project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 2 years ago
parent
64358cd7f7
commit
0abcf83926
3 changed files with 12 additions and 28 deletions
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  1. 1
      .cproject
  2. 2
      sdk
  3. 37
      usrc/main.cpp

1
.cproject
View File

@ -90,6 +90,7 @@
<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
</option>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.782400078" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
</tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>

2
sdk

@ -1 +1 @@
Subproject commit 6377ea57353ab7b08f5c141378f346d8f9075805
Subproject commit 998c09f13efa863031c2a01cd0ffb8e7964b3c05

37
usrc/main.cpp
View File

@ -3,14 +3,13 @@
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
#include "sdk/components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
#include "sdk/components/step_motor_ctrl_module/zcan_step_motor_ctrl_module.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
@ -24,10 +23,10 @@ extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
static TMC5130 g_motor;
static ZCanCmder g_zcanCmder;
static StepMotorCtrlModule g_stepMotorCtrlModule;
static ZCanStepMotorCtrlModule g_zcanStepMotorCtrlModule;
static TMC5130 g_motor;
static ZCanCmder g_zcanCmder;
static StepMotorCtrlModule g_stepMotorCtrlModule;
static ZIProtocolParser g_ziProtocolParser;
uint8_t getId() {
static bool init = false;
@ -61,13 +60,8 @@ void umain() {
zos_init(&zoscfg);
uint8_t deviceId = getId();
ZLOGI(TAG, "motorId:%d boardId", deviceId, deviceId + ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST);
if (deviceId == 0) {
chip_set_error();
while (true) {
osDelay(1000);
}
}
ZLOGI(TAG, "motorId:%d", deviceId + STEP_MOTOR_ID_OFF);
/*******************************************************************************
* NVSINIT *
@ -100,24 +94,12 @@ void umain() {
g_motor.rotate(0);
// g_motor.enable(false);
auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId + ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST);
auto zcanCmder_cfg = g_zcanCmder.createCFG( deviceId + STEP_MOTOR_ID_OFF);
g_zcanCmder.init(zcanCmder_cfg);
/*******************************************************************************
* zcanBasicOrderModule *
*******************************************************************************/
#if 0
zcanBasicOrderModule.initialize(&zcanCmder);
zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
zcanBasicOrderModule.reg_read_io(1, []() {
ZLOGI(TAG, "read io 1");
return 1;
});
zcanBasicOrderModule.reg_read_adc(1, []() {
ZLOGI(TAG, "read adc 1");
return 123;
});
#endif
/*******************************************************************************
* zcanXYRobotCtrlModule *
@ -153,7 +135,8 @@ void umain() {
1000);
g_stepMotorCtrlModule.initialize(deviceId, &g_motor, input, ZARRAY_SIZE(input), "MOTOR_CFG_FLASH_MARK");
g_zcanStepMotorCtrlModule.initialize(&g_zcanCmder, 1, &g_stepMotorCtrlModule);
g_ziProtocolParser.initialize(&g_zcanCmder);
g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule);
while (true) {
OSDefaultSchduler::getInstance()->loop();

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