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pipeline_disinfection_liquid_path_control
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add motor status monitor

master
zhaohe 1 year ago
parent
c1e387bc5e
commit
6e3e7e49fa
7 changed files with 66 additions and 83 deletions
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  1. 4
      .settings/language.settings.xml
  2. 87
      .vscode/c_cpp_properties.json
  3. 7
      pipeline_disinfection_liquid_path_control.launch
  4. 2
      sdk
  5. 24
      usrc/hardware.cpp
  6. 5
      usrc/hardware.hpp
  7. 20
      usrc/main.cpp

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.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="-394173477433216802" 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="373363933858570817" 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>
@ -16,7 +16,7 @@
<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.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-442204372432691589" 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="325333038859096030" 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>

87
.vscode/c_cpp_properties.json
View File

@ -3,88 +3,21 @@
{
"name": "app",
"includePath": [
"Drivers/STM32F4xx_HAL_Driver/Inc",
"Drivers/CMSIS/Include",
"./",
"./Core/Inc",
"Drivers/CMSIS/Device/ST/STM32F4xx/Include/"
"./Drivers/STM32F4xx_HAL_Driver/Inc",
"./Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
"./Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"./Drivers/CMSIS/Include",
"C:/ST/STM32CubeIDE_1.13.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.11.3.rel1.win32_1.1.0.202305231506/tools/arm-none-eabi/include",
"./usrc/",
"./"
],
"defines": [
"DEBUG",
"USE_HAL_DRIVER",
"STM32F407xx",
"__CC_ARM",
"__arm__",
"__align(x)=",
"__ALIGNOF__(x)=",
"__alignof__(x)=",
"__asm(x)=",
"__forceinline=",
"__restrict=",
"__global_reg(n)=",
"__inline=",
"__int64=long long",
"__INTADDR__(expr)=0",
"__irq=",
"__packed=",
"__pure=",
"__smc(n)=",
"__svc(n)=",
"__svc_indirect(n)=",
"__svc_indirect_r7(n)=",
"__value_in_regs=",
"__weak=",
"__writeonly=",
"__declspec(x)=",
"__attribute__(x)=",
"__nonnull__(x)=",
"__register=",
"__breakpoint(x)=",
"__cdp(x,y,z)=",
"__clrex()=",
"__clz(x)=0U",
"__current_pc()=0U",
"__current_sp()=0U",
"__disable_fiq()=",
"__disable_irq()=",
"__dmb(x)=",
"__dsb(x)=",
"__enable_fiq()=",
"__enable_irq()=",
"__fabs(x)=0.0",
"__fabsf(x)=0.0f",
"__force_loads()=",
"__force_stores()=",
"__isb(x)=",
"__ldrex(x)=0U",
"__ldrexd(x)=0U",
"__ldrt(x)=0U",
"__memory_changed()=",
"__nop()=",
"__pld(...)=",
"__pli(...)=",
"__qadd(x,y)=0",
"__qdbl(x)=0",
"__qsub(x,y)=0",
"__rbit(x)=0U",
"__rev(x)=0U",
"__return_address()=0U",
"__ror(x,y)=0U",
"__schedule_barrier()=",
"__semihost(x,y)=0",
"__sev()=",
"__sqrt(x)=0.0",
"__sqrtf(x)=0.0f",
"__ssat(x,y)=0",
"__strex(x,y)=0U",
"__strexd(x,y)=0",
"__strt(x,y)=",
"__swp(x,y)=0U",
"__usat(x,y)=0U",
"__wfe()=",
"__wfi()=",
"__yield()=",
"__vfp_status(x,y)=0"
"STM32F407xx"
],
"compilerPath": "C:/ST/STM32CubeIDE_1.13.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.11.3.rel1.win32_1.1.0.202305231506/tools/bin/arm-none-eabi-g++.exe",
"intelliSenseMode": "${default}"
}
],

7
pipeline_disinfection_liquid_path_control.launch
View File

@ -34,10 +34,11 @@
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="3344"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="144000000"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
@ -79,9 +80,9 @@
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.openocd"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>

2
sdk

@ -1 +1 @@
Subproject commit 5751b8278aab13053c715341d3c1fde48f770280
Subproject commit 15dc8ec2ad5398c9f0becc6336285f061f5f6da8

