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64 lines
2.1 KiB
64 lines
2.1 KiB
#pragma once
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#define VERSION "v2.0"
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// 设备ID
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#define DEVICE_ID (128 + 3)
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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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// 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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// 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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/*******************************************************************************
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* MotorConfig *
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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 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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*******************************************************************************/
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// https://iflytop1.feishu.cn/docx/ZBsddjrL1oHAiYx8DdmcccEBnPf
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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 REG_GPIO_INPUT0 (GPIO_INPUT_ADD_BASE + 0)
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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 CODE_SCANER_UART huart3
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