project_boditech_vidas_a8000_v3
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a8000_subboard
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update

master
zhaohe 1 year ago
parent
23fb8fe8a7
commit
a399a38dae
16 changed files with 375 additions and 110 deletions
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  1. 2
      sdk
  2. 8
      usrc/main.cpp
  3. 50
      usrc/public_service/instance_init.hpp
  4. 31
      usrc/subboards/subboard100_idcard_reader/pri_board.h
  5. 93
      usrc/subboards/subboard10_hbot_v2/pri_board.h
  6. 38
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_board_v2.c
  7. 12
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_board_v2.h
  8. 194
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
  9. 25
      usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.hpp
  10. 3
      usrc/subboards/subboard200_ext_tmc5160/pri_board.h
  11. 5
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
  12. 8
      usrc/subboards/subboard20_plate_clamp_case/pri_board.h
  13. 3
      usrc/subboards/subboard70_incubation_turntable/pri_board.h
  14. 2
      usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp
  15. 3
      usrc/subboards/subboard80_cliptip/pri_board.h
  16. 8
      usrc/subboards/subboard90_optical_module/pri_board.h

2
sdk

@ -1 +1 @@
Subproject commit 7ab0d4ae00c6053d0a6aa35b1fa8fd26d027cfd1
Subproject commit 375cae628409bb2773c208d2979b27f8e4b2de1f

8
usrc/main.cpp
View File

@ -11,6 +11,8 @@
#include "subboards/subboard100_idcard_reader/subboard100_id_card_reader_board.h"
#include "subboards/subboard10_hbot/subboard10_hbot.hpp"
#include "subboards/subboard10_hbot/subboard10_hbot_board.h"
#include "subboards/subboard10_hbot_v2/subboard10_hbot_board_v2.h"
#include "subboards/subboard10_hbot_v2/subboard10_hbot_v2.hpp"
#include "subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp"
#include "subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h"
#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.hpp"
@ -44,7 +46,8 @@ int32_t deviceId = 0;
static void board_init() {
switch (deviceId) {
case 10:
subboard10_hbot_board_init();
// subboard10_hbot_board_init();
subboard10v2_hbot_board_init();
break;
case 20: // 板夹仓
subboard20_plate_clamp_case_board_init();
@ -85,7 +88,8 @@ static void board_post_init() {
GService::inst()->initialize();
switch (deviceId) {
case 10:
Subboard10Hbot::ins()->initialize();
// Subboard10Hbot::ins()->initialize();
Subboard10HbotV2::ins()->initialize();
break;
case 20:
Subboard20PlateClampCase::ins()->initialize();

50
usrc/public_service/instance_init.hpp
View File

@ -29,7 +29,6 @@
.spi = &TMC_MOTOR_SPI, \
.csgpio = MOTOR##MOTOR_INDEX##_CSN, \
.ennPin = MOTOR##MOTOR_INDEX##_ENN, \
.spi_mode_select = MOTOR##MOTOR_INDEX##_SPI_MODE_SELECT, \
}; \
motor.initialize(&tmc5130cfg); \
motor.setMotorShaft(false); \
@ -67,55 +66,6 @@
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \
}
#if 0
#define TMC4361_MOTOR_INITER(MOTOR_INDEX, _id) \
{ \
static TMC4361A motor; \
static StepMotorCtrlModule module; \
int subid = _id; \
\
TMC4361A::cfg_t motorcfg = { \
.spi = &TMC_MOTOR_SPI, \
.csgpio = MOTOR##MOTOR_INDEX##_CSN, \
.resetPin = MOTOR##MOTOR_INDEX##_nRESET_IO, \
.fREEZEPin = MOTOR##MOTOR_INDEX##_nFREEZE_IO, \
.ennPin = MOTOR##MOTOR_INDEX##_ENN, \
.driverIC_ennPin = MOTOR##MOTOR_INDEX##_SUB_IC_ENN_IO, \
.driverIC_resetPin = PinNull, \
}; \
\
motor.initialize(&motorcfg); \
\
static ZGPIO input[2]; \
input[0].initAsInput(MOTOR##MOTOR_INDEX##_REFL, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR##MOTOR_INDEX##_REFL_MIRROR); \
input[1].initAsInput(MOTOR##MOTOR_INDEX##_REFR, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR##MOTOR_INDEX##_REFR_MIRROR); \
\
StepMotorCtrlModule::config_t module_cfg = {0}; \
StepMotorCtrlModule::create_default_cfg(module_cfg); \
\
module_cfg.motor_shaft = MOTOR##MOTOR_INDEX##_MOTOR_SHAFT; \
module_cfg.motor_one_circle_pulse = MOTOR##MOTOR_INDEX##_MOTOR_ONE_CIRCLE_PULSE; \
module_cfg.motor_one_circle_pulse_denominator = MOTOR##MOTOR_INDEX##_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR; \
module_cfg.stepmotor_ihold = MOTOR##MOTOR_INDEX##_STEPMOTOR_IHOLD; \
module_cfg.stepmotor_irun = MOTOR##MOTOR_INDEX##_STEPMOTOR_IRUN; \
module_cfg.stepmotor_iholddelay = MOTOR##MOTOR_INDEX##_STEPMOTOR_IHOLDDELAY; \
module_cfg.stepmotor_iglobalscaler = MOTOR##MOTOR_INDEX##_STEPMOTOR_IGLOBALSCALER; \
module_cfg.motor_default_acc = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_ACC; \
module_cfg.motor_default_dec = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_DEC; \
module_cfg.motor_default_velocity = MOTOR##MOTOR_INDEX##_MOTOR_DEFAULT_VELOCITY; \
module_cfg.min_d = MOTOR##MOTOR_INDEX##_MIN_D; \
module_cfg.max_d = MOTOR##MOTOR_INDEX##_MAX_D; \
module_cfg.motor_run_to_zero_speed = MOTOR##MOTOR_INDEX##_MOTOR_RUN_TO_ZERO_SPEED; \
module_cfg.motor_run_to_zero_dec = MOTOR##MOTOR_INDEX##_MOTOR_RUN_TO_ZERO_DEC; \
module_cfg.motor_look_zero_edge_speed = MOTOR##MOTOR_INDEX##_MOTOR_LOOK_ZERO_EDGE_SPEED; \
module_cfg.motor_look_zero_edge_dec = MOTOR##MOTOR_INDEX##_MOTOR_LOOK_ZERO_EDGE_DEC; \
\
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &module_cfg); \
GService::inst()->getZCanProtocolParser()->registerModule(&module); \
\
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion()); \
}
#endif
#define EXT_READ_IO_NUM 10
#define EXT_WRITE_IO_NUM 10

