From 4e123b4f3bec9cfa41268ff984161d90b3d73c99 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 6 Jun 2024 22:12:15 +0800 Subject: [PATCH] update --- a8000_protocol | 2 +- sdk | 2 +- usrc/main.cpp | 2 +- usrc/public_service/instance_init.hpp | 36 ++++++++- usrc/subboards/subboard200_ext_tmc5160/pri_board.h | 36 +++++---- .../subboard200_ext_tmc5160.cpp | 45 +---------- .../subboard20_plate_clamp_case/pri_board.h | 39 ++++++---- usrc/subboards/subboard30_shake_module/pri_board.h | 72 ++++++++++-------- .../subboard60_inlet_and_outlet_module/pri_board.h | 78 ++++++++++--------- .../subboard70_incubation_turntable/pri_board.h | 87 +++++++++++----------- .../subboard70_incubation_turntable.cpp | 2 +- usrc/subboards/subboard80_cliptip/pri_board.h | 20 +++-- .../subboard90_optical_module/pri_board.h | 48 +++++++----- 13 files changed, 248 insertions(+), 221 deletions(-) diff --git a/a8000_protocol b/a8000_protocol index 77df473..8268827 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit 77df473c56af54b435614bf58953f7fd2a0f6f9a +Subproject commit 82688278acc674cf0ad6a3a5f9017b93cc45a670 diff --git a/sdk b/sdk index 21bf093..6060bcb 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 21bf09356214eeb0e4f78eea1cf9809dcffb0a64 +Subproject commit 6060bcb657307ae7c0904d1b2288035d5793079b diff --git a/usrc/main.cpp b/usrc/main.cpp index 0086b6e..812035d 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -99,7 +99,7 @@ void umain() { board_init(); Pin_t debugLight = PC_DEBUG_LIGHT_GPIO; - if (deviceId == 20 || deviceId == 70) { + if (deviceId == 20) { debugLight = PC_SUBBOARD_20_70_LIGHT_GPIO; } diff --git a/usrc/public_service/instance_init.hpp b/usrc/public_service/instance_init.hpp index 8ef2538..49e0d24 100644 --- a/usrc/public_service/instance_init.hpp +++ b/usrc/public_service/instance_init.hpp @@ -1,3 +1,25 @@ +#define TMC5130_DEFAULT__MOTOR_SHAFT false +#define TMC5130_DEFAULT__MOTOR_ONE_CIRCLE_PULSE 10000 +#define TMC5130_DEFAULT__MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 +#define TMC5130_DEFAULT__STEPMOTOR_IHOLD 5 +#define TMC5130_DEFAULT__STEPMOTOR_IRUN 20 +#define TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY 10 +#define TMC5130_DEFAULT__STEPMOTOR_IGLOBALSCALER 0 +#define TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY 600 +#define TMC5130_DEFAULT__MIN_D 0 +#define TMC5130_DEFAULT__MAX_D 0 +#define TMC5130_DEFAULT__MOTOR_RUN_TO_ZERO_SPEED 300 +#define TMC5130_DEFAULT__MOTOR_LOOK_ZERO_EDGE_SPEED 200 +#define TMC5130_DEFAULT__MOTOR_VSTART 10 +#define TMC5130_DEFAULT__MOTOR_A1 25 +#define TMC5130_DEFAULT__MOTOR_AMAX 100 +#define TMC5130_DEFAULT__MOTOR_V1 10 +#define TMC5130_DEFAULT__MOTOR_DMAX 100 +#define TMC5130_DEFAULT__MOTOR_D1 25 +#define TMC5130_DEFAULT__MOTOR_VSTOP 10 +#define TMC5130_DEFAULT__MOTOR_TZEROWAIT 0 + + #define TMC5130_MOTOR_INITER(MOTOR_INDEX, _id) \ { \ static TMC51X0 motor; \ @@ -27,21 +49,26 @@ stepcfg.stepmotor_irun = MOTOR##MOTOR_INDEX##_STEPMOTOR_IRUN; \ stepcfg.stepmotor_iholddelay = MOTOR##MOTOR_INDEX##_STEPMOTOR_IHOLDDELAY; \ stepcfg.stepmotor_iglobalscaler = MOTOR##MOTOR_INDEX##_STEPMOTOR_IGLOBALSCALER; \ - stepcfg.motor_default_acc = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_ACC; \ - stepcfg.motor_default_dec = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_DEC; \ stepcfg.motor_default_velocity = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_VELOCITY; \ stepcfg.min_d = MOTOR##MOTOR_INDEX##_MIN_D; \ stepcfg.max_d = MOTOR##MOTOR_INDEX##_MAX_D; \ stepcfg.motor_run_to_zero_speed = MOTOR##MOTOR_INDEX##_MOTOR_RUN_TO_ZERO_SPEED; \ - stepcfg.motor_run_to_zero_dec = MOTOR##MOTOR_INDEX##_MOTOR_RUN_TO_ZERO_DEC; \ stepcfg.motor_look_zero_edge_speed = MOTOR##MOTOR_INDEX##_MOTOR_LOOK_ZERO_EDGE_SPEED; \ - stepcfg.motor_look_zero_edge_dec = MOTOR##MOTOR_INDEX##_MOTOR_LOOK_ZERO_EDGE_DEC; \ + stepcfg.motor_vstart = MOTOR##MOTOR_INDEX##_MOTOR_VSTART; \ + stepcfg.motor_a1 = MOTOR##MOTOR_INDEX##_MOTOR_A1; \ + stepcfg.motor_amax = MOTOR##MOTOR_INDEX##_MOTOR_AMAX; \ + stepcfg.motor_v1 = MOTOR##MOTOR_INDEX##_MOTOR_V1; \ + stepcfg.motor_dmax = MOTOR##MOTOR_INDEX##_MOTOR_DMAX; \ + stepcfg.motor_d1 = MOTOR##MOTOR_INDEX##_MOTOR_D1; \ + stepcfg.motor_vstop = MOTOR##MOTOR_INDEX##_MOTOR_VSTOP; \ + stepcfg.motor_tzerowait = MOTOR##MOTOR_INDEX##_MOTOR_TZEROWAIT; \ \ module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg); \ GService::inst()->getZCanProtocolParser()->registerModule(&module); \ ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \ } +#if 0 #define TMC4361_MOTOR_INITER(MOTOR_INDEX, _id) \ { \ static TMC4361A motor; \ @@ -89,6 +116,7 @@ \ ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \ } +#endif #define EXT_READ_IO_NUM 10 #define IO_INIT() \ diff --git a/usrc/subboards/subboard200_ext_tmc5160/pri_board.h b/usrc/subboards/subboard200_ext_tmc5160/pri_board.h index adaefa6..01c3656 100644 --- a/usrc/subboards/subboard200_ext_tmc5160/pri_board.h +++ b/usrc/subboards/subboard200_ext_tmc5160/pri_board.h @@ -50,19 +50,23 @@ #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 1000 // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // -#define MOTOR1_STEPMOTOR_IHOLD 1 -#define MOTOR1_STEPMOTOR_IRUN 8 -#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 -#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_ACC 300 -#define MOTOR1_MOTOR_DEFAULT_DEC 300 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 -#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 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR1_MOTOR_SHAFT TMC5130_DEFAULT__MOTOR_SHAFT +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE TMC5130_DEFAULT__MOTOR_ONE_CIRCLE_PULSE +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR TMC5130_DEFAULT__MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR +#define MOTOR1_STEPMOTOR_IHOLD TMC5130_DEFAULT__STEPMOTOR_IHOLD +#define MOTOR1_STEPMOTOR_IRUN TMC5130_DEFAULT__STEPMOTOR_IRUN +#define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR1_STEPMOTOR_IGLOBALSCALER TMC5130_DEFAULT__STEPMOTOR_IGLOBALSCALER +#define MOTOR1_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY +#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D +#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED TMC5130_DEFAULT__MOTOR_RUN_TO_ZERO_SPEED +#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED TMC5130_DEFAULT__MOTOR_LOOK_ZERO_EDGE_SPEED +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX TMC5130_DEFAULT__MOTOR_AMAX +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX TMC5130_DEFAULT__MOTOR_DMAX +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT diff --git a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp index 334b95a..afd6825 100644 --- a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp +++ b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp @@ -28,51 +28,8 @@ void Subboard200ExtTmc5160::initialize() { /*********************************************************************************************************************** * ID1 * ***********************************************************************************************************************/ - // { TMC5130_MOTOR_INITER(1, 1); } + { TMC5130_MOTOR_INITER(1, 1); } - { - static TMC51X0 motor; - static StepMotorCtrlModule module; - int subid = 1; - TMC51X0::cfg_t tmc5130cfg = { - .spi = &hspi1, - .csgpio = PA4, - .ennPin = PB7, - .spi_mode_select = PB4, - }; - motor.initialize(&tmc5130cfg); - motor.setMotorShaft(false); - static ZGPIO input[2]; - input[0].initAsInput(PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); - input[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); - StepMotorCtrlModule::config_t stepcfg = {0}; - StepMotorCtrlModule::create_default_cfg(stepcfg); - stepcfg.motor_shaft = false; - stepcfg.motor_one_circle_pulse = 1000; - stepcfg.motor_one_circle_pulse_denominator = 1; - stepcfg.stepmotor_ihold = 1; - stepcfg.stepmotor_irun = 8; - stepcfg.stepmotor_iholddelay = 100; - stepcfg.stepmotor_iglobalscaler = 0; - stepcfg.motor_default_acc = 300; - stepcfg.motor_default_dec = 300; - stepcfg.motor_default_velocity = 500; - stepcfg.min_d = 0; - stepcfg.max_d = 0; - stepcfg.motor_run_to_zero_speed = 100; - stepcfg.motor_run_to_zero_dec = 300; - stepcfg.motor_look_zero_edge_speed = 50; - stepcfg.motor_look_zero_edge_dec = 600; - module.initialize(getmoduleId(subid), &motor, input, ((int32_t)(sizeof(input) / sizeof(input[0]))), &stepcfg); - GService::inst()->getZCanProtocolParser()->registerModule(&module); - if (g_enable_log) { - zos_log( - "%08lu INFO [%-10s] " - "motor%d readic version %x" - "\n", - zchip_clock_get_ticket(), "Subboard200ExtTmc5160", subid, motor.readICVersion()); - }; - } #endif } diff --git a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h index a2eddfd..250aced 100644 --- a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h +++ b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h @@ -26,7 +26,6 @@ #define EXT_INPUT_IO8_MIRROR true #define EXT_INPUT_IO9_MIRROR true - #define TMC_MOTOR_SPI hspi1 /*********************************************************************************************************************** @@ -45,22 +44,26 @@ #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT true // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60 // 3600 = 93圈, 3600/93 = 38.70967741935484 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // +#define MOTOR1_MOTOR_SHAFT true +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR1_STEPMOTOR_IHOLD 3 #define MOTOR1_STEPMOTOR_IRUN 16 #define MOTOR1_STEPMOTOR_IHOLDDELAY 100 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_ACC 300 -#define MOTOR1_MOTOR_DEFAULT_DEC 300 #define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 #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 400 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 推杆电机 * @@ -78,19 +81,23 @@ #define MOTOR2_REFL_MIRROR true #define MOTOR2_REFR_MIRROR true -#define MOTOR2_MOTOR_SHAFT true // -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 // -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // +#define MOTOR2_MOTOR_SHAFT true +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_STEPMOTOR_IHOLD 1 #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_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 #define MOTOR2_MIN_D 0 #define MOTOR2_MAX_D 0 #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 -#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 400 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR2_MOTOR_AMAX 300 +#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR2_MOTOR_DMAX 300 +#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h index 30aa52d..79041f0 100644 --- a/usrc/subboards/subboard30_shake_module/pri_board.h +++ b/usrc/subboards/subboard30_shake_module/pri_board.h @@ -22,8 +22,6 @@ #define EXT_INPUT_IO8_MIRROR true #define EXT_INPUT_IO9_MIRROR true - - #define TMC_MOTOR_SPI hspi1 /*********************************************************************************************************************** * 试管夹爪电机 * @@ -36,22 +34,26 @@ #define MOTOR1_REFR PinNull #define MOTOR1_REFR_MIRROR false -#define MOTOR1_MOTOR_SHAFT false // 向外打开为正方向 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 15 // 0.1mm +#define MOTOR1_MOTOR_SHAFT false +#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_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#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_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 500 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 升降电机 * @@ -65,21 +67,25 @@ #define MOTOR2_REFR_MIRROR false #define MOTOR2_MOTOR_SHAFT false -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 200 // 20mm 单位0.1mm +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 200 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_STEPMOTOR_IHOLD 2 #define MOTOR2_STEPMOTOR_IRUN 20 -#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 -#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1 -#define MOTOR2_MOTOR_DEFAULT_ACC 300 -#define MOTOR2_MOTOR_DEFAULT_DEC 300 +#define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR2_MOTOR_DEFAULT_VELOCITY 350 -#define MOTOR2_MIN_D 0 -#define MOTOR2_MAX_D 0 +#define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 300 +#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR2_MOTOR_AMAX 300 +#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR2_MOTOR_DMAX 300 +#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 摇匀电机 * @@ -93,18 +99,22 @@ #define MOTOR3_REFR_MIRROR false #define MOTOR3_MOTOR_SHAFT true -#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 120 // 360转一圈 +#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 120 #define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 -#define MOTOR3_STEPMOTOR_IHOLD 6 +#define MOTOR3_STEPMOTOR_IHOLD 10 #define MOTOR3_STEPMOTOR_IRUN 31 -#define MOTOR3_STEPMOTOR_IHOLDDELAY 100 -#define MOTOR3_STEPMOTOR_IGLOBALSCALER 1 -#define MOTOR3_MOTOR_DEFAULT_ACC 300 -#define MOTOR3_MOTOR_DEFAULT_DEC 300 +#define MOTOR3_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR3_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR3_MOTOR_DEFAULT_VELOCITY 500 -#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_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR3_MAX_D TMC5130_DEFAULT__MAX_D +#define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 100 #define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC 500 +#define MOTOR3_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR3_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR3_MOTOR_AMAX 300 +#define MOTOR3_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR3_MOTOR_DMAX 300 +#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT diff --git a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h index 93df612..792062e 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -10,7 +10,6 @@ #define EXT_INPUT_IO8 PinNull #define EXT_INPUT_IO9 PinNull - #define EXT_INPUT_IO0_MIRROR false #define EXT_INPUT_IO1_MIRROR false #define EXT_INPUT_IO2_MIRROR false @@ -22,7 +21,6 @@ #define EXT_INPUT_IO8_MIRROR false #define EXT_INPUT_IO9_MIRROR false - #define TMC_MOTOR_SPI hspi1 /*********************************************************************************************************************** * 进料电机 * @@ -36,22 +34,26 @@ #define MOTOR1_REFL_MIRROR false #define MOTOR1_REFR_MIRROR false -#define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 100 // +#define MOTOR1_MOTOR_SHAFT false +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 100 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR1_STEPMOTOR_IHOLD 2 #define MOTOR1_STEPMOTOR_IRUN 24 -#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 +#define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_ACC 300 -#define MOTOR1_MOTOR_DEFAULT_DEC 300 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 300 -#define MOTOR1_MIN_D 0 -#define MOTOR1_MAX_D 0 +#define MOTOR1_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY +#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 0 -#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 0 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 0 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 0 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 送料电机 * @@ -66,21 +68,25 @@ #define MOTOR2_REFR_MIRROR true #define MOTOR2_MOTOR_SHAFT false -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 // 单位0.1mm +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_STEPMOTOR_IHOLD 3 #define MOTOR2_STEPMOTOR_IRUN 10 -#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 -#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1 -#define MOTOR2_MOTOR_DEFAULT_ACC 300 -#define MOTOR2_MOTOR_DEFAULT_DEC 300 +#define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 -#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 50 -#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 300 +#define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D +#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 +#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 100 +#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR2_MOTOR_AMAX 300 +#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR2_MOTOR_DMAX 300 +#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 出料电机 * @@ -94,19 +100,23 @@ #define MOTOR3_REFL_MIRROR false #define MOTOR3_REFR_MIRROR false -#define MOTOR3_MOTOR_SHAFT true // -#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 100 // +#define MOTOR3_MOTOR_SHAFT true +#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 100 #define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR3_STEPMOTOR_IHOLD 2 #define MOTOR3_STEPMOTOR_IRUN 24 -#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 300 -#define MOTOR3_MIN_D 0 -#define MOTOR3_MAX_D 0 +#define MOTOR3_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR3_STEPMOTOR_IGLOBALSCALER 0 +#define MOTOR3_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY +#define MOTOR3_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR3_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 0 -#define MOTOR3_MOTOR_RUN_TO_ZERO_DEC 0 #define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 0 -#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC 0 +#define MOTOR3_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR3_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR3_MOTOR_AMAX 300 +#define MOTOR3_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR3_MOTOR_DMAX 300 +#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT \ No newline at end of file diff --git a/usrc/subboards/subboard70_incubation_turntable/pri_board.h b/usrc/subboards/subboard70_incubation_turntable/pri_board.h index a3fb0fc..e034ea7 100644 --- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h +++ b/usrc/subboards/subboard70_incubation_turntable/pri_board.h @@ -1,42 +1,37 @@ #pragma once -#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_IO5 PinNull -#define EXT_INPUT_IO6 PinNull -#define EXT_INPUT_IO7 PinNull -#define EXT_INPUT_IO8 PinNull -#define EXT_INPUT_IO9 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 -#define EXT_INPUT_IO5_MIRROR true -#define EXT_INPUT_IO6_MIRROR true -#define EXT_INPUT_IO7_MIRROR true -#define EXT_INPUT_IO8_MIRROR true -#define EXT_INPUT_IO9_MIRROR true +#define ID0_IO PC0 +#define ID1_IO PC1 +#define ID2_IO PC2 +#define ID3_IO PC3 +#define ID4_IO PC4 /*********************************************************************************************************************** * 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 PD0 +#define EXT_INPUT_IO1 PD1 +#define EXT_INPUT_IO2 PD2 +#define EXT_INPUT_IO3 PD3 +#define EXT_INPUT_IO4 PD4 +#define EXT_INPUT_IO5 PD5 +#define EXT_INPUT_IO6 PD6 +#define EXT_INPUT_IO7 PD7 +#define EXT_INPUT_IO8 PD8 +#define EXT_INPUT_IO9 PD9 #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 +#define EXT_INPUT_IO5_MIRROR true +#define EXT_INPUT_IO6_MIRROR true +#define EXT_INPUT_IO7_MIRROR true +#define EXT_INPUT_IO8_MIRROR true +#define EXT_INPUT_IO9_MIRROR true /*********************************************************************************************************************** * 转盘电机 * @@ -44,30 +39,34 @@ #define TMC_MOTOR_SPI hspi1 #define MOTOR1_CSN PA4 -#define MOTOR1_ENN PinNull -#define MOTOR1_SPI_MODE_SELECT PinNull +#define MOTOR1_ENN PB7 +#define MOTOR1_SPI_MODE_SELECT PB4 #define MOTOR1_nFREEZE_IO PE12 #define MOTOR1_nRESET_IO PinNull #define MOTOR1_SUB_IC_ENN_IO PE11 -#define MOTOR1_REFL PD3 -#define MOTOR1_REFR PD2 +#define MOTOR1_REFL PD0 +#define MOTOR1_REFR PD1 #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 200 // 36000 = 180圈, 0.01 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // +#define MOTOR1_MOTOR_SHAFT false +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 200 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR1_STEPMOTOR_IHOLD 1 -#define MOTOR1_STEPMOTOR_IRUN 31 -#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 -#define MOTOR1_STEPMOTOR_IGLOBALSCALER 128 -#define MOTOR1_MOTOR_DEFAULT_ACC 500 -#define MOTOR1_MOTOR_DEFAULT_DEC 500 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 