p_transmit_little_disinfection
/
little_disinfection_liquid_path_control
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
aab10ec564
commit
dd1a2e1dd0
5 changed files with 158 additions and 118 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      .settings/language.settings.xml
  2. 2
      Core/Src/usart.c
  3. 10
      README.md
  4. 194
      usrc/main.cpp
  5. 66
      usrc/project.hpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="-778146388411498358" 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="1000441547726749515" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="-732098128503100595" 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="1046489807635147278" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

2
Core/Src/usart.c
View File

@ -70,7 +70,7 @@ void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 1 */ /* USER CODE END USART2_Init 1 */
huart2.Instance = USART2; huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.BaudRate = 9600;
huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Parity = UART_PARITY_NONE;

10
README.md
View File

@ -0,0 +1,10 @@
```
1. CAN测试通过 OK
2. 测试驱动器 OK
3. 三色报警灯
4. 测试IO输入
5. 测试ADC读值 （电流）
```

194
usrc/main.cpp
View File

@ -16,6 +16,12 @@
#include "sdk\components\m3078\m3078_code_scaner.hpp" #include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp" #include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp" #include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
#define TAG "main" #define TAG "main"
namespace iflytop { namespace iflytop {
@ -26,57 +32,24 @@ using namespace iflytop;
IflytopCanProtocolStackProcesser m_protocolStack; IflytopCanProtocolStackProcesser m_protocolStack;
TMC5130 m_tj_motor;
TMC5130 m_py_motor;
TMC5130 m_motor1;
TMC5130 m_motor2;
ZGPIO debuglight; ZGPIO debuglight;
ZGPIO io_fybh_read1;
ZGPIO io_fybh_read2;
ZGPIO io_fybh_read3;
ZGPIO io_fybh_read4;
ZGPIO io_fybh_read5;
ZGPIO io_fybh_read6;
ZGPIO io_fybjl_sensor8;
ZGPIO io_fybjl_sensor7;
ZGPIO io_fybjl_sensor6;
ZGPIO io_fybjl_sensor5;
ZGPIO io_fybjl_sensor4;
ZGPIO io_fybjl_sensor3;
ZGPIO io_fybjl_sensor2;
ZGPIO io_fybjl_sensor1;
ZGPIO io_fybjl_sensor0;
M3078CodeScanner m_m3078CodeScanner;
DeviceBaseControlService m_deviceBaseControlService;
IOControlService m_ioControlService;
SingleAxisMotorControler m_pyMotorControlService; // 平移电机
SingleAxisMotorControler m_tjMotorControlService; // 推进电机
OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
IDCardReaderService m_idCardReaderService;
ZCanReceiver m_canReceiver;
void input_sensors_init() {
io_fybh_read1.initAsInput(FYBH_READ1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybh_read2.initAsInput(FYBH_READ2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybh_read3.initAsInput(FYBH_READ3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybh_read4.initAsInput(FYBH_READ4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybh_read5.initAsInput(FYBH_READ5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybh_read6.initAsInput(FYBH_READ6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybjl_sensor8.initAsInput(FYBJL_SENSOR8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
io_fybjl_sensor7.initAsInput(FYBJL_SENSOR7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
io_fybjl_sensor6.initAsInput(FYBJL_SENSOR6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
io_fybjl_sensor5.initAsInput(FYBJL_SENSOR5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
io_fybjl_sensor4.initAsInput(FYBJL_SENSOR4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
io_fybjl_sensor3.initAsInput(FYBJL_SENSOR3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
io_fybjl_sensor2.initAsInput(FYBJL_SENSOR2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
}
ZGPIO triLight_R;
ZGPIO triLight_G;
ZGPIO triLight_B;
ZGPIO triLight_BEEP;
ZGPIO m_input1;
ZGPIO m_input2;
ZCanReceiver m_canReceiver;
ZCanBasicOrderModule m_basicOrderModule;
ZCanPumpCtrlModule m_pumpCtrlModule;
ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;
HuachengPressureSensor m_huachengPressureSensor;
