diff --git a/usrc/public_service/instance_init.hpp b/usrc/public_service/instance_init.hpp index 096120a..cb58740 100644 --- a/usrc/public_service/instance_init.hpp +++ b/usrc/public_service/instance_init.hpp @@ -26,9 +26,9 @@ int subid = _id; \ \ TMC51X0::cfg_t tmc5130cfg = { \ - .spi = &TMC_MOTOR_SPI, \ - .csgpio = MOTOR##MOTOR_INDEX##_CSN, \ - .ennPin = MOTOR##MOTOR_INDEX##_ENN, \ + .spi = &TMC_MOTOR_SPI, \ + .csgpio = MOTOR##MOTOR_INDEX##_CSN, \ + .ennPin = MOTOR##MOTOR_INDEX##_ENN, \ }; \ motor.initialize(&tmc5130cfg); \ motor.setMotorShaft(false); \ @@ -60,13 +60,14 @@ stepcfg.motor_d1 = MOTOR##MOTOR_INDEX##_MOTOR_D1; \ stepcfg.motor_vstop = MOTOR##MOTOR_INDEX##_MOTOR_VSTOP; \ stepcfg.motor_tzerowait = MOTOR##MOTOR_INDEX##_MOTOR_TZEROWAIT; \ + stepcfg.motor_enc_resolution = MOTOR##MOTOR_INDEX##_ENC_RESOLUTION; \ + stepcfg.motor_enable_enc_resolution = MOTOR##MOTOR_INDEX##_ENABLE_ENC_RESOLUTION; \ \ 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()); \ } - #define EXT_READ_IO_NUM 10 #define EXT_WRITE_IO_NUM 10 diff --git a/usrc/subboards/subboard10_hbot_v2/pri_board.h b/usrc/subboards/subboard10_hbot_v2/pri_board.h index 74dc295..143accb 100644 --- a/usrc/subboards/subboard10_hbot_v2/pri_board.h +++ b/usrc/subboards/subboard10_hbot_v2/pri_board.h @@ -58,6 +58,8 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 电机2 * @@ -91,3 +93,5 @@ #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR2_ENC_RESOLUTION 0 +#define MOTOR2_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file diff --git a/usrc/subboards/subboard200_ext_tmc5160/pri_board.h b/usrc/subboards/subboard200_ext_tmc5160/pri_board.h index 448a0e2..3148d9f 100644 --- a/usrc/subboards/subboard200_ext_tmc5160/pri_board.h +++ b/usrc/subboards/subboard200_ext_tmc5160/pri_board.h @@ -65,3 +65,5 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file diff --git a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h index 051dfd6..73d13d5 100644 --- a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h +++ b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h @@ -59,7 +59,8 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 推杆电机 * ***********************************************************************************************************************/ @@ -92,3 +93,5 @@ #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR2_ENC_RESOLUTION 0 +#define MOTOR2_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h index 50e7de9..05330f0 100644 --- a/usrc/subboards/subboard30_shake_module/pri_board.h +++ b/usrc/subboards/subboard30_shake_module/pri_board.h @@ -54,7 +54,8 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 升降电机 * ***********************************************************************************************************************/ @@ -86,7 +87,8 @@ #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR2_ENC_RESOLUTION 0 +#define MOTOR2_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 摇匀电机 * ***********************************************************************************************************************/ @@ -118,3 +120,5 @@ #define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR3_ENC_RESOLUTION 0 +#define MOTOR3_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file 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 d91e5db..8693a25 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -57,7 +57,8 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 送料电机 * ***********************************************************************************************************************/ @@ -90,7 +91,8 @@ #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR2_ENC_RESOLUTION 0 +#define MOTOR2_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 出料电机 * ***********************************************************************************************************************/ @@ -122,4 +124,6 @@ #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 +#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR3_ENC_RESOLUTION 0 +#define MOTOR3_ENABLE_ENC_RESOLUTION 0 \ 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 0941a36..601feb8 100644 --- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h +++ b/usrc/subboards/subboard70_incubation_turntable/pri_board.h @@ -64,3 +64,5 @@ #define MOTOR1_MOTOR_D1 10 #define MOTOR1_MOTOR_VSTOP 100 #define MOTOR1_MOTOR_TZEROWAIT 0 +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file diff --git a/usrc/subboards/subboard80_cliptip/pri_board.h b/usrc/subboards/subboard80_cliptip/pri_board.h index e5a73fb..9823124 100644 --- a/usrc/subboards/subboard80_cliptip/pri_board.h +++ b/usrc/subboards/subboard80_cliptip/pri_board.h @@ -60,3 +60,5 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h index aae8771..eee6ecd 100644 --- a/usrc/subboards/subboard90_optical_module/pri_board.h +++ b/usrc/subboards/subboard90_optical_module/pri_board.h @@ -32,8 +32,8 @@ * 光学电机 * ***********************************************************************************************************************/ -#define MOTOR1_CSN PA4 -#define MOTOR1_ENN PD5 +#define MOTOR1_CSN PA4 +#define MOTOR1_ENN PD5 #define MOTOR1_REFL PD0 #define MOTOR1_REFR PinNull @@ -83,13 +83,14 @@ #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT - +#define MOTOR1_ENC_RESOLUTION 0 +#define MOTOR1_ENABLE_ENC_RESOLUTION 0 /*********************************************************************************************************************** * 推杆电机 * ***********************************************************************************************************************/ -#define MOTOR2_CSN PB1 -#define MOTOR2_ENN PD4 +#define MOTOR2_CSN PB1 +#define MOTOR2_ENN PD4 #define MOTOR2_REFL PD2 #define MOTOR2_REFR PD8 @@ -115,4 +116,6 @@ #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 +#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR2_ENC_RESOLUTION 0 +#define MOTOR2_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file