16 changed files with 434 additions and 115 deletions
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12usrc/public_service/instance_init.hpp
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25usrc/subboards/subboard20_plate_clamp_case/pri_board.h
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53usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp
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24usrc/subboards/subboard30_shake_module/pri_board.h
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20usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
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28usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
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24usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.cpp
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23usrc/subboards/subboard70_incubation_turntable/pri_board.h
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18usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp
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16usrc/subboards/subboard80_cliptip/pri_board.h
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17usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
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95usrc/subboards/subboard90_optical_module/pri_board.h
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64usrc/subboards/subboard90_optical_module/subboard90_optical_module.cpp
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45usrc/subboards/subboard90_optical_module/subboard90_optical_module.hpp
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73usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.c
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12usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.h
@ -0,0 +1,95 @@ |
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#pragma once |
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|
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/*********************************************************************************************************************** |
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* 板载扩展IO * |
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***********************************************************************************************************************/ |
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|
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#define EXT_INPUT_IO0 PinNull |
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#define EXT_INPUT_IO1 PinNull |
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#define EXT_INPUT_IO2 PinNull |
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#define EXT_INPUT_IO3 PinNull |
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#define EXT_INPUT_IO4 PinNull |
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#define EXT_INPUT_IO5 PinNull |
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#define EXT_INPUT_IO6 PinNull |
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#define EXT_INPUT_IO7 PinNull |
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#define EXT_INPUT_IO8 PinNull |
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#define EXT_INPUT_IO9 PinNull |
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|
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#define EXT_INPUT_IO0_MIRROR true |
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#define EXT_INPUT_IO1_MIRROR true |
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#define EXT_INPUT_IO2_MIRROR true |
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#define EXT_INPUT_IO3_MIRROR true |
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#define EXT_INPUT_IO4_MIRROR true |
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#define EXT_INPUT_IO5_MIRROR true |
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#define EXT_INPUT_IO6_MIRROR true |
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#define EXT_INPUT_IO7_MIRROR true |
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#define EXT_INPUT_IO8_MIRROR true |
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#define EXT_INPUT_IO9_MIRROR true |
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|
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#define TMC_MOTOR_SPI hspi1 |
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|
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/*********************************************************************************************************************** |
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* 推杆电机 * |
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***********************************************************************************************************************/ |
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|
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#define MOTOR1_CSN PA4 |
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#define MOTOR1_ENN PE3 |
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#define MOTOR1_SPI_MODE_SELECT PinNull |
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#define MOTOR1_nFREEZE_IO PE12 |
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#define MOTOR1_nRESET_IO PinNull |
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#define MOTOR1_SUB_IC_ENN_IO PE11 |
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|
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#define MOTOR1_REFL PD2 |
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#define MOTOR1_REFR PD1 |
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#define MOTOR1_REFL_MIRROR true |
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#define MOTOR1_REFR_MIRROR true |
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|
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#define MOTOR1_MOTOR_SHAFT false // |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 // 3600 = 93圈, 3600/93 = 38.70967741935484 |
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#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // |
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#define MOTOR1_STEPMOTOR_IHOLD 1 |
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#define MOTOR1_STEPMOTOR_IRUN 8 |
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#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR1_STEPMOTOR_IGLOBALSCALER 1 |
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#define MOTOR1_MOTOR_DEFAULT_ACC 300 |
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#define MOTOR1_MOTOR_DEFAULT_DEC 300 |
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#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR1_MIN_D 0 |
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#define MOTOR1_MAX_D 0 |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100 |
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#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 |
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#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600 |
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|
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/*********************************************************************************************************************** |
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* 平移电机 * |
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***********************************************************************************************************************/ |
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#define MOTOR2_CSN PA4 |
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#define MOTOR2_ENN PE3 |
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#define MOTOR2_SPI_MODE_SELECT PinNull |
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#define MOTOR2_nFREEZE_IO PE12 |
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#define MOTOR2_nRESET_IO PinNull |
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#define MOTOR2_SUB_IC_ENN_IO PE11 |
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|
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#define MOTOR2_REFL PD2 |
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#define MOTOR2_REFR PD1 |
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#define MOTOR2_REFL_MIRROR true |
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#define MOTOR2_REFR_MIRROR true |
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|
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#define MOTOR2_MOTOR_SHAFT false // |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 // 3600 = 93圈, 3600/93 = 38.70967741935484 |
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#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // |
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#define MOTOR2_STEPMOTOR_IHOLD 1 |
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#define MOTOR2_STEPMOTOR_IRUN 8 |
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#define MOTOR2_STEPMOTOR_IHOLDDELAY 100 |
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#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1 |
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#define MOTOR2_MOTOR_DEFAULT_ACC 300 |
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#define MOTOR2_MOTOR_DEFAULT_DEC 300 |
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#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 |
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#define MOTOR2_MIN_D 0 |
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#define MOTOR2_MAX_D 0 |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 |
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#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 |
