From 917ac8b9df62b48c1d74ade2cc44174c7a016912 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 5 Jun 2024 20:09:54 +0800 Subject: [PATCH] update --- usrc/main.cpp | 28 +++++++++++++++++----- usrc/project_configs.h | 2 ++ .../subboard20_plate_clamp_case/pri_board.h | 24 +++++++++---------- 3 files changed, 36 insertions(+), 18 deletions(-) diff --git a/usrc/main.cpp b/usrc/main.cpp index d664845..f6b38f5 100644 --- a/usrc/main.cpp +++ b/usrc/main.cpp @@ -7,6 +7,8 @@ #include "sdk/os/zos.hpp" #include "sysmgr/sys_mgr.hpp" // +#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.hpp" +#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.h" #include "subboards/subboard30_shake_module/subboard30_shake_module.hpp" #include "subboards/subboard30_shake_module/subboard30_shake_module_board.h" #include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp" @@ -15,6 +17,8 @@ #include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.h" #include "subboards/subboard80_cliptip/subboard80_cliptip.hpp" #include "subboards/subboard80_cliptip/subboard80_cliptip_board.h" +#include "subboards/subboard90_optical_module/subboard90_optical_module.hpp" +#include "subboards/subboard90_optical_module/subboard90_optical_module_board.h" // @@ -31,22 +35,24 @@ int32_t deviceId = 0; static void board_init() { switch (deviceId) { + case 20: // 板夹仓 + subboard20_plate_clamp_case_board_init(); + break; case 30: // 摇匀模组 subboard30_shake_module_board_init(); break; - case 60: // 进出料模组 subboard60_inlet_and_outlet_module_board_init(); break; - case 70: // 孵化转盘 subboard70_incubation_turntable_board_init(); break; - case 80: subboard80_cliptip_board_init(); break; - + case 90: + subboard90_optical_module_board_init(); + break; default: common_hardware_init(); break; @@ -56,6 +62,9 @@ static void board_init() { static void board_post_init() { GService::inst()->initialize(); switch (deviceId) { + case 20: + Subboard20PlateClampCase::ins()->initialize(); + break; case 30: // 摇匀模组 Subboard30ShakeModule::ins()->initialize(); break; @@ -68,7 +77,9 @@ static void board_post_init() { case 80: Subboard80Cliptip::ins()->initialize(); break; - + // case 90: + // Subboard90OpticalModule::ins()->initialize(); + // break; default: break; } @@ -79,12 +90,17 @@ void umain() { board_init(); + Pin_t debugLight = PC_DEBUG_LIGHT_GPIO; + if (deviceId == 20) { + debugLight = PC_SUBBOARD20_LIGHT_GPIO; + } + zos_cfg_t zoscfg = {0}; chip_cfg_t chipcfg = {}; chipcfg.us_dleay_tim = &PC_SYS_DELAY_US_TIMER; chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER; chipcfg.huart = &PC_DEBUG_UART; - chipcfg.debuglight = PC_DEBUG_LIGHT_GPIO; + chipcfg.debuglight = debugLight; chip_init(&chipcfg); zos_init(&zoscfg); diff --git a/usrc/project_configs.h b/usrc/project_configs.h index 3bf67ef..f6a7b2d 100644 --- a/usrc/project_configs.h +++ b/usrc/project_configs.h @@ -7,6 +7,8 @@ #define PC_DEBUG_UART huart1 #define PC_DEBUG_UART_RX_BUF_SIZE 1024 #define PC_DEBUG_LIGHT_GPIO PE2 +#define PC_SUBBOARD20_LIGHT_GPIO PE8 +// #define PC_SYS_DELAY_US_TIMER htim6 // US延时定时器 #define PC_SYS_ZTICKET_TIMER TIM11 // 系统ticket定时器 diff --git a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h index 28c960c..67875d7 100644 --- a/usrc/subboards/subboard20_plate_clamp_case/pri_board.h +++ b/usrc/subboards/subboard20_plate_clamp_case/pri_board.h @@ -30,18 +30,18 @@ #define TMC_MOTOR_SPI hspi1 /*********************************************************************************************************************** - * 推杆电机 * + * 左右移动 * ***********************************************************************************************************************/ #define MOTOR1_CSN PA4 -#define MOTOR1_ENN PE3 +#define MOTOR1_ENN PD5 #define MOTOR1_SPI_MODE_SELECT PinNull -#define MOTOR1_nFREEZE_IO PE12 +#define MOTOR1_nFREEZE_IO PinNull #define MOTOR1_nRESET_IO PinNull -#define MOTOR1_SUB_IC_ENN_IO PE11 +#define MOTOR1_SUB_IC_ENN_IO PinNull -#define MOTOR1_REFL PD2 -#define MOTOR1_REFR PD1 +#define MOTOR1_REFL PD0 +#define MOTOR1_REFR PD8 #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true @@ -63,18 +63,18 @@ #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 /*********************************************************************************************************************** - * 平移电机 * + * 推杆电机 * ***********************************************************************************************************************/ -#define MOTOR2_CSN PA4 -#define MOTOR2_ENN PE3 +#define MOTOR2_CSN PB1 +#define MOTOR2_ENN PD4 #define MOTOR2_SPI_MODE_SELECT PinNull -#define MOTOR2_nFREEZE_IO PE12 +#define MOTOR2_nFREEZE_IO PinNull #define MOTOR2_nRESET_IO PinNull -#define MOTOR2_SUB_IC_ENN_IO PE11 +#define MOTOR2_SUB_IC_ENN_IO PinNull #define MOTOR2_REFL PD2 -#define MOTOR2_REFR PD1 +#define MOTOR2_REFR PD9 #define MOTOR2_REFL_MIRROR true #define MOTOR2_REFR_MIRROR true