project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
e854a146c4
commit
33c60ff8c7
10 changed files with 205 additions and 34 deletions
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  1. 2
      a8000_protocol
  2. 2
      sdk
  3. 25
      usrc/board.h
  4. 2
      usrc/configs/device_id_mgr.cpp
  5. 5
      usrc/gservice.hpp
  6. 2
      usrc/main.cpp
  7. 101
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
  8. 9
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
  9. 63
      usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c
  10. 28
      usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 1743a4bfa958a6c9ea286edd4c82a129891a5aea
Subproject commit 430dd705b44a5bb29df6958c6a6af927ca1acc7c

2
sdk

@ -1 +1 @@
Subproject commit 4fbd2bdf3a29557a93e7d1ae8d9ce6d14c5b970b
Subproject commit 77be6521422643010153ee3c51f9476c1387b7ad

25
usrc/board.h
View File

@ -1,25 +0,0 @@
#pragma once
#define TMC_MOTOR_SPI hspi1
// JL_CSN
#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 MOTOR2_CSN PA8
#define MOTOR2_ENN PE6
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_REFL PD11
#define MOTOR2_REFR PD12
// CL_CSN
#define MOTOR3_CSN PA15
#define MOTOR3_ENN PE7
#define MOTOR3_SPI_MODE_SELECT PinNull
#define MOTOR3_REFL PD9
#define MOTOR3_REFR PD10
#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
#define BOARD_ID 6

2
usrc/configs/device_id_mgr.cpp
View File

@ -47,4 +47,4 @@ int32_t zdevice_id_mgr_get_device_id() {
return 0;
}
return *deviceId;
}
}

5
usrc/gservice.hpp
View File

@ -1,7 +1,7 @@
#include <stddef.h>
#include <stdio.h>
#include "a8000_protocol\zcan_protocol_parser.hpp"
#include "sdk/components/zcancmder/zcan_protocol_parser.hpp"
#include "sdk/chip/chip.hpp"
#include "sdk/components/zcancmder/zcanreceiver.hpp"
#include "sdk/os/zos.hpp"
@ -17,7 +17,8 @@ class GService {
static GService* inst();
ZCanReceiver* getZCanReceiver() { return &zcanreceiver; }
ZCanReceiver* getZCanReceiver() { return &zcanreceiver; }
ZCanProtocolParser* getZCanProtocolParser() { return &zcan_protocol_parser; }
};
} // namespace iflytop

2
usrc/main.cpp
View File

@ -1,8 +1,6 @@
#include <stddef.h>
#include <stdio.h>
#include "board.h"
//
#include "configs/device_id_mgr.hpp"
#include "gservice.hpp"
#include "sdk/chip/chip.hpp"

101
usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
View File

@ -1,11 +1,110 @@
#include "subboard30_shake_module.hpp"
extern "C" {
#include "subboard30_shake_module_board.h"
}
#include "usrc/gservice.hpp"
#define TAG "ShakeModule"
using namespace iflytop;
Subboard30ShakeModule::Subboard30ShakeModule(/* args */) {}
Subboard30ShakeModule::~Subboard30ShakeModule() {}
void Subboard30ShakeModule::initialize() {}
int32_t Subboard30ShakeModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
void Subboard30ShakeModule::initialize() {
MX_SPI1_Init();
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 1;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR1_CSN, //
.ennPin = MOTOR1_ENN, //
.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.base_param.stepmotor_irun = 15;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), nullptr, &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
/***********************************************************************************************************************
* ID2 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 2;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR2_CSN, //
.ennPin = MOTOR2_ENN, //
.spi_mode_select = MOTOR2_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.base_param.stepmotor_irun = 15;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), nullptr, &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
/***********************************************************************************************************************
* ID3 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 3;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR3_CSN, //
.ennPin = MOTOR3_ENN, //
.spi_mode_select = MOTOR3_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.base_param.stepmotor_irun = 15;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), nullptr, &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
}
Subboard30ShakeModule* Subboard30ShakeModule::ins() {
static Subboard30ShakeModule instance;

9
usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
View File

@ -1,16 +1,20 @@
#include <stddef.h>
#include <stdio.h>
#include "board.h"
//
#include "configs/device_id_mgr.hpp"
#include "sdk/chip/chip.hpp"
#include "sdk/os/zos.hpp"
//
#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
namespace iflytop {
class Subboard30ShakeModule {
private:
/* data */
public:
Subboard30ShakeModule(/* args */);
~Subboard30ShakeModule();
@ -18,6 +22,9 @@ class Subboard30ShakeModule {
static Subboard30ShakeModule* ins();
void initialize();
private:
int32_t getmoduleId(int off);
};
} // namespace iflytop

63
usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.c
View File

@ -0,0 +1,63 @@
#include "main.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
SPI_HandleTypeDef hspi1;
/* SPI1 init function */
void MX_SPI1_Init(void) {
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (spiHandle->Instance == SPI1) {
/* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */
/* SPI1 clock enable */
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PA5 ------> SPI1_SCK
PA6 ------> SPI1_MISO
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
}
}

28
usrc/subboards/subboard30_shake_module/subboard30_shake_module_board.h
View File

@ -0,0 +1,28 @@
#pragma once
#include "main.h"
#define TMC_MOTOR_SPI hspi1
// JL_CSN
#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 MOTOR2_CSN PA8
#define MOTOR2_ENN PE6
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_REFL PD11
#define MOTOR2_REFR PD12
// CL_CSN
#define MOTOR3_CSN PA15
#define MOTOR3_ENN PE7
#define MOTOR3_SPI_MODE_SELECT PinNull
#define MOTOR3_REFL PD9
#define MOTOR3_REFR PD10
#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
#define BOARD_ID 6
extern SPI_HandleTypeDef hspi1;
void MX_SPI1_Init(void);
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