project_boditech_vidas_a8000_v3
/
a8000_subboard
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 1 year ago
parent
d2fe85c472
commit
4efe59a959
9 changed files with 21 additions and 255 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      a8000_protocol
  2. 2
      sdk
  3. 22
      usrc/public_service/ext_board_impl.cpp
  4. 5
      usrc/public_service/ext_board_impl.hpp
  5. 102
      usrc/subboards/subboard10_plate_clamp_case/pri_board.h
  6. 32
      usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.cpp
  7. 24
      usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.hpp
  8. 73
      usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.c
  9. 12
      usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 266886e64c71e471f0388ff741d0c57e3e46d300
Subproject commit 8ccdf22fff4e116fb604884a5fcbf374bc64971c

2
sdk

@ -1 +1 @@
Subproject commit 9dd9dbfe74267ed056b86edcd454e5382c233b1d
Subproject commit 17460b56957334ee1c1544c35f99e75e08dd845c

22
usrc/public_service/ext_board_impl.cpp
View File

@ -18,12 +18,8 @@ int32_t ExtBoardImpl::board_read_ext_io(int32_t ioindex, int32_t *val) {
*val = IO[ioindex].getState(); *val = IO[ioindex].getState();
return 0; return 0;
} }
int32_t ExtBoardImpl::board_write_ext_io(int32_t ioindex, int32_t val) {
if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
IO[ioindex].setState(val);
return 0;
}
int32_t ExtBoardImpl::board_read_muti_io(int32_t *val) {
int32_t ExtBoardImpl::board_read_muti_inio(int32_t *val) {
*val = 0; *val = 0;
for (int i = 0; i < ZARRAY_SIZE(IO); i++) { for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
*val |= IO[i].getState() << i; *val |= IO[i].getState() << i;
@ -37,8 +33,20 @@ int32_t ExtBoardImpl::board_read_inio_index_in_stm32(int32_t ioindex, int32_t *v
*val = IO[ioindex].getPin(); *val = IO[ioindex].getPin();
return 0; return 0;
} }
int32_t ExtBoardImpl::kboard_write_ext_outio(int32_t ioindex, int32_t val) {
if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
OutputIO[ioindex].setState(val);
return 0;
}
int32_t ExtBoardImpl::board_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) { int32_t ExtBoardImpl::board_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) {
if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range; if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
*val = IO[ioindex].getPin();
*val = OutputIO[ioindex].getPin();
return 0;
}
int32_t ExtBoardImpl::board_read_outio(int32_t ioindex, int32_t *val) {
if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
*val = OutputIO[ioindex].getState();
return 0; return 0;
} }

5
usrc/public_service/ext_board_impl.hpp
View File

@ -33,10 +33,11 @@ class ExtBoardImpl : public ZIBoard, public ZIModule {
* ZIBoard * * ZIBoard *
***********************************************************************************************************************/ ***********************************************************************************************************************/
virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val); 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);
virtual int32_t kboard_write_ext_outio(int32_t ioindex, int32_t val);
virtual int32_t board_read_muti_inio(int32_t *val);
virtual int32_t board_read_inio_index_in_stm32(int32_t ioindex, int32_t *val); virtual int32_t board_read_inio_index_in_stm32(int32_t ioindex, int32_t *val);
virtual int32_t board_read_outio_index_in_stm32(int32_t ioindex, int32_t *val); virtual int32_t board_read_outio_index_in_stm32(int32_t ioindex, int32_t *val);
virtual int32_t board_read_outio(int32_t ioindex, int32_t *val);
virtual int32_t getmoduleId(int off); virtual int32_t getmoduleId(int off);
}; };

102
usrc/subboards/subboard10_plate_clamp_case/pri_board.h
View File

@ -1,102 +0,0 @@
#pragma once
/***********************************************************************************************************************
* 板载扩展IO *
***********************************************************************************************************************/
#define EXT_INPUT_IO0 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO1 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO2 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO3 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO4 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO5 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_OUTPUT_IO0 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO5 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO6 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO7 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define TMC_MOTOR_SPI hspi1
/***********************************************************************************************************************
* 左右移动 *
***********************************************************************************************************************/
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PD5
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_nFREEZE_IO PinNull
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PinNull
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PD8
#define MOTOR1_REFL_MIRROR true
#define MOTOR1_REFR_MIRROR true
#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_VELOCITY 500
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#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 *
***********************************************************************************************************************/
#define MOTOR2_CSN PB1
#define MOTOR2_ENN PD4
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_nFREEZE_IO PinNull
#define MOTOR2_nRESET_IO PinNull
#define MOTOR2_SUB_IC_ENN_IO PinNull
#define MOTOR2_REFL PD2
#define MOTOR2_REFR PD9
#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_STEPMOTOR_IHOLD 1
#define MOTOR2_STEPMOTOR_IRUN 8
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#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_LOOK_ZERO_EDGE_SPEED 50
#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

32
usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.cpp
View File

@ -1,32 +0,0 @@
#include "subboard20_plate_clamp_case.hpp"
extern "C" {
#include "subboard20_plate_clamp_case_board.h"
}
#include "pri_board.h"
#include "public_service/instance_init.hpp"
#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"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#define TAG "Subboard20PlateClampCase"
using namespace iflytop;
/***********************************************************************************************************************
* IMPL *
***********************************************************************************************************************/
void Subboard20PlateClampCase::initialize() {
IO_INIT();
GService::inst()->getZCanProtocolParser()->registerModule(this);
#if 1
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
{ TMC5130_MOTOR_INITER(1, 1); }
{ TMC5130_MOTOR_INITER(2, 2); }
#endif
}

24
usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.hpp
View File

@ -1,24 +0,0 @@
#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"
#include "public_service/public_service.hpp"
namespace iflytop {
class Subboard20PlateClampCase : public ExtBoardImpl {
public:
static Subboard20PlateClampCase *ins() {
static Subboard20PlateClampCase instance;
return &instance;
}
void initialize();
};
} // namespace iflytop

73
usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.c
View File

@ -1,73 +0,0 @@
#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;
}
static void MX_SPI2_Init(void) {
__HAL_RCC_SPI2_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi2) != HAL_OK) {
Error_Handler();
}
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
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_SPI2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hspi2_enable = true;
}
/**
* @brief 板夹仓初始化
*/
void subboard20_plate_clamp_case_board_init() {
common_hardware_init();
MX_SPI1_Init();
MX_SPI2_Init();
}

12
usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.h
View File

@ -1,12 +0,0 @@
#pragma once
#include "main.h"
#ifdef __cplusplus
extern "C" {
#endif
void subboard20_plate_clamp_case_board_init();
#ifdef __cplusplus
}
#endif
Write Preview
Loading…
Cancel
Save