE 0
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#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
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#define REG_GPIO_INPUT0 (GPIO_INPUT_ADD_BASE + 0)
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#define REG_PY_MOTOR_CTRL_ADD_BASE 10000 // 控制 入料电机控制
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#define REG_TJ_MOTOR_CTRL_ADD_BASE 10100 // 控制 转移电机控制
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#define REG_ID_CARD_READER_CTRL_ADD_BASE 20000 // 控制 串口扫码器
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#define REG_LARSER_SCANNER_CTRL_ADD_BASE 30000 // 控制 单点激光扫码器
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#define SCARA_L2 (2385) // 0.1mm
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#define SCARA_L1 (2150) // 0.1mm
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/*******************************************************************************
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* REG LIST * |
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* GPIO * |
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*******************************************************************************/ |
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// https://iflytop1.feishu.cn/docx/ZBsddjrL1oHAiYx8DdmcccEBnPf
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#define BEEP PA1 // 蜂鸣器
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#define FAN1_FB_INT PA15 // 帕尔贴风机反馈
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#define DEVICE_BASIC_CTRL_ADD_BASE 0
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#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
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#define REG_SCARA_CTRL_ADD_BASE 11200 // 机械臂控制基地址
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#define REG_BARCODE_CTRL_ADD_BASE 20000 // 扫码器控制基地址
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#define HOT_CTR PB1
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#define REG_GPIO_INPUT0 (GPIO_INPUT_ADD_BASE + 0)
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#define FAN0_POWER PC8 // 外部风机电源
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#define FAN1_POWER PC9 // 帕尔贴风机
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#define ARM_SENSOR1_GPIO PD0
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#define ARM_SENSOR2_GPIO PD1
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#define ARM_SENSOR3_GPIO PD2
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#define ARM_SENSOR4_GPIO PD3
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#define ARM_SENSOR5_GPIO PD4
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#define ARM_SENSOR6_GPIO PD5
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#define ARM_SENSOR7_GPIO PD6
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#define ARM_SENSOR8_GPIO PD7
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#define FYBH_READ1 PD0
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#define FYBH_READ2 PD1
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#define FYBH_READ3 PD2
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#define FYBH_READ4 PD3
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#define FYBH_READ5 PD4
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#define FYBH_READ6 PD5
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#define FYBJL_SENSOR8 PD7 // 开门霍尔
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#define FYBJL_SENSOR7 PD8 // 卡板光电1
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#define FYBJL_SENSOR6 PD9 // 预留光电
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#define FYBJL_SENSOR5 PD10 // 推杆限位光电
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#define FYBJL_SENSOR4 PD11 // 推杆原点光电
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#define FYBJL_SENSOR3 PD12 // 平移计步光电（预留）
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#define FYBJL_SENSOR2 PD13 // 平移限位光电
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#define FYBJL_SENSOR1 PD14 // 平移原点光电
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#define FYBJL_SENSOR0 PD15 // 黑白扫码
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#define CODE_SCANER_UART huart3
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#define COLD_CTR PE10
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