add subboard70

sdk

@@ -1 +1 @@
-Subproject commit e2dffc30e3184174c4dce5d2eb8748c6ed7bd7b8
+Subproject commit 9aee8f2a2c26251c921e81bca81abc3a3a2f6927

usrc/main.cpp

@@ -11,6 +11,8 @@
 #include "subboards/subboard30_shake_module/subboard30_shake_module_board.h"
 #include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp"
 #include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.h"
+#include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.hpp"
+#include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.h"
 
 //
 
@@ -34,6 +36,10 @@ static void board_init() {
     case 60:  // 进出料模组
       subboard60_inlet_and_outlet_module_board_init();
       break;
+
+    case 70:  // 孵化转盘
+      subboard70_incubation_turntable_board_init();
+      break;
     default:
       common_hardware_init();
       break;
@@ -49,6 +55,9 @@ static void board_post_init() {
     case 60:  // 进出料模组
       Subboard60InjectAndOutletModule::ins()->initialize();
       break;
+    case 70:  // 孵化转盘
+      Subboard70IncubationTurntable::ins()->initialize();
+      break;
     default:
       break;
   }

usrc/public_service/common_hardware_init.c

@@ -2,6 +2,15 @@
 
 #include "gins.h"
 #include "main.h"
+/**
+ * @brief 资料列表
+ *
+ * CAN1  PA11 PA12
+ * UART1 PA9  PA10
+ * TIM6
+ * TIM7
+ *
+ */
 
 /* TIM6 init function */
 static void MX_TIM6_Init(void) {

usrc/subboards/subboard70_incubation_turntable/pri_board.h

@@ -0,0 +1,51 @@
+#pragma once
+
+/***********************************************************************************************************************
+ *                                                     板载扩展IO                                                      *
+ ***********************************************************************************************************************/
+
+#define EXT_INPUT_IO0 PinNull
+#define EXT_INPUT_IO1 PinNull
+#define EXT_INPUT_IO2 PinNull
+#define EXT_INPUT_IO3 PinNull
+#define EXT_INPUT_IO4 PinNull
+
+#define EXT_INPUT_IO0_MIRROR true
+#define EXT_INPUT_IO1_MIRROR true
+#define EXT_INPUT_IO2_MIRROR true
+#define EXT_INPUT_IO3_MIRROR true
+#define EXT_INPUT_IO4_MIRROR true
+
+/***********************************************************************************************************************
+ *                                                    转盘电机                                                          *
+ ***********************************************************************************************************************/
+#define TMC_MOTOR_SPI hspi1
+
+#define MOTOR1_CSN             PA4
+#define MOTOR1_ENN             PE3
+#define MOTOR1_SPI_MODE_SELECT PinNull
+#define MOTOR1_nFREEZE_IO      PE12
+#define MOTOR1_nRESET_IO       PinNull
+#define MOTOR1_SUB_IC_ENN_IO   PE11
+
+#define MOTOR1_REFL        PinNull
+#define MOTOR1_REFR        PinNull
+#define MOTOR1_REFL_MIRROR false
+#define MOTOR1_REFR_MIRROR false
+
+#define MOTOR1_MOTOR_SHAFT                        false   //
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             387096  // 3600 = 93圈, 3600/93 = 38.70967741935484
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1000    //
+#define MOTOR1_STEPMOTOR_IHOLD                    1
+#define MOTOR1_STEPMOTOR_IRUN                     5
+#define MOTOR1_STEPMOTOR_IHOLDDELAY               100
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            1
+#define MOTOR1_MOTOR_DEFAULT_ACC                  900
+#define MOTOR1_MOTOR_DEFAULT_DEC                  900
+#define MOTOR1_MOTOR_DEFAULT_VELOCITY             300
+#define MOTOR1_MIN_D                              0
+#define MOTOR1_MAX_D                              0
+#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            200
+#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC              900
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         200
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC           900

