project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
14b4a74f8d
commit
7273ae3edf
5 changed files with 19 additions and 26 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      a8000_protocol
  3. 2
      sdk
  4. 11
      usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
  5. 26
      usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1430425756487897093" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="535466854641709359" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1443161613449012598" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="548202711602824864" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

2
a8000_protocol

@ -1 +1 @@
Subproject commit 6486ccf75f3e6bd05c7454ff994d8c003d908227
Subproject commit d7a693c2c9a71a2e3b2aa3b7aefc22c8e97d4a11

2
sdk

@ -1 +1 @@
Subproject commit e86c7fff197ea63a9956962ec91f172206d07d6d
Subproject commit 4f33055c7ff0d353006f4ab10d497fbd978b6bf9

11
usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
View File

@ -82,7 +82,7 @@ void Subboard10Hbot::initialize() {
input[2].initAsInput(ARM_X_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[3].initAsInput(ARM_Y_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
static XYRobotCtrlModule::flash_config_t xy_defaultcfg;
static XYRobotCtrlModule::config_t xy_defaultcfg;
XYRobotCtrlModule::create_default_cfg(xy_defaultcfg);
xy_defaultcfg.configInited = true;
xy_defaultcfg.robot_type = 1;
@ -100,22 +100,15 @@ void Subboard10Hbot::initialize() {
// limit
xy_defaultcfg.acc = 800;
xy_defaultcfg.dec = 800;
xy_defaultcfg.breakdec = 1600;
xy_defaultcfg.maxspeed = 600;
xy_defaultcfg.min_x = 0;
xy_defaultcfg.max_x = 0;
xy_defaultcfg.min_y = 0;
xy_defaultcfg.max_y = 0;
xy_defaultcfg.run_to_zero_max_d = 10000 * 100;
xy_defaultcfg.run_to_zero_speed = 80;
xy_defaultcfg.run_to_zero_dec = 1600;
xy_defaultcfg.look_zero_edge_max_d = 10000 * 3;
xy_defaultcfg.look_zero_edge_speed = 10;
xy_defaultcfg.look_zero_edge_dec = 1600;
xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg, nullptr);
xyRobotCtrlModule.dumpcfg();
xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg);
GService::inst()->registerModule(&xyRobotCtrlModule);

26
usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp
View File

@ -26,19 +26,19 @@ static PWMSpeedCtrlModule fan1;
static PumpCtrlModule pump;
static PeltierCtrlModule peltier;
static int32_t getPeltierNum() {
static bool init = false;
static ZGPIO ID4;
if (!init) {
ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
init = true;
}
if (ID4.getState() == 0) {
return 1;
} else {
return 2;
}
}
// static int32_t getPeltierNum() {
// static bool init = false;
// static ZGPIO ID4;
// if (!init) {
// ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// init = true;
// }
// if (ID4.getState() == 0) {
// return 1;
// } else {
// return 2;
// }
// }
void Subboard40And50TemperatureCtrl::initialize() {
ZLOGI(TAG, "suboard %d initialize", getmoduleId(0));

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