update

sdk

@@ -1 +1 @@
-Subproject commit 0437a229bf75aae0e61b2287218af82a70ec0718
+Subproject commit 189fd81c7b00aee87c73aa15cf5487346a8d14ba

usrc/subboards/subboard10_hbot_v2/pri_board.h

@@ -29,7 +29,7 @@
 /***********************************************************************************************************************
  *                                                    电机1                                                            *
  ***********************************************************************************************************************/
-#if 0
+#if 1
 #define MOTOR1_CSN PA4
 #define MOTOR1_ENN PB7
 #define MOTOR2_CSN PC4

usrc/subboards/subboard70_incubation_turntable/pri_board.h

@@ -47,22 +47,57 @@
 #define MOTOR1_MOTOR_SHAFT                        false
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             200
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
-#define MOTOR1_STEPMOTOR_IHOLD                    1
-#define MOTOR1_STEPMOTOR_IRUN                     10
-#define MOTOR1_STEPMOTOR_IHOLDDELAY               TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            32
-#define MOTOR1_MOTOR_DEFAULT_VELOCITY             800
+#define MOTOR1_STEPMOTOR_IHOLD                    10
+#define MOTOR1_STEPMOTOR_IRUN                     31
+#define MOTOR1_STEPMOTOR_IHOLDDELAY               100
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            50
+#define MOTOR1_MOTOR_DEFAULT_VELOCITY             2500
 #define MOTOR1_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR1_MAX_D                              TMC5130_DEFAULT__MAX_D
 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            800
-#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         200
-#define MOTOR1_MOTOR_VSTART                       100
-#define MOTOR1_MOTOR_A1                           10
-#define MOTOR1_MOTOR_AMAX                         300
-#define MOTOR1_MOTOR_V1                           200
-#define MOTOR1_MOTOR_DMAX                         300
-#define MOTOR1_MOTOR_D1                           10
-#define MOTOR1_MOTOR_VSTOP                        100
-#define MOTOR1_MOTOR_TZEROWAIT                    0
-#define MOTOR1_ENC_RESOLUTION                     0
-#define MOTOR1_ENABLE_ENC_RESOLUTION              0
+#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         500
+#define MOTOR1_MOTOR_VSTART                       500
+#define MOTOR1_MOTOR_A1                           100
+#define MOTOR1_MOTOR_AMAX                         100
+#define MOTOR1_MOTOR_V1                           1000
+#define MOTOR1_MOTOR_DMAX                         100
+#define MOTOR1_MOTOR_D1                           100
+#define MOTOR1_MOTOR_VSTOP                        500
+#define MOTOR1_MOTOR_TZEROWAIT                    100
+#define MOTOR1_ENC_RESOLUTION                     1000
+#define MOTOR1_ENABLE_ENC_RESOLUTION              1
+
+/***********************************************************************************************************************
+ *                                                      电机2                                                          *
+ ***********************************************************************************************************************/
+
+#define MOTOR2_CSN PC4
+#define MOTOR2_ENN PE13
+
+#define MOTOR2_REFL        PinNull
+#define MOTOR2_REFR        PinNull
+#define MOTOR2_REFL_MIRROR true
+#define MOTOR2_REFR_MIRROR true
+
+#define MOTOR2_MOTOR_SHAFT                        false
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             200
+#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
+#define MOTOR2_STEPMOTOR_IHOLD                    1
+#define MOTOR2_STEPMOTOR_IRUN                     10
+#define MOTOR2_STEPMOTOR_IHOLDDELAY               TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY
+#define MOTOR2_STEPMOTOR_IGLOBALSCALER            32
+#define MOTOR2_MOTOR_DEFAULT_VELOCITY             800
+#define MOTOR2_MIN_D                              TMC5130_DEFAULT__MIN_D
+#define MOTOR2_MAX_D                              TMC5130_DEFAULT__MAX_D
+#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            800
+#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         200
+#define MOTOR2_MOTOR_VSTART                       100
+#define MOTOR2_MOTOR_A1                           10
+#define MOTOR2_MOTOR_AMAX                         300
+#define MOTOR2_MOTOR_V1                           200
+#define MOTOR2_MOTOR_DMAX                         300
+#define MOTOR2_MOTOR_D1                           10
+#define MOTOR2_MOTOR_VSTOP                        100
+#define MOTOR2_MOTOR_TZEROWAIT                    0
+#define MOTOR2_ENC_RESOLUTION                     1000
+#define MOTOR2_ENABLE_ENC_RESOLUTION              0

usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp

@@ -17,9 +17,27 @@ void Subboard70IncubationTurntable::initialize() {
   IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
+
+  static ZGPIO motorPowerEnPin;
+  static ZGPIO motor1ENNPin;
+  static ZGPIO motor2ENNPin;
+  static ZGPIO TMC51X0_1_SPI_MODE;
   static ZGPIO TMC51X0_1_SD_MODE;
+  static ZGPIO TMC51X0_2_SPI_MODE;
+  static ZGPIO TMC51X0_2_SD_MODE;
+
+  motor1ENNPin.initAsOutput(MOTOR1_ENN, iflytop::ZGPIO::kMode_nopull, false, true);
+  motor2ENNPin.initAsOutput(MOTOR2_ENN, iflytop::ZGPIO::kMode_nopull, false, true);
+  TMC51X0_1_SPI_MODE.initAsOutput(PB3, iflytop::ZGPIO::kMode_nopull, false, true);
   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_SD_MODE.initAsOutput(PE12, iflytop::ZGPIO::kMode_nopull, false, false);
+  osDelay(10);
+  motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true);
+
+
 #if 1
   TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1);
+  TMC5130_MOTOR_INITER(/*motorid*/ 2, /*moduleid*/ 2);
 #endif
 }