9 changed files with 21 additions and 255 deletions
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2a8000_protocol
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2sdk
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24usrc/public_service/ext_board_impl.cpp
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5usrc/public_service/ext_board_impl.hpp
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102usrc/subboards/subboard10_plate_clamp_case/pri_board.h
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32usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.cpp
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24usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.hpp
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73usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.c
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12usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.h
@ -1 +1 @@ |
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Subproject commit 266886e64c71e471f0388ff741d0c57e3e46d300 |
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Subproject commit 8ccdf22fff4e116fb604884a5fcbf374bc64971c |
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@ -1 +1 @@ |
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Subproject commit 9dd9dbfe74267ed056b86edcd454e5382c233b1d |
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Subproject commit 17460b56957334ee1c1544c35f99e75e08dd845c |
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@ -1,102 +0,0 @@ |
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#pragma once |
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/*********************************************************************************************************************** |
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* 板载扩展IO * |
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***********************************************************************************************************************/ |
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#define EXT_INPUT_IO0 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO1 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO2 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO3 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO4 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO5 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_OUTPUT_IO0 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO5 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO6 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO7 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define TMC_MOTOR_SPI hspi1 |
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/*********************************************************************************************************************** |
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* 左右移动 * |
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***********************************************************************************************************************/ |
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#define MOTOR1_CSN PA4 |
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#define MOTOR1_ENN PD5 |
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#define MOTOR1_SPI_MODE_SELECT PinNull |
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#define MOTOR1_nFREEZE_IO PinNull |
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#define MOTOR1_nRESET_IO PinNull |
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#define MOTOR1_SUB_IC_ENN_IO PinNull |
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#define MOTOR1_REFL PD0 |
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#define MOTOR1_REFR PD8 |
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#define MOTOR1_REFL_MIRROR true |
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#define MOTOR1_REFR_MIRROR true |
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#define MOTOR1_MOTOR_SHAFT true |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60 |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR1_STEPMOTOR_IHOLD 3 |
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#define MOTOR1_STEPMOTOR_IRUN 16 |
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#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR1_MIN_D 0 |
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#define MOTOR1_MAX_D 0 |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 |
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#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART |
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#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 |
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#define MOTOR1_MOTOR_AMAX 300 |
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#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 |
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#define MOTOR1_MOTOR_DMAX 300 |
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#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 |
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#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP |
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#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT |
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/*********************************************************************************************************************** |
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* 推杆电机 * |
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***********************************************************************************************************************/ |
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#define MOTOR2_CSN PB1 |
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#define MOTOR2_ENN PD4 |
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#define MOTOR2_SPI_MODE_SELECT PinNull |
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#define MOTOR2_nFREEZE_IO PinNull |
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#define MOTOR2_nRESET_IO PinNull |
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#define MOTOR2_SUB_IC_ENN_IO PinNull |
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#define MOTOR2_REFL PD2 |
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#define MOTOR2_REFR PD9 |
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#define MOTOR2_REFL_MIRROR true |
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#define MOTOR2_REFR_MIRROR true |
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#define MOTOR2_MOTOR_SHAFT true |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 |
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#define MOTOR2_STEPMOTOR_IHOLD 1 |
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#define MOTOR2_STEPMOTOR_IRUN 8 |
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#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 |
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#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR2_MIN_D 0 |
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#define MOTOR2_MAX_D 0 |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 |
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#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART |
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#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 |
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#define MOTOR2_MOTOR_AMAX 300 |
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#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 |
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#define MOTOR2_MOTOR_DMAX 300 |
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#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 |
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#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP |
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#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT |
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@ -1,32 +0,0 @@ |
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#include "subboard20_plate_clamp_case.hpp"
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extern "C" { |
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#include "subboard20_plate_clamp_case_board.h"
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} |
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#include "pri_board.h"
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#include "public_service/instance_init.hpp"
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#include "public_service/public_service.hpp"
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#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
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#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
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#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk/components/tmc/ic/ztmc4361A.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#define TAG "Subboard20PlateClampCase"
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using namespace iflytop; |
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/***********************************************************************************************************************
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* IMPL * |
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***********************************************************************************************************************/ |
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void Subboard20PlateClampCase::initialize() { |
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IO_INIT(); |
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GService::inst()->getZCanProtocolParser()->registerModule(this); |
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#if 1
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/***********************************************************************************************************************
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* ID1 * |
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***********************************************************************************************************************/ |
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{ TMC5130_MOTOR_INITER(1, 1); } |
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{ TMC5130_MOTOR_INITER(2, 2); } |
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#endif
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} |
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#include <stddef.h>
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#include <stdio.h>
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//
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#include "configs/device_id_mgr.hpp"
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#include "sdk/chip/chip.hpp"
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#include "sdk/os/zos.hpp"
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//
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#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "public_service/public_service.hpp"
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namespace iflytop { |
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class Subboard20PlateClampCase : public ExtBoardImpl { |
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public: |
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static Subboard20PlateClampCase *ins() { |
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static Subboard20PlateClampCase instance; |
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return &instance; |
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} |
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void initialize(); |
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}; |
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} // namespace iflytop
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@ -1,73 +0,0 @@ |
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#include "main.h" |
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#include "public_service/public_service.h" |
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/* SPI1 init function */ |
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static void MX_SPI1_Init(void) { |
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__HAL_RCC_SPI1_CLK_ENABLE(); |
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__HAL_RCC_GPIOA_CLK_ENABLE(); |
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hspi1.Instance = SPI1; |
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hspi1.Init.Mode = SPI_MODE_MASTER; |
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hspi1.Init.Direction = SPI_DIRECTION_2LINES; |
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; |
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; |
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hspi1.Init.NSS = SPI_NSS_SOFT; |
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; |
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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hspi1.Init.CRCPolynomial = 10; |
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if (HAL_SPI_Init(&hspi1) != HAL_OK) { |
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Error_Handler(); |
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} |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7; |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; |
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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hspi1_enable = true; |
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} |
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static void MX_SPI2_Init(void) { |
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__HAL_RCC_SPI2_CLK_ENABLE(); |
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__HAL_RCC_GPIOB_CLK_ENABLE(); |
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hspi2.Instance = SPI2; |
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hspi2.Init.Mode = SPI_MODE_MASTER; |
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hspi2.Init.Direction = SPI_DIRECTION_2LINES; |
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hspi2.Init.DataSize = SPI_DATASIZE_8BIT; |
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hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; |
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hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; |
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hspi2.Init.NSS = SPI_NSS_SOFT; |
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hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; |
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hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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hspi2.Init.TIMode = SPI_TIMODE_DISABLE; |
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hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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hspi2.Init.CRCPolynomial = 10; |
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if (HAL_SPI_Init(&hspi2) != HAL_OK) { |
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Error_Handler(); |
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} |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15; |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; |
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
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hspi2_enable = true; |
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} |
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/** |
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* @brief 板夹仓初始化 |
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*/ |
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void subboard20_plate_clamp_case_board_init() { |
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common_hardware_init(); |
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MX_SPI1_Init(); |
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MX_SPI2_Init(); |
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} |
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#pragma once |
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#include "main.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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void subboard20_plate_clamp_case_board_init(); |
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#ifdef __cplusplus |
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} |
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#endif |
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