project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
04bc45b200
commit
62a49c1489
2 changed files with 11 additions and 14 deletions
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  1. 10
      usrc/subboards/subboard10_hbot_v2/pri_board.h
  2. 7
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp

10
usrc/subboards/subboard10_hbot_v2/pri_board.h
View File

@ -42,10 +42,10 @@
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR1_STEPMOTOR_IHOLD 1 #define MOTOR1_STEPMOTOR_IHOLD 1
#define MOTOR1_STEPMOTOR_IRUN 5
#define MOTOR1_STEPMOTOR_IRUN 7
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 #define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 32
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 800
#define MOTOR1_MIN_D 0 #define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0 #define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400
@ -75,9 +75,9 @@
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 1 #define MOTOR2_STEPMOTOR_IHOLD 1
#define MOTOR2_STEPMOTOR_IRUN 5
#define MOTOR2_STEPMOTOR_IRUN 7
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 #define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 32
#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 #define MOTOR2_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR2_MIN_D 0 #define MOTOR2_MIN_D 0
#define MOTOR2_MAX_D 0 #define MOTOR2_MAX_D 0

7
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
View File

@ -21,7 +21,7 @@ using namespace iflytop;
* IMPL * * IMPL *
***********************************************************************************************************************/ ***********************************************************************************************************************/
void Subboard10HbotV2::initialize() { void Subboard10HbotV2::initialize() {
// IO_INIT();
IO_INIT();
GService::inst()->getZCanProtocolParser()->registerModule(this); GService::inst()->getZCanProtocolParser()->registerModule(this);
// PB12 // PB12
@ -40,15 +40,12 @@ void Subboard10HbotV2::initialize() {
TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false); TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false);
TMC51X0_2_SPI_MODE.initAsOutput(PE11, iflytop::ZGPIO::kMode_nopull, false, true); TMC51X0_2_SPI_MODE.initAsOutput(PE11, iflytop::ZGPIO::kMode_nopull, false, true);
TMC51X0_2_SD_MODE.initAsOutput(PE12, iflytop::ZGPIO::kMode_nopull, false, false); TMC51X0_2_SD_MODE.initAsOutput(PE12, iflytop::ZGPIO::kMode_nopull, false, false);
osDelay(10);
motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true); motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true);
osDelay(100);
TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1); TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1);
TMC5130_MOTOR_INITER(/*motorid*/ 2, /*moduleid*/ 2); TMC5130_MOTOR_INITER(/*motorid*/ 2, /*moduleid*/ 2);
#if 0 #if 0
/*********************************************************************************************************************** /***********************************************************************************************************************
* ID1 * * ID1 *

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