project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
a399a38dae
commit
04bc45b200
2 changed files with 16 additions and 68 deletions
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  1. 65
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
  2. 19
      usrc/subboards/subboard70_incubation_turntable/pri_board.h

65
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
View File

@ -29,7 +29,6 @@ void Subboard10HbotV2::initialize() {
static ZGPIO motorPowerEnPin;
static ZGPIO motor1ENNPin;
static ZGPIO motor2ENNPin;
static ZGPIO TMC51X0_1_SPI_MODE;
static ZGPIO TMC51X0_1_SD_MODE;
static ZGPIO TMC51X0_2_SPI_MODE;
@ -37,68 +36,18 @@ void Subboard10HbotV2::initialize() {
motor1ENNPin.initAsOutput(MOTOR1_ENN, iflytop::ZGPIO::kMode_nopull, false, true);
motor2ENNPin.initAsOutput(MOTOR2_ENN, iflytop::ZGPIO::kMode_nopull, false, true);
TMC51X0_1_SPI_MODE.initAsOutput(PB3, iflytop::ZGPIO::kMode_nopull, false, true);
TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false);
TMC51X0_2_SPI_MODE.initAsOutput(PE11, iflytop::ZGPIO::kMode_nopull, false, true);
TMC51X0_2_SD_MODE.initAsOutput(PE12, iflytop::ZGPIO::kMode_nopull, false, false);
motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true);
osDelay(100);
// #define MOTOR1_CSN PA4
// #define MOTOR1_ENN PB7
// #define MOTOR1_SPI_MODE_SELECT PB4
// #define MOTOR1_nFREEZE_IO PE12
// #define MOTOR1_nRESET_IO PinNull
TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1);
TMC5130_MOTOR_INITER(/*motorid*/ 2, /*moduleid*/ 2);
{
{
static TMC51X0 motor;
static StepMotorCtrlModule module;
int subid = 1;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
.csgpio = PA4,
.ennPin = PB7
};
motor.initialize(&tmc5130cfg);
motor.setIHOLD_IRUN(1, 3, 100);
motor.enable(true);
motor.rotate(800);
// motor.setMotorShaft(false);
// static ZGPIO input[2];
// input[0].initAsInput(PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// StepMotorCtrlModule::config_t stepcfg = {0};
// StepMotorCtrlModule::create_default_cfg(stepcfg);
// stepcfg.motor_shaft = false;
// stepcfg.motor_one_circle_pulse = 10000;
// stepcfg.motor_one_circle_pulse_denominator = 1;
// stepcfg.stepmotor_ihold = 5;
// stepcfg.stepmotor_irun = 20;
// stepcfg.stepmotor_iholddelay = 10;
// stepcfg.stepmotor_iglobalscaler = 0;
// stepcfg.motor_default_velocity = 600;
// stepcfg.min_d = 0;
// stepcfg.max_d = 0;
// stepcfg.motor_run_to_zero_speed = 300;
// stepcfg.motor_look_zero_edge_speed = 200;
// stepcfg.motor_vstart = 100;
// stepcfg.motor_a1 = 50;
// stepcfg.motor_amax = 100;
// stepcfg.motor_v1 = 300;
// stepcfg.motor_dmax = 100;
// stepcfg.motor_d1 = 50;
// stepcfg.motor_vstop = 100;
// stepcfg.motor_tzerowait = 0;
// module.initialize(getmoduleId(subid), &motor, input, ((int32_t)(sizeof(input) / sizeof(input[0]))), &stepcfg);
// GService::inst()->getZCanProtocolParser()->registerModule(&module);
if (g_enable_log) {
zos_log(
"%08lu INFO [%-10s] "
"motor%d readic version %x"
"\n",
zchip_clock_get_ticket(), "Subboard200ExtTmc5160", subid, motor.readICVersion());
};
}
}
// { TMC5130_MOTOR_INITER(2, 2); }
#if 0
/***********************************************************************************************************************

19
usrc/subboards/subboard70_incubation_turntable/pri_board.h
View File

@ -13,15 +13,15 @@
#define EXT_INPUT_IO1 PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO2 PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO3 PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO4 PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO5 PD5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO6 PD6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO7 PD7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO8 PD8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO9 PD9, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO4 PD10, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO5 PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_OUTPUT_IO0 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO0 PD9, ZGPIO::kMode_nopull, true /*mirror*/, false /*init val*/
#define EXT_OUTPUT_IO1 PD10, ZGPIO::kMode_nopull, true /*mirror*/, false /*init val*/
#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
@ -38,10 +38,9 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR1_SPI_MODE_SELECT PB4
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PD1
#define MOTOR1_REFR PinNull
#define MOTOR1_REFL_MIRROR true
#define MOTOR1_REFR_MIRROR true

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