31
usrc/subboards/subboard100_idcard_reader/pri_board.h
View File

@ -25,34 +25,3 @@
#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define TMC_MOTOR_SPI hspi1
/***********************************************************************************************************************
* 左右移动 *
***********************************************************************************************************************/
// MOTOR1
#define TMC_MOTOR1_CHANNEL 1
#define TMC_MOTOR1_SPI_SELECT1_IO PA4
#define TMC_MOTOR1_nFREEZE_IO PC2
#define TMC_MOTOR1_nRESET_IO PB3
#define TMC_MOTOR1_SUB_IC_ENN_IO PC3
#define TMC_MOTOR1_ENN_IO // unused
// MOTOR2
#define TMC_MOTOR2_CHANNEL 2
#define TMC_MOTOR2_SPI_SELECT1_IO PA8
#define TMC_MOTOR2_nFREEZE_IO PC6
#define TMC_MOTOR2_nRESET_IO PB2
#define TMC_MOTOR2_SUB_IC_ENN_IO PC7
#define TMC_MOTOR2_ENN_IO // unused
#define ARM_X_ZERO PD0
#define ARM_X_LIMIT PD1
#define ARM_Y_ZERO PD2
#define ARM_Y_LIMIT PD3
#define ARM_SENSOR5_GPIO PD4
#define ARM_SENSOR6_GPIO PD5
#define ARM_SENSOR7_GPIO PD6
#define ARM_SENSOR8_GPIO PD7

93
usrc/subboards/subboard10_hbot_v2/pri_board.h
View File

@ -0,0 +1,93 @@
#pragma once
/***********************************************************************************************************************
* 板载扩展IO *
***********************************************************************************************************************/
#define EXT_INPUT_IO0 PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO1 PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO2 PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO3 PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO4 PD10, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO5 PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
#define EXT_OUTPUT_IO0 PD9, ZGPIO::kMode_nopull, true /*mirror*/, false /*init val*/
#define EXT_OUTPUT_IO1 PD10, ZGPIO::kMode_nopull, true /*mirror*/, false /*init val*/
#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO5 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO6 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO7 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
#define TMC_MOTOR_SPI hspi1
/***********************************************************************************************************************
* 电机1 *
***********************************************************************************************************************/
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PinNull
#define MOTOR1_REFL_MIRROR true
#define MOTOR1_REFR_MIRROR true
#define MOTOR1_MOTOR_SHAFT true
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 60
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR1_STEPMOTOR_IHOLD 1
#define MOTOR1_STEPMOTOR_IRUN 5
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 400
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART
#define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1
#define MOTOR1_MOTOR_AMAX 300
#define MOTOR1_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1
#define MOTOR1_MOTOR_DMAX 300
#define MOTOR1_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR1_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT
/***********************************************************************************************************************
* 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 true
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 1
#define MOTOR2_STEPMOTOR_IRUN 5
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR2_MIN_D 0
#define MOTOR2_MAX_D 0
#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART
#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1
#define MOTOR2_MOTOR_AMAX 300
#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1
#define MOTOR2_MOTOR_DMAX 300
#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1
#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP
#define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT

38
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_board_v2.c
View File

@ -0,0 +1,38 @@
#include "main.h"
#include "public_service/public_service.h"
/* SPI1 init function */
static void MX_SPI1_Init(void) {
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
hspi1_enable = true;
}
void subboard10v2_hbot_board_init() {
common_hardware_init();
MX_SPI1_Init();
}

12
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_board_v2.h
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@ -0,0 +1,12 @@
#pragma once
#include "main.h"
#ifdef __cplusplus
extern "C" {
#endif
void subboard10v2_hbot_board_init();
#ifdef __cplusplus
}
#endif

194
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
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@ -0,0 +1,194 @@
#include "subboard10_hbot_v2.hpp"
extern "C" {
#include "subboard10_hbot_board_v2.h"
}
#include "pri_board.h"
#include "public_service/instance_init.hpp"
#include "public_service/public_service.hpp"
#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk/components/tmc/ic/ztmc4361A.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
#define TAG "Subboard10HbotV2"
using namespace iflytop;
/***********************************************************************************************************************
* IMPL *
***********************************************************************************************************************/
void Subboard10HbotV2::initialize() {
// IO_INIT();
GService::inst()->getZCanProtocolParser()->registerModule(this);
// PB12
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);
motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true);
osDelay(100);
// #define MOTOR1_CSN PA4
// #define MOTOR1_