project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
7fe557d1f9
commit
52f25ee9d2
9 changed files with 41 additions and 16 deletions
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  1. 9
      usrc/public_service/instance_init.hpp
  2. 4
      usrc/subboards/subboard10_hbot_v2/pri_board.h
  3. 2
      usrc/subboards/subboard200_ext_tmc5160/pri_board.h
  4. 5
      usrc/subboards/subboard20_plate_clamp_case/pri_board.h
  5. 8
      usrc/subboards/subboard30_shake_module/pri_board.h
  6. 10
      usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
  7. 2
      usrc/subboards/subboard70_incubation_turntable/pri_board.h
  8. 2
      usrc/subboards/subboard80_cliptip/pri_board.h
  9. 15
      usrc/subboards/subboard90_optical_module/pri_board.h

9
usrc/public_service/instance_init.hpp
View File

@ -26,9 +26,9 @@
int subid = _id; \ int subid = _id; \
\ \
TMC51X0::cfg_t tmc5130cfg = { \ 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.initialize(&tmc5130cfg); \
motor.setMotorShaft(false); \ motor.setMotorShaft(false); \
@ -60,13 +60,14 @@
stepcfg.motor_d1 = MOTOR##MOTOR_INDEX##_MOTOR_D1; \ stepcfg.motor_d1 = MOTOR##MOTOR_INDEX##_MOTOR_D1; \
stepcfg.motor_vstop = MOTOR##MOTOR_INDEX##_MOTOR_VSTOP; \ stepcfg.motor_vstop = MOTOR##MOTOR_INDEX##_MOTOR_VSTOP; \
stepcfg.motor_tzerowait = MOTOR##MOTOR_INDEX##_MOTOR_TZEROWAIT; \ 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); \ module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg); \
GService::inst()->getZCanProtocolParser()->registerModule(&module); \ GService::inst()->getZCanProtocolParser()->registerModule(&module); \
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \ ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \
} }
#define EXT_READ_IO_NUM 10 #define EXT_READ_IO_NUM 10
#define EXT_WRITE_IO_NUM 10 #define EXT_WRITE_IO_NUM 10

4
usrc/subboards/subboard10_hbot_v2/pri_board.h
View File

@ -58,6 +58,8 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 电机2 * * 电机2 *
@ -91,3 +93,5 @@
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 0
#define MOTOR2_ENABLE_ENC_RESOLUTION 0

2
usrc/subboards/subboard200_ext_tmc5160/pri_board.h
View File

@ -65,3 +65,5 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0

5
usrc/subboards/subboard20_plate_clamp_case/pri_board.h
View File

@ -59,7 +59,8 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 推杆电机 * * 推杆电机 *
***********************************************************************************************************************/ ***********************************************************************************************************************/
@ -92,3 +93,5 @@
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 0
#define MOTOR2_ENABLE_ENC_RESOLUTION 0

8
usrc/subboards/subboard30_shake_module/pri_board.h
View File

@ -54,7 +54,8 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 升降电机 * * 升降电机 *
***********************************************************************************************************************/ ***********************************************************************************************************************/
@ -86,7 +87,8 @@
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 0
#define MOTOR2_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 摇匀电机 * * 摇匀电机 *
***********************************************************************************************************************/ ***********************************************************************************************************************/
@ -118,3 +120,5 @@
#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR3_ENC_RESOLUTION 0
#define MOTOR3_ENABLE_ENC_RESOLUTION 0

10
usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
View File

@ -57,7 +57,8 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 送料电机 * * 送料电机 *
***********************************************************************************************************************/ ***********************************************************************************************************************/
@ -90,7 +91,8 @@
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 0
#define MOTOR2_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 出料电机 * * 出料电机 *
***********************************************************************************************************************/ ***********************************************************************************************************************/
@ -122,4 +124,6 @@
#define MOTOR3_MOTOR_DMAX 300 #define MOTOR3_MOTOR_DMAX 300
#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR3_ENC_RESOLUTION 0
#define MOTOR3_ENABLE_ENC_RESOLUTION 0

2
usrc/subboards/subboard70_incubation_turntable/pri_board.h
View File

@ -64,3 +64,5 @@
#define MOTOR1_MOTOR_D1 10 #define MOTOR1_MOTOR_D1 10
#define MOTOR1_MOTOR_VSTOP 100 #define MOTOR1_MOTOR_VSTOP 100
#define MOTOR1_MOTOR_TZEROWAIT 0 #define MOTOR1_MOTOR_TZEROWAIT 0
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0

2
usrc/subboards/subboard80_cliptip/pri_board.h
View File

@ -60,3 +60,5 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0

15
usrc/subboards/subboard90_optical_module/pri_board.h
View File

@ -32,8 +32,8 @@
* 光学电机 * * 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_REFL PD0
#define MOTOR1_REFR PinNull #define MOTOR1_REFR PinNull
@ -83,13 +83,14 @@
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR1_ENC_RESOLUTION 0
#define MOTOR1_ENABLE_ENC_RESOLUTION 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* 推杆电机 * * 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_REFL PD2
#define MOTOR2_REFR PD8 #define MOTOR2_REFR PD8
@ -115,4 +116,6 @@
#define MOTOR2_MOTOR_DMAX 300 #define MOTOR2_MOTOR_DMAX 300
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 #define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
#define MOTOR2_ENC_RESOLUTION 0
#define MOTOR2_ENABLE_ENC_RESOLUTION 0
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