void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len); ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
@ -103,11 +76,126 @@ void Main::run() {
m_canReceiver.init(cfg); m_canReceiver.init(cfg);
m_canReceiver.registerListener(this); m_canReceiver.registerListener(this);
// uint8_t packet[255];
// for (int i = 0; i < 255; i++) {
// packet[i] = i;
// }
// ZHAL_CORE_REG(200, { m_canReceiver.sendPacket(packet, 255); });
/**
* @brief 基础模块
*/
m_input1.initAsInput(PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
m_input2.initAsInput(PC5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
m_basicOrderModule.initialize(&m_canReceiver);
m_basicOrderModule.regInputCtl([this](uint8_t id, bool &val) {
if (id == 1) {
val = m_input1.getState();
return true;
}
if (id == 2) {
val = m_input2.getState();
return true;
}
return false;
});
ZHAL_CORE_REG(1000, { ZLOGI(TAG, "IO1:%d IO2:%d", m_input1.getState(), m_input2.getState()); });
/*******************************************************************************
* 蠕动泵驱动 *
*******************************************************************************/
{
TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};
m_motor1.initialize(&cfg);
int32_t chipv = m_motor1.readChipVERSION();
ZLOGI(TAG, "m_motor1:%lx", chipv);
m_motor1.setIHOLD_IRUN(1, 31, 0);
m_motor1.setMotorShaft(true);
m_motor1.setAcceleration(300000);
m_motor1.setDeceleration(300000);
m_motor1.rotate(1000000);
}
{
TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR2_ENN, .csn_pin = MOTOR2_CSN};
m_motor2.initialize(&cfg);
int32_t chipv = m_motor2.readChipVERSION();
ZLOGI(TAG, "m_motor2:%lx", chipv);
m_motor2.setIHOLD_IRUN(1, 31, 0);
m_motor2.setMotorShaft(true);
m_motor2.setAcceleration(300000);
m_motor2.setDeceleration(300000);
// m_motor1.rotate(1000000);
}
m_pumpCtrlModule.initialize(&m_canReceiver);
m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm) {
ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm);
int32_t ppm = rpm / 60.0 * 51200;
int32_t acc = acc_rpm2 / 60.0 * 51200;
m_motor1.setAcceleration(acc);
m_motor1.setDeceleration(acc);
m_motor1.rotate(ppm);
});
m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc, int16_t rpm) {
ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc, rpm);
int32_t ppm = rpm / 60.0 * 51200;
m_motor2.setAcceleration(acc);
m_motor2.setDeceleration(acc);
m_motor2.rotate(ppm);
});
/*******************************************************************************
* 三色指示灯 *
*******************************************************************************/
{
triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, false, false);
triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, false, false);
triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, false, false);
triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, false, false);
// while(true){
// triLight_R.setState(true);
// HAL_Delay(3000);
// triLight_R.setState(false);
// HAL_Delay(3000);
// triLight_G.setState(true);
// HAL_Delay(3000);
// triLight_G.setState(false);
// HAL_Delay(3000);
// triLight_B.setState(true);
// HAL_Delay(3000);
// triLight_B.setState(false);
// HAL_Delay(3000);
// triLight_BEEP.setState(true);
// HAL_Delay(3000);
// triLight_BEEP.setState(false);
// HAL_Delay(3000);
// }
m_warningLightCtlModule.initialize(&m_canReceiver);
m_warningLightCtlModule.regSubmodule(1, [&](uint8_t r, uint8_t g, uint8_t b, uint8_t beep) {
ZLOGI(TAG, "warningLightCtlModule r:%d g:%d b:%d beep:%d", r, g, b, beep);
triLight_R.setState(r != 0);
triLight_G.setState(g != 0);
triLight_B.setState(b != 0);
triLight_BEEP.setState(beep != 0);
});
}
/*******************************************************************************
* 压力传感器 *
*******************************************************************************/
{
m_huachengPressureSensor.initialize(&m_canReceiver);
m_huachengPressureSensor.regSubmodule(1, &huart2, 1);
m_huachengPressureSensor.regSubmodule(2, &huart2, 2);
m_huachengPressureSensor.regSubmodule(3, &huart2, 3);
m_huachengPressureSensor.regSubmodule(4, &huart2, 4);
}
ZLOGI(TAG, "init done"); ZLOGI(TAG, "init done");
while (1) { while (1) {

