project_boditech_vidas_a8000_v3
/
a8000_subboard
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 2 years ago
parent
7d5b44b773
commit
1db5f53198
5 changed files with 39 additions and 28 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      Core/Src/spi.c
  2. 9
      README.md
  3. 2
      sdk
  4. 6
      tmc5160_motor.ioc
  5. 48
      usrc/main.cpp

2
Core/Src/spi.c
View File

@ -44,7 +44,7 @@ void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

9
README.md
View File

@ -38,8 +38,7 @@ ref:https://iflytop1.feishu.cn/wiki/PbUHwG2o6ikWagkmsiqcTFwAnjp
#define SENSOR_INT9 PD9
---------------------------------------------------
1. 連넣老듐밟든쭉서
2. 連넣폅듐밟든쭉서
3. 連넣삿혤뎠품麟깃쭉서
4. 連넣션쩌뎠품듐鱗槨쭉서듐쭉서
5. 連넣flash괏닸꽝鑒쭉서
1. 連넣貫零掘齡쭉서
2. 連넣삿혤뎠품麟깃쭉서
3. 連넣션쩌뎠품듐鱗槨쭉서듐쭉서
4. 連넣flash괏닸꽝鑒쭉서

2
sdk

@ -1 +1 @@
Subproject commit 853e5868ca16ab3bcdbb97b22b84d3fa6a5be5fa
Subproject commit 7ac96f7487c64d6e23bf4e3e3c09bc1f910ddc96

6
tmc5160_motor.ioc
View File

@ -246,8 +246,8 @@ SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
SPI1.CalculateBaudRate=562.5 KBits/s
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
SPI1.CalculateBaudRate=2.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
SPI1.Mode=SPI_MODE_MASTER
@ -262,7 +262,7 @@ TIM6.IPParameters=Prescaler
TIM6.Prescaler=71
TIM7.IPParameters=Prescaler
TIM7.Prescaler=81
USART1.BaudRate=1500000
USART1.BaudRate=1000000
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART2.IPParameters=VirtualMode

48
usrc/main.cpp
View File

@ -92,7 +92,7 @@ void umain() {
g_motor.setDeceleration(300000);
g_motor.setIHOLD_IRUN(0, 8, 10);
g_motor.rotate(300000);
g_motor.rotate(0);
// g_motor.enable(false);
auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId);
@ -118,23 +118,35 @@ void umain() {
* zcanXYRobotCtrlModule *
*******************************************************************************/
static ZGPIO input[10];
input[0].initAsInput(SENSOR_INT0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[1].initAsInput(SENSOR_INT1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[2].initAsInput(SENSOR_INT2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[3].initAsInput(SENSOR_INT3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[4].initAsInput(SENSOR_INT4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[5].initAsInput(SENSOR_INT5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[6].initAsInput(SENSOR_INT6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[7].initAsInput(SENSOR_INT7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[8].initAsInput(SENSOR_INT8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
input[9].initAsInput(SENSOR_INT9, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
// g_stepMotorCtrlModule.initialize(deviceId, &g_motor, &input[0], &input[1]);
// g_zcanStepMotorCtrlModule.initialize(&g_zcanCmder, 1, &g_stepMotorCtrlModule);
// xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
// xyRobotCtrlModule.dumpcfg();
// zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
input[0].initAsInput(SENSOR_INT0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(SENSOR_INT1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[2].initAsInput(SENSOR_INT2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[3].initAsInput(SENSOR_INT3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[4].initAsInput(SENSOR_INT4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[5].initAsInput(SENSOR_INT5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[6].initAsInput(SENSOR_INT6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[7].initAsInput(SENSOR_INT7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[8].initAsInput(SENSOR_INT8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[9].initAsInput(SENSOR_INT9, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
OSDefaultSchduler::getInstance()->regPeriodJob(
[](OSDefaultSchduler::Context& context) {
ZLOGI(TAG, "[0]:%d [1]:%d [2]:%d [3]:%d [4]:%d [5]:%d [6]:%d [7]:%d [8]:%d [9]:%d", //
input[0].getState(), //
input[1].getState(), //
input[2].getState(), //
input[3].getState(), //
input[4].getState(), //
input[5].getState(), //
input[6].getState(), //
input[7].getState(), //
input[8].getState(), //
input[9].getState());
},
1000);
//g_stepMotorCtrlModule.initialize(deviceId, &g_motor, input, ZARRAY_SIZE(input));
g_zcanStepMotorCtrlModule.initialize(&g_zcanCmder, 1, &g_stepMotorCtrlModule);
while (true) {
OSDefaultSchduler::getInstance()->loop();

Write Preview
Loading…
Cancel
Save