project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
f5dd5ac185
commit
2942206d46
3 changed files with 118 additions and 12 deletions
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  1. 2
      sdk
  2. 73
      usrc/subboards/subboard30_shake_module/pri_board.h
  3. 55
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

2
sdk

@ -1 +1 @@
Subproject commit 599ae6d11aaf71a05f8cc2436a230b2e880d43d0
Subproject commit 42fbbd4c7b2d17d07d3bc5cb3f603d1466318293

73
usrc/subboards/subboard30_shake_module/pri_board.h
View File

@ -1,21 +1,80 @@
#pragma once
#define TMC_MOTOR_SPI hspi1
// JL_CSN
/***********************************************************************************************************************
* 试管夹爪电机 *
***********************************************************************************************************************/
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PE3
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_REFL PD13
#define MOTOR1_REFR PD14
// SL_CSN
#define MOTOR1_REFR PinNull
#define MOTOR1_MOTOR_SHAFT true
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 15
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR1_STEPMOTOR_IHOLD 2
#define MOTOR1_STEPMOTOR_IRUN 8
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR1_MOTOR_DEFAULT_ACC 300
#define MOTOR1_MOTOR_DEFAULT_DEC 300
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 150
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100
#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 80
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 500
/***********************************************************************************************************************
* 升降电机 *
***********************************************************************************************************************/
#define MOTOR2_CSN PA8
#define MOTOR2_ENN PE6
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_REFL PD11
#define MOTOR2_REFR PD12
// CL_CSN
#define MOTOR2_REFR PinNull
#define MOTOR2_MOTOR_SHAFT true
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 200 // 20mm 单位0.1mm
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 2
#define MOTOR2_STEPMOTOR_IRUN 8
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR2_MOTOR_DEFAULT_ACC 300
#define MOTOR2_MOTOR_DEFAULT_DEC 300
#define MOTOR2_MOTOR_DEFAULT_VELOCITY 150
#define MOTOR2_MIN_D 0
#define MOTOR2_MAX_D 0
#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100
#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 80
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 500
/***********************************************************************************************************************
* 摇匀电机 *
***********************************************************************************************************************/
#define MOTOR3_CSN PA15
#define MOTOR3_ENN PE7
#define MOTOR3_SPI_MODE_SELECT PinNull
#define MOTOR3_REFL PD9
#define MOTOR3_REFR PD10
#define MOTOR3_REFL PD6
#define MOTOR3_REFR PinNull
#define MOTOR3_MOTOR_SHAFT true
#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 120 // 360转一圈
#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR3_STEPMOTOR_IHOLD 2
#define MOTOR3_STEPMOTOR_IRUN 18
#define MOTOR3_STEPMOTOR_IHOLDDELAY 100
#define MOTOR3_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR3_MOTOR_DEFAULT_ACC 300
#define MOTOR3_MOTOR_DEFAULT_DEC 300
#define MOTOR3_MOTOR_DEFAULT_VELOCITY 150
#define MOTOR3_MIN_D 0
#define MOTOR3_MAX_D 0
#define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 50
#define MOTOR3_MOTOR_RUN_TO_ZERO_DEC 300
#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC 500

55
usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
View File

@ -72,7 +72,23 @@ void Subboard30ShakeModule::initialize() {
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.stepmotor_irun = 15;
stepcfg.motor_shaft = MOTOR1_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR1_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR1_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR1_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR1_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR1_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR1_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR1_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR1_MIN_D;
stepcfg.max_d = MOTOR1_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR1_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
@ -102,7 +118,23 @@ void Subboard30ShakeModule::initialize() {
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.stepmotor_irun = 15;
stepcfg.motor_shaft = MOTOR2_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR2_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR2_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR2_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR2_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR2_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR2_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR2_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR2_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR2_MIN_D;
stepcfg.max_d = MOTOR2_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR2_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR2_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
@ -131,7 +163,23 @@ void Subboard30ShakeModule::initialize() {
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.stepmotor_irun = 15;
stepcfg.motor_shaft = MOTOR3_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR3_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR3_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR3_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR3_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR3_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR3_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR3_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR3_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR3_MIN_D;
stepcfg.max_d = MOTOR3_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR3_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR3_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
@ -167,7 +215,6 @@ void Subboard30ShakeModule::initialize() {
feiteservomotor_bus.regServo(subidInBus, feite::ksts5420m_c001);
module.create_default_config(cfg);
module.initialize(getmoduleId(subid), &feiteservomotor_bus, subidInBus, &cfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);

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