24
usrc/hardware.cpp
View File

@ -104,12 +104,22 @@ void Hardware::initialize(int deviceId) {
m_motor1.initialize(&cfg);
int32_t chipv = m_motor1.readChipVERSION();
ZLOGI(TAG, "m_motor1:%lx", chipv);
while (!m_motor1.ping()) {
ZLOGI(TAG, "waitting for motor1 become ready");
HAL_Delay(100);
}
m_motor1.reInitialize();
m_motor1.setIHOLD_IRUN(1, 20, 0);
m_motor1.setMotorShaft(true);
m_motor1.setAcceleration(300000);
m_motor1.setDeceleration(300000);
// m_motor1.rotate(1000000);
auto gstate = m_motor1.getGState();
ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate.reset, gstate.drv_err, gstate.uv_cp);
}
{
@ -118,11 +128,22 @@ void Hardware::initialize(int deviceId) {
m_motor2.initialize(&cfg);
int32_t chipv = m_motor2.readChipVERSION();
ZLOGI(TAG, "m_motor2:%lx", chipv);
while (!m_motor2.ping()) {
ZLOGI(TAG, "waitting for motor2 become ready");
HAL_Delay(100);
}
m_motor2.reInitialize();
m_motor2.setIHOLD_IRUN(1, 20, 0); // 5W
m_motor2.setMotorShaft(true);
m_motor2.setAcceleration(300000);
m_motor2.setDeceleration(300000);
auto gstate = m_motor2.getGState();
ZLOGI(TAG, "motor2: reset:%d drv_err:%d uv_cp:%d", gstate.reset, gstate.drv_err, gstate.uv_cp);
// m_motor2.rotate(1000000);
}
@ -377,3 +398,6 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
return 0;
}
void Hardware::loop() {}
TMC5130 *Hardware::getMotor1() { return &m_motor1; }
TMC5130 *Hardware::getMotor2() { return &m_motor2; }

5
usrc/hardware.hpp
View File

@ -1,4 +1,6 @@
#include <stdint.h>
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
namespace iflytop {
class Hardware {
@ -10,6 +12,9 @@ class Hardware {
void initialize(int deviceId);
int32_t process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching);
void loop();
TMC5130 *getMotor1();
TMC5130 *getMotor2();
};
} // namespace iflytop

20
usrc/main.cpp
View File

@ -148,6 +148,26 @@ void Main::run() {
m_canReceiver.init(cfg);
m_canReceiver.registerListener(this);
ZHALCORE::getInstance()->regPeriodJob(
[this](ZHALCORE::Context &context) { //
auto *m1 = m_hardware.getMotor1();
auto *m2 = m_hardware.getMotor2();
DevStatusReg_t sreg1 = m1->getDevStatus();
GState_t gstate1 = m1->getGState();
DevStatusReg_t sreg2 = m2->getDevStatus();
GState_t gstate2 = m2->getGState();
// ZLOGI(TAG, "m1: stst:%d olb:%d ola:%d s2gb:%d s2ga:%d otpw:%d ot:%d stallguard:%d cs_actual:%d fsactive:%d sg_result:%d", sreg1.stst, sreg1.olb,
// sreg1.ola, sreg1.s2gb, sreg1.s2ga, sreg1.otpw, sreg1.ot, sreg1.stallguard, sreg1.cs_actual, sreg1.fsactive, sreg1.sg_result);
ZLOGI(TAG, "m2: stst:%d olb:%d ola:%d s2gb:%d s2ga:%d otpw:%d ot:%d stallguard:%d cs_actual:%d fsactive:%d sg_result:%d", sreg2.stst, sreg2.olb,
sreg2.ola, sreg2.s2gb, sreg2.s2ga, sreg2.otpw, sreg2.ot, sreg2.stallguard, sreg2.cs_actual, sreg2.fsactive, sreg2.sg_result);
ZLOGI(TAG, "m2: reset:%d drv_err:%d uv_cp:%d", gstate2.reset, gstate2.drv_err, gstate2.uv_cp);
},
1000);
ZLOGI(TAG, "init done");
while (1) {
ZHALCORE::getInstance()->loop();

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