10 changed files with 56 additions and 366 deletions
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2a8000_protocol
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2sdk
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4usrc/main.cpp
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58usrc/subboards/subboard10_hbot/pri_board.h
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117usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
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25usrc/subboards/subboard10_hbot/subboard10_hbot.hpp
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41usrc/subboards/subboard10_hbot/subboard10_hbot_board.c
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12usrc/subboards/subboard10_hbot/subboard10_hbot_board.h
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60usrc/subboards/subboard10_hbot_v2/pri_board.h
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101usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
@ -1 +1 @@ |
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Subproject commit e4a80570d108c0a711401236f95bbc95b4ae7ecf |
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Subproject commit 044d6a286e8a6e7298cc15e5f5746f401ad68b7a |
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@ -1 +1 @@ |
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Subproject commit e5ce8da2008bafe1ec519432807a1dfbfd12f17e |
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Subproject commit 0f185e7634bc9edb53206e3219a7021bca3abd9f |
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@ -1,58 +0,0 @@ |
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#pragma once |
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/*********************************************************************************************************************** |
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* 板载扩展IO * |
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***********************************************************************************************************************/ |
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#define EXT_INPUT_IO0 PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO1 PD5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO2 PD6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO3 PD7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO4 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO5 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
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#define EXT_OUTPUT_IO0 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO5 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO6 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO7 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
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#define TMC_MOTOR_SPI hspi1 |
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/*********************************************************************************************************************** |
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* 左右移动 * |
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***********************************************************************************************************************/ |
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// MOTOR1 |
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#define TMC_MOTOR1_CHANNEL 1 |
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#define TMC_MOTOR1_SPI_SELECT1_IO PA4 |
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#define TMC_MOTOR1_nFREEZE_IO PC2 |
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#define TMC_MOTOR1_nRESET_IO PB3 |
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#define TMC_MOTOR1_SUB_IC_ENN_IO PC3 |
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#define TMC_MOTOR1_ENN_IO // unused |
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|
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// MOTOR2 |
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#define TMC_MOTOR2_CHANNEL 2 |
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#define TMC_MOTOR2_SPI_SELECT1_IO PA8 |
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#define TMC_MOTOR2_nFREEZE_IO PC6 |
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#define TMC_MOTOR2_nRESET_IO PB2 |
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#define TMC_MOTOR2_SUB_IC_ENN_IO PC7 |
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#define TMC_MOTOR2_ENN_IO // unused |
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#define ARM_X_ZERO PD0 |
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#define ARM_X_LIMIT PD1 |
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#define ARM_Y_ZERO PD2 |
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#define ARM_Y_LIMIT PD3 |
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#define ARM_SENSOR5_GPIO PD4 |
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#define ARM_SENSOR6_GPIO PD5 |
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#define ARM_SENSOR7_GPIO PD6 |
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#define ARM_SENSOR8_GPIO PD7 |
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@ -1,117 +0,0 @@ |
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#include "subboard10_hbot.hpp"
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extern "C" { |
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#include "subboard10_hbot_board.h"
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} |
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#include "pri_board.h"
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#include "public_service/instance_init.hpp"
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#include "public_service/public_service.hpp"
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#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
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#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
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#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk/components/tmc/ic/ztmc4361A.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
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#define TAG "Subboard10Hbot"
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using namespace iflytop; |
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/***********************************************************************************************************************
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* IMPL * |
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***********************************************************************************************************************/ |
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void Subboard10Hbot::initialize() { |
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IO_INIT(); |
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GService::inst()->getZCanProtocolParser()->registerModule(this); |
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#if 1
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/***********************************************************************************************************************
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* ID1 * |
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***********************************************************************************************************************/ |
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static XYRobotCtrlModule xyRobotCtrlModule; |
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static TMC4361A motora; // 1
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static TMC4361A motorb; // 2
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{ |
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TMC4361A::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = TMC_MOTOR1_SPI_SELECT1_IO, //
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.resetPin = TMC_MOTOR1_nRESET_IO, //
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.fREEZEPin = TMC_MOTOR1_nFREEZE_IO, //
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.ennPin = PinNull, //
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.driverIC_ennPin = TMC_MOTOR1_SUB_IC_ENN_IO, //
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.driverIC_resetPin = PinNull, //
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}; |
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motora.initialize(&cfg); |
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motora.setMotorShaft(false); |
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motora.setGlobalScale(31); |
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ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.driverIC_readICVersion()); |
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} |
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{ |