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#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 600 |
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@ -0,0 +1,64 @@ |
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#include "subboard90_optical_module.hpp"
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extern "C" { |
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#include "subboard90_optical_module_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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#define TAG "ShakeModule"
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using namespace iflytop; |
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static ZGPIO IO[EXT_READ_IO_NUM]; |
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Subboard90OpticalModule::Subboard90OpticalModule(/* args */) {} |
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Subboard90OpticalModule::~Subboard90OpticalModule() {} |
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int32_t Subboard90OpticalModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; } |
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Subboard90OpticalModule *Subboard90OpticalModule::ins() { |
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static Subboard90OpticalModule instance; |
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return &instance; |
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} |
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/***********************************************************************************************************************
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* PRI * |
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***********************************************************************************************************************/ |
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int32_t Subboard90OpticalModule::getid(int32_t *id) { |
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*id = getmoduleId(0); |
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return 0; |
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} |
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int32_t Subboard90OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; } |
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int32_t Subboard90OpticalModule::board_read_ext_io(int32_t ioindex, int32_t *val) { |
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if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range; |
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*val = IO[ioindex].getState(); |
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return 0; |
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} |
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int32_t Subboard90OpticalModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; } |
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int32_t Subboard90OpticalModule::board_read_muti_io(int32_t *val) { |
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for (int i = 0; i < ZARRAY_SIZE(IO); i++) { |
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*val |= IO[i].getState() << i; |
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} |
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return 0; |
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} |
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/***********************************************************************************************************************
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* IMPL * |
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***********************************************************************************************************************/ |
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void Subboard90OpticalModule::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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{ TMC5130_MOTOR_INITER(1, 1); } |
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{ TMC5130_MOTOR_INITER(2, 2); } |
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#endif
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} |
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@ -0,0 +1,45 @@ |
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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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namespace iflytop { |
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class Subboard90OpticalModule : public ZIBoard, public ZIModule { |
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ENABLE_MODULE(Subboard90OpticalModule, kboard, 1); |
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private: |
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/* data */ |
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public: |
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Subboard90OpticalModule(/* args */); |
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~Subboard90OpticalModule(); |
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static Subboard90OpticalModule *ins(); |
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void initialize(); |
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public: |
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/***********************************************************************************************************************
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* ZIModule * |
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***********************************************************************************************************************/ |
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virtual int32_t getid(int32_t *id); |
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virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val); |
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/***********************************************************************************************************************
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* ZIBoard * |
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***********************************************************************************************************************/ |
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virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val); |
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virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val); |
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virtual int32_t board_read_muti_io(int32_t *val); |
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private: |
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int32_t getmoduleId(int off); |
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}; |
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} // namespace iflytop
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@ -0,0 +1,73 @@ |
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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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static void MX_SPI2_Init(void) { |
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__HAL_RCC_SPI2_CLK_ENABLE(); |
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__HAL_RCC_GPIOB_CLK_ENABLE(); |
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hspi2.Instance = SPI2; |
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hspi2.Init.Mode = SPI_MODE_MASTER; |
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hspi2.Init.Direction = SPI_DIRECTION_2LINES; |
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hspi2.Init.DataSize = SPI_DATASIZE_8BIT; |
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hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; |
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hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; |
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hspi2.Init.NSS = SPI_NSS_SOFT; |
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hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; |
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hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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hspi2.Init.TIMode = SPI_TIMODE_DISABLE; |
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hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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hspi2.Init.CRCPolynomial = 10; |
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if (HAL_SPI_Init(&hspi2) != 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_13 | GPIO_PIN_14 | GPIO_PIN_15; |
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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_SPI2; |
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
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hspi2_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 subboard90_optical_module_board_init() { |
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common_hardware_init(); |
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MX_SPI1_Init(); |
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MX_SPI2_Init(); |
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} |
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@ -0,0 +1,12 @@ |
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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 subboard90_optical_module_board_init(); |
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|
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#ifdef __cplusplus |
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} |
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#endif |
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