From 9ee48a42bc51b1a80386286b5e595d15c127322f Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 28 Jun 2024 09:19:08 +0800 Subject: [PATCH] update --- sdk | 2 +- usrc/subboards/subboard10_hbot_v2/pri_board.h | 2 +- .../subboard70_incubation_turntable/pri_board.h | 67 ++++++++++++++++------ .../subboard70_incubation_turntable.cpp | 18 ++++++ 4 files changed, 71 insertions(+), 18 deletions(-) diff --git a/sdk b/sdk index 0437a22..189fd81 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 0437a229bf75aae0e61b2287218af82a70ec0718 +Subproject commit 189fd81c7b00aee87c73aa15cf5487346a8d14ba diff --git a/usrc/subboards/subboard10_hbot_v2/pri_board.h b/usrc/subboards/subboard10_hbot_v2/pri_board.h index c1261c9..170936e 100644 --- a/usrc/subboards/subboard10_hbot_v2/pri_board.h +++ b/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 diff --git a/usrc/subboards/subboard70_incubation_turntable/pri_board.h b/usrc/subboards/subboard70_incubation_turntable/pri_board.h index 601feb8..04fdc8f 100644 --- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h +++ b/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 \ No newline at end of file +#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 \ No newline at end of file diff --git a/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp b/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp index 16a5e2d..1be12ac 100644 --- a/usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp +++ b/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 }