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp

@@ -0,0 +1,115 @@
+#include "subboard70_incubation_turntable.hpp"
+extern "C" {
+#include "subboard70_incubation_turntable_board.h"
+}
+#include "pri_board.h"
+#include "public_service/public_service.hpp"
+#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
+#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
+#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
+#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
+#include "sdk/components/tmc/ic/ztmc4361A.hpp"
+
+#define TAG "ShakeModule"
+
+using namespace iflytop;
+
+static ZGPIO IO[5];
+
+Subboard70IncubationTurntable::Subboard70IncubationTurntable(/* args */) {}
+Subboard70IncubationTurntable::~Subboard70IncubationTurntable() {}
+int32_t                             Subboard70IncubationTurntable::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
+Subboard70IncubationTurntable *Subboard70IncubationTurntable::ins() {
+  static Subboard70IncubationTurntable instance;
+  return &instance;
+}
+/***********************************************************************************************************************
+ *                                                         PRI                                                         *
+ ***********************************************************************************************************************/
+int32_t Subboard70IncubationTurntable::getid(int32_t *id) {
+  *id = getmoduleId(0);
+  return 0;
+}
+int32_t Subboard70IncubationTurntable::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
+int32_t Subboard70IncubationTurntable::board_read_ext_io(int32_t ioindex, int32_t *val) {
+  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
+    return err::kparam_out_of_range;
+  }
+  *val = IO[ioindex].getState();
+
+  return 0;
+}
+int32_t Subboard70IncubationTurntable::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
+
+int32_t Subboard70IncubationTurntable::board_read_muti_io(int32_t *val) {
+  for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
+    *val |= IO[i].getState() << i;
+  }
+  return 0;
+}
+
+/***********************************************************************************************************************
+ *                                                        IMPL                                                         *
+ ***********************************************************************************************************************/
+void Subboard70IncubationTurntable::initialize() {
+  IO[0].initAsInput(EXT_INPUT_IO0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO0_MIRROR);
+  IO[1].initAsInput(EXT_INPUT_IO1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO1_MIRROR);
+  IO[2].initAsInput(EXT_INPUT_IO2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO2_MIRROR);
+  IO[3].initAsInput(EXT_INPUT_IO3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO3_MIRROR);
+  IO[4].initAsInput(EXT_INPUT_IO4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, EXT_INPUT_IO4_MIRROR);
+  GService::inst()->getZCanProtocolParser()->registerModule(this);
+
+#if 1
+
+  /***********************************************************************************************************************
+   *                                                         ID1                                                         *
+   ***********************************************************************************************************************/
+  {
+    static TMC4361A            motor;
+    static StepMotorCtrlModule module;
+    int                        subid = 1;
+
+    TMC4361A::cfg_t motorcfg = {
+        .spi               = &TMC_MOTOR_SPI,        //
+        .csgpio            = MOTOR1_CSN,            //
+        .resetPin          = MOTOR1_nRESET_IO,      //
+        .fREEZEPin         = MOTOR1_nFREEZE_IO,     //
+        .ennPin            = MOTOR1_ENN,            //
+        .driverIC_ennPin   = MOTOR1_SUB_IC_ENN_IO,  //
+        .driverIC_resetPin = PinNull,               //
+    };
+
+    motor.initialize(&motorcfg);
+
+    static ZGPIO input[2];
+    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFL_MIRROR);
+    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFR_MIRROR);
+
+    StepMotorCtrlModule::config_t module_cfg = {0};
+    StepMotorCtrlModule::create_default_cfg(module_cfg);
+
+    module_cfg.motor_shaft                        = MOTOR1_MOTOR_SHAFT;
+    module_cfg.motor_one_circle_pulse             = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
+    module_cfg.motor_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
+    module_cfg.stepmotor_ihold                    = MOTOR1_STEPMOTOR_IHOLD;
+    module_cfg.stepmotor_irun                     = MOTOR1_STEPMOTOR_IRUN;
+    module_cfg.stepmotor_iholddelay               = MOTOR1_STEPMOTOR_IHOLDDELAY;
+    module_cfg.stepmotor_iglobalscaler            = MOTOR1_STEPMOTOR_IGLOBALSCALER;
+    module_cfg.motor_default_acc                  = MOTOR1_MOTOR_DEFAULT_ACC;
+    module_cfg.motor_default_dec                  = MOTOR1_MOTOR_DEFAULT_DEC;
+    module_cfg.motor_default_velocity             = MOTOR1_MOTOR_DEFAULT_VELOCITY;
+    module_cfg.min_d                              = MOTOR1_MIN_D;
+    module_cfg.max_d                              = MOTOR1_MAX_D;
+    module_cfg.motor_run_to_zero_speed            = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
+    module_cfg.motor_run_to_zero_dec              = MOTOR1_MOTOR_RUN_TO_ZERO_DEC;
+    module_cfg.motor_look_zero_edge_speed         = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
+    module_cfg.motor_look_zero_edge_dec           = MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC;
+
+    module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &module_cfg);
+    GService::inst()->getZCanProtocolParser()->registerModule(&module);
+
+    ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
+  }
+
+#endif
+}

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.hpp

@@ -0,0 +1,44 @@
+#include <stddef.h>
+#include <stdio.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 Subboard70IncubationTurntable : public ZIBoard, public ZIModule {
+  ENABLE_MODULE(Subboard70IncubationTurntable, kboard, 1);
+
+ private:
+  /* data */
+
+ public:
+  Subboard70IncubationTurntable(/* args */);
+  ~Subboard70IncubationTurntable();
+
+  static Subboard70IncubationTurntable *ins();
+
+  void initialize();
+
+ public:
+  /***********************************************************************************************************************
+   *                                                      ZIModule                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t getid(int32_t *id);
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
+  /***********************************************************************************************************************
+   *                                                       ZIBoard                                                       *
+   ***********************************************************************************************************************/
+  virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val);
+  virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val);
+  virtual int32_t board_read_muti_io(int32_t *val);
+
+ private:
+  int32_t getmoduleId(int off);
+};
+
+}  // namespace iflytop

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.c

@@ -0,0 +1,39 @@
+#include "main.h"
+#include "public_service/public_service.h"
+
+/* SPI1 init function */
+static void MX_SPI1_Init(void) {
+  __HAL_RCC_SPI1_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+
+  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();
+  }
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  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);
+
+  hspi1_enable = true;
+}
+
+void subboard70_incubation_turntable_board_init() {
+  common_hardware_init();
+  MX_SPI1_Init();
+  // UART3_Init();
+}

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.h

@@ -0,0 +1,12 @@
+#pragma once
+#include "main.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void subboard70_incubation_turntable_board_init();
+
+#ifdef __cplusplus
+}
+#endif