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TMC4361A::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = TMC_MOTOR2_SPI_SELECT1_IO, //
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.resetPin = TMC_MOTOR2_nRESET_IO, //
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.fREEZEPin = TMC_MOTOR2_nFREEZE_IO, //
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.ennPin = PinNull, //
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.driverIC_ennPin = TMC_MOTOR2_SUB_IC_ENN_IO, //
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.driverIC_resetPin = PinNull, //
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}; |
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motorb.initialize(&cfg); |
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motorb.setMotorShaft(false); |
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motorb.setGlobalScale(31); |
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ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.driverIC_readICVersion()); |
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} |
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motora.setAcceleration(300); |
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motora.setDeceleration(300); |
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motora.setIHOLD_IRUN(0, 4, 10); |
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motorb.setAcceleration(300); |
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motorb.setDeceleration(300); |
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motorb.setIHOLD_IRUN(0, 4, 10); |
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motora.rotate(0); |
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motorb.rotate(0); |
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/*******************************************************************************
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* zcanXYRobotCtrlModule * |
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*******************************************************************************/ |
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static ZGPIO input[4]; |
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input[0].initAsInput(ARM_X_ZERO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(ARM_Y_ZERO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(ARM_X_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(ARM_Y_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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static XYRobotCtrlModule::config_t xy_defaultcfg; |
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XYRobotCtrlModule::create_default_cfg(xy_defaultcfg); |
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xy_defaultcfg.configInited = true; |
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xy_defaultcfg.robot_type = 1; |
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xy_defaultcfg.robot_type = XYRobotCtrlModule::khbot; |
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xy_defaultcfg.x_shaft = 0; |
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xy_defaultcfg.y_shaft = 1; |
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xy_defaultcfg.ihold = 3; |
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xy_defaultcfg.irun = 31; |
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xy_defaultcfg.iholddelay = 100; |
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xy_defaultcfg.distance_scale = 7344; |
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xy_defaultcfg.shift_x = 0; |
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xy_defaultcfg.shift_y = 0; |
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// limit
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xy_defaultcfg.acc = 400; |
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xy_defaultcfg.dec = 400; |
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xy_defaultcfg.min_x = 0; |
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xy_defaultcfg.max_x = 0; |
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xy_defaultcfg.min_y = 0; |
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xy_defaultcfg.max_y = 0; |
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xy_defaultcfg.default_velocity = 300; |
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xy_defaultcfg.run_to_zero_speed = 40; |
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xy_defaultcfg.look_zero_edge_speed = 10; |
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xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg); |
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GService::inst()->registerModule(&xyRobotCtrlModule); |
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#endif
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} |
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@ -1,25 +0,0 @@ |
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#include <stddef.h>
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#include <stdio.h>
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//
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#include "configs/device_id_mgr.hpp"
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#include "sdk/chip/chip.hpp"
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#include "sdk/os/zos.hpp"
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//
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#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "public_service/public_service.hpp"
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namespace iflytop { |
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class Subboard10Hbot : public ExtBoardImpl { |
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public: |
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static Subboard10Hbot *ins() { |
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static Subboard10Hbot instance; |
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return &instance; |
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} |
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void initialize(); |
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}; |
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} // namespace iflytop
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@ -1,41 +0,0 @@ |
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#include "main.h" |
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#include "public_service/public_service.h" |
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/* SPI1 init function */ |
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static void MX_SPI1_Init(void) { |
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__HAL_RCC_SPI1_CLK_ENABLE(); |
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__HAL_RCC_GPIOA_CLK_ENABLE(); |
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hspi1.Instance = SPI1; |
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hspi1.Init.Mode = SPI_MODE_MASTER; |
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hspi1.Init.Direction = SPI_DIRECTION_2LINES; |
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; |
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; |
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hspi1.Init.NSS = SPI_NSS_SOFT; |
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; |
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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hspi1.Init.CRCPolynomial = 10; |
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if (HAL_SPI_Init(&hspi1) != HAL_OK) { |
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Error_Handler(); |
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} |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7; |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; |
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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hspi1_enable = true; |
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} |
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/** |
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* @brief 板夹仓初始化 |
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*/ |
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void subboard10_hbot_board_init() { |
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common_hardware_init(); |
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MX_SPI1_Init(); |
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} |
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#pragma once |
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#include "main.h" |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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void subboard10_hbot_board_init(); |
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#ifdef __cplusplus |
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} |
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#endif |
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