1500 -#define MOTOR1_MIN_D 0 -#define MOTOR1_MAX_D 0 -#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 250 -#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 500 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 500 +#define MOTOR1_STEPMOTOR_IRUN 20 +#define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR1_STEPMOTOR_IGLOBALSCALER 64 +#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 +#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D +#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 300 +#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 200 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT diff --git a/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp b/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp index de9a523..e506375 100644 --- a/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp +++ b/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp @@ -18,6 +18,6 @@ void Subboard70IncubationTurntable::initialize() { GService::inst()->getZCanProtocolParser()->registerModule(this); #if 1 - TMC4361_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1); + TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1); #endif } diff --git a/usrc/subboards/subboard80_cliptip/pri_board.h b/usrc/subboards/subboard80_cliptip/pri_board.h index ca851a6..ebee54b 100644 --- a/usrc/subboards/subboard80_cliptip/pri_board.h +++ b/usrc/subboards/subboard80_cliptip/pri_board.h @@ -44,18 +44,22 @@ #define MOTOR1_REFR_MIRROR true #define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 // 3600 = 93圈, 3600/93 = 38.70967741935484 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 // #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // #define MOTOR1_STEPMOTOR_IHOLD 1 #define MOTOR1_STEPMOTOR_IRUN 8 -#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 +#define MOTOR1_STEPMOTOR_IHOLDDELAY 10 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_ACC 300 -#define MOTOR1_MOTOR_DEFAULT_DEC 300 #define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 -#define MOTOR1_MIN_D 0 -#define MOTOR1_MAX_D 0 +#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h index 43df0c9..6c77341 100644 --- a/usrc/subboards/subboard90_optical_module/pri_board.h +++ b/usrc/subboards/subboard90_optical_module/pri_board.h @@ -44,22 +44,26 @@ #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 // 3600 = 93圈, 3600/93 = 38.70967741935484 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // +#define MOTOR1_MOTOR_SHAFT false +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR1_STEPMOTOR_IHOLD 1 #define MOTOR1_STEPMOTOR_IRUN 8 #define MOTOR1_STEPMOTOR_IHOLDDELAY 100 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_ACC 300 -#define MOTOR1_MOTOR_DEFAULT_DEC 300 #define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 -#define MOTOR1_MIN_D 0 -#define MOTOR1_MAX_D 0 +#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR1_MOTOR_AMAX 300 +#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR1_MOTOR_DMAX 300 +#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** * 平移电机 * @@ -77,19 +81,23 @@ #define MOTOR2_REFL_MIRROR true #define MOTOR2_REFR_MIRROR true -#define MOTOR2_MOTOR_SHAFT false // -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 // 3600 = 93圈, 3600/93 = 38.70967741935484 -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // +#define MOTOR2_MOTOR_SHAFT false +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_STEPMOTOR_IHOLD 1 #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_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 -#define MOTOR2_MIN_D 0 -#define MOTOR2_MAX_D 0 +#define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D +#define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 600 +#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART +#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR2_MOTOR_AMAX 300 +#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR2_MOTOR_DMAX 300 +#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT \ No newline at end of file