66
usrc/project.hpp
View File

@ -12,71 +12,13 @@
#define DELAY_US_TIMER htim6 #define DELAY_US_TIMER htim6
#define MICROSWITCH_NUM 6 #define MICROSWITCH_NUM 6
// //
/*******************************************************************************
* 主从485通讯 *
*******************************************************************************/
#define MASTER_SLAVE_485_UART huart2
/*******************************************************************************
* 反应盒扫码传感器 *
*******************************************************************************/
#define REACTION_BOX_SWEEP_SENSOR_UART huart3
/*******************************************************************************
* MOTOR *
*******************************************************************************/
/**
*
*
*/
#define MOTOR_SPI hspi1 #define MOTOR_SPI hspi1
#define TMC5130_MOTOR_NUM 2 #define TMC5130_MOTOR_NUM 2
#define MOTOR_CH(n) (n) #define MOTOR_CH(n) (n)
// FYBJ_PY // FYBJ_PY
#define MOTOR0_CSN PA4 // 平移电机片选信号
#define MOTOR0_ENN PE14
#define MOTOR2_CSN PA4 //
#define MOTOR2_ENN PE11
// FYBJ_TJ_DRV // FYBJ_TJ_DRV
#define MOTOR1_CSN PC4 // 添加电机片选信号
#define MOTOR1_ENN PE13
/*******************************************************************************
* REG LIST *
*******************************************************************************/
#define DEVICE_BASIC_CONTROLLER_ADD_BASE 0
#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
#define REG_PY_MOTOR_CTRL_ADD_BASE 10000 // 控制 入料电机控制
#define REG_TJ_MOTOR_CTRL_ADD_BASE 10100 // 控制 转移电机控制
#define REG_ID_CARD_READER_CTRL_ADD_BASE 20000 // 控制 串口扫码器
#define REG_LARSER_SCANNER_CTRL_ADD_BASE 30000 // 控制 单点激光扫码器
/*******************************************************************************
* GPIO *
*******************************************************************************/
#define BEEP PA1 // 蜂鸣器
#define FAN1_FB_INT PA15 // 帕尔贴风机反馈
#define HOT_CTR PB1
#define FAN0_POWER PC8 // 外部风机电源
#define FAN1_POWER PC9 // 帕尔贴风机
#define FYBH_READ1 PD0
#define FYBH_READ2 PD1
#define FYBH_READ3 PD2
#define FYBH_READ4 PD3
#define FYBH_READ5 PD4
#define FYBH_READ6 PD5
#define FYBJL_SENSOR8 PD7 // 开门霍尔
#define FYBJL_SENSOR7 PD8 // 卡板光电1
#define FYBJL_SENSOR6 PD9 // 预留光电
#define FYBJL_SENSOR5 PD10 // 推杆限位光电
#define FYBJL_SENSOR4 PD11 // 推杆原点光电
#define FYBJL_SENSOR3 PD12 // 平移计步光电（预留）
#define FYBJL_SENSOR2 PD13 // 平移限位光电
#define FYBJL_SENSOR1 PD14 // 平移原点光电
#define FYBJL_SENSOR0 PD15 // 黑白扫码
#define COLD_CTR PE10
#define MOTOR1_CSN PC4 //
#define MOTOR1_ENN PE12
Write Preview
Loading…
Cancel
Save