project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
a5a3dca5fc
commit
4e123b4f3b
13 changed files with 248 additions and 221 deletions
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  1. 2
      a8000_protocol
  2. 2
      sdk
  3. 2
      usrc/main.cpp
  4. 36
      usrc/public_service/instance_init.hpp
  5. 36
      usrc/subboards/subboard200_ext_tmc5160/pri_board.h
  6. 45
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
  7. 39
      usrc/subboards/subboard20_plate_clamp_case/pri_board.h
  8. 72
      usrc/subboards/subboard30_shake_module/pri_board.h
  9. 78
      usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
  10. 87
      usrc/subboards/subboard70_incubation_turntable/pri_board.h
  11. 2
      usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp
  12. 20
      usrc/subboards/subboard80_cliptip/pri_board.h
  13. 48
      usrc/subboards/subboard90_optical_module/pri_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 77df473c56af54b435614bf58953f7fd2a0f6f9a
Subproject commit 82688278acc674cf0ad6a3a5f9017b93cc45a670

2
sdk

@ -1 +1 @@
Subproject commit 21bf09356214eeb0e4f78eea1cf9809dcffb0a64
Subproject commit 6060bcb657307ae7c0904d1b2288035d5793079b

2
usrc/main.cpp
View File

@ -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;
}

36
usrc/public_service/instance_init.hpp
View File

@ -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() \

36
usrc/subboards/subboard200_ext_tmc5160/pri_board.h
View File

@ -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

45
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
View File

@ -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
}

39
usrc/subboards/subboard20_plate_clamp_case/pri_board.h
View File

@ -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

72
usrc/subboards/subboard30_shake_module/pri_board.h
View File

@ -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

78
usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
View File

@ -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

87
usrc/subboards/subboard70_incubation_turntable/pri_board.h
View File

@ -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

2
usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp
View File

@ -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
}

20
usrc/subboards/subboard80_cliptip/pri_board.h
View File

@ -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

48
usrc/subboards/subboard90_optical_module/pri_board.h
View File

@ -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
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