project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 2 years ago
parent
654ad72064
commit
a236d28952
11 changed files with 305 additions and 43 deletions
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  1. 38
      .mxproject
  2. 2
      .settings/stm32cubeide.project.prefs
  3. 52
      Core/Inc/dma.h
  4. 2
      Core/Inc/stm32f4xx_it.h
  5. 58
      Core/Src/dma.c
  6. 2
      Core/Src/main.c
  7. 30
      Core/Src/stm32f4xx_it.c
  8. 44
      Core/Src/usart.c
  9. 56
      flia_robot_arm_v1.ioc
  10. 2
      sdk
  11. 62
      usrc/main.cpp

38
.mxproject
File diff suppressed because it is too large
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2
.settings/stm32cubeide.project.prefs
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@ -1,5 +1,5 @@
635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C
66BE74F758C12D739921AEA421D593D3=1
8DF89ED150041C4CBC7CB9A9CAA90856=31CD5EEFA9F35C65D8E334D24F421EB1
DC22A860405A8BF2F2C095E5B6529F12=E957E899AF7563EEB25643F04F5B7D97
DC22A860405A8BF2F2C095E5B6529F12=31CD5EEFA9F35C65D8E334D24F421EB1
eclipse.preferences.version=1

52
Core/Inc/dma.h
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@ -0,0 +1,52 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.h
* @brief This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DMA_H__
#define __DMA_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __DMA_H__ */

2
Core/Inc/stm32f4xx_it.h
View File

@ -52,6 +52,8 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void DMA1_Stream5_IRQHandler(void);
void DMA1_Stream6_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);

58
Core/Src/dma.c
View File

@ -0,0 +1,58 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file dma.c
* @brief This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
/* DMA1_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

2
Core/Src/main.c
View File

@ -21,6 +21,7 @@
#include "cmsis_os.h"
#include "can.h"
#include "crc.h"
#include "dma.h"
#include "rng.h"
#include "spi.h"
#include "tim.h"
@ -96,6 +97,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_TIM3_Init();
MX_CRC_Init();

30
Core/Src/stm32f4xx_it.c
View File

@ -59,6 +59,8 @@ extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim11;
@ -165,6 +167,34 @@ void DebugMon_Handler(void)
/******************************************************************************/
/**
* @brief This function handles DMA1 stream5 global interrupt.
*/
void DMA1_Stream5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
/* USER CODE END DMA1_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
/* USER CODE END DMA1_Stream5_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream6 global interrupt.
*/
void DMA1_Stream6_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
/* USER CODE END DMA1_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
/* USER CODE END DMA1_Stream6_IRQn 1 */
}
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)

44
Core/Src/usart.c
View File

@ -27,6 +27,8 @@
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
/* USART1 init function */
@ -41,7 +43,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.BaudRate = 1500000;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@ -164,6 +166,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART2 DMA Init */
/* USART2_RX Init */
hdma_usart2_rx.Instance = DMA1_Stream5;
hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_NORMAL;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USART2_TX Init */
hdma_usart2_tx.Instance = DMA1_Stream6;
hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
@ -232,6 +271,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */

56
flia_robot_arm_v1.ioc
View File

@ -15,6 +15,29 @@ CAN1.RFLM=ENABLE
CAN1.SJW=CAN_SJW_3TQ
CAN1.TTCM=ENABLE
CAN1.TXFP=DISABLE
Dma.Request0=USART2_RX
Dma.Request1=USART2_TX
Dma.RequestsNb=2
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART2_RX.0.Instance=DMA1_Stream5
Dma.USART2_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART2_RX.0.Mode=DMA_NORMAL
Dma.USART2_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_RX.0.Priority=DMA_PRIORITY_LOW
Dma.USART2_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART2_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.USART2_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART2_TX.1.Instance=DMA1_Stream6
Dma.USART2_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART2_TX.1.MemInc=DMA_MINC_ENABLE
Dma.USART2_TX.1.Mode=DMA_NORMAL
Dma.USART2_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART2_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.USART2_TX.1.Priority=DMA_PRIORITY_LOW
Dma.USART2_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_NEWLIB_REENTRANT,configUSE_RECURSIVE_MUTEXES,configUSE_COUNTING_SEMAPHORES,configRECORD_STACK_HIGH_ADDRESS,configENABLE_FPU
FREERTOS.Tasks01=defaultTask,-3,1024,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
@ -30,20 +53,21 @@ Mcu.CPN=STM32F407VET6
Mcu.Family=STM32F4
Mcu.IP0=CAN1
Mcu.IP1=CRC
Mcu.IP10=TIM6
Mcu.IP11=TIM7
Mcu.IP12=USART1
Mcu.IP13=USART2
Mcu.IP14=USART3
Mcu.IP2=FREERTOS
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=RNG
Mcu.IP6=SPI1
Mcu.IP7=SYS
Mcu.IP8=TIM1
Mcu.IP9=TIM3
Mcu.IPNb=15
Mcu.IP10=TIM3
Mcu.IP11=TIM6
Mcu.IP12=TIM7
Mcu.IP13=USART1
Mcu.IP14=USART2
Mcu.IP15=USART3
Mcu.IP2=DMA
Mcu.IP3=FREERTOS
Mcu.IP4=NVIC
Mcu.IP5=RCC
Mcu.IP6=RNG
Mcu.IP7=SPI1
Mcu.IP8=SYS
Mcu.IP9=TIM1
Mcu.IPNb=16
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN
@ -83,6 +107,8 @@ NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@ -175,7 +201,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_CRC_Init-CRC-false-HAL-true,6-MX_RNG_Init-RNG-false-HAL-true,7-MX_TIM7_Init-TIM7-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true,10-MX_TIM1_Init-TIM1-false-HAL-true,11-MX_CAN1_Init-CAN1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_RNG_Init-RNG-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true,11-MX_TIM1_Init-TIM1-false-HAL-true,12-MX_CAN1_Init-CAN1-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART3_UART_Init-USART3-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=144000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4

2
sdk

@ -1 +1 @@
Subproject commit 1b8ed02b9d95727f8a0d32edbf65d1bb4a97ffff
Subproject commit 070a326f65f005e5f84944a68240e07907f6d98a

62
usrc/main.cpp
View File

@ -1,13 +1,15 @@
#include <stddef.h>
#include <stdio.h>
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk/components/zcancmder_module/zcan_step_motor_ctrl_module.hpp"
#include "sdk/os/zos.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcancmder_module\zcan_xy_robot_module.hpp"
#define TAG "main"
using namespace iflytop;
using namespace std;
@ -18,12 +20,14 @@ void StartDefaultTask(void const* argument) { umain(); }
}
#define TMC_MOTOR_SPI hspi1
static TMC4361A motora;
static TMC4361A motorb;
static ZCanCmder zcanCmder;
static ZCanBasicOrderModule zcanBasicOrderModule;
static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static TMC4361A motora;
static TMC4361A motorb;
static ZCanCmder zcanCmder;
static ZCanBasicOrderModule zcanBasicOrderModule;
static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static StepMotorCtrlModule stepMotorCtrlModule;
static ZCanStepMotorCtrlModule zcanStepMotorCtrlModule;
void umain() {
chip_cfg_t chipcfg;
@ -134,12 +138,56 @@ void umain() {
zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
}
{
stepMotorCtrlModule.initialize(1, &motora, &input[6], NULL);
zcanStepMotorCtrlModule.initialize(&zcanCmder, 1, &stepMotorCtrlModule);
}
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
FeiTeServoMotor servo;
servo.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);
OSDefaultSchduler::getInstance()->regPeriodJob(
[&](OSDefaultSchduler::Context& context) { //
// FeiTeServoMotor::status_t status = {0};
// servo.read_status(1, &status);
// servo.dump_status(&status);
// FeiTeServoMotor::detailed_status_t detailed_status = {0};
// servo.read_detailed_status(1, &detailed_status);
// servo.dump_detailed_status(&detailed_status);
},
1000);
//
servo.ping(1);
// servo.reCalibration(1, 1000);
// servo.moveTo(1, 4000, 0, 0);
// servo.moveWithTorque(1, -1000);
int16_t poscalibration = 0;
// servo.getServoCalibration(1, poscalibration);
// ZLOGI(TAG, "poscalibration:%d", poscalibration);
while (true) {
OSDefaultSchduler::getInstance()->loop();
zcanCmder.loop();
// zcanCmder.sendPacket(data, 4);
#if 0
static uint8_t rxbuf[1024];
static uint16_t rxlen;
rxlen = 0;
HAL_UARTEx_ReceiveToIdle(&huart2, rxbuf, 1000, &rxlen, 1000);
if (rxlen > 0) {
for (size_t i = 0; i < rxlen; i++) {
printf("0x%02x ", rxbuf[i]);
}
printf("\n");
}
#endif
#if 0
osDelay(100);
ZLOGI(TAG, "input:%d %d %d %d %d %d %d %d", //
input[0].getState(), input[1].getState(), input[2].getState(), input[3].getState(), input[4].getState(), input[5].getState(), input[6].getState(), input[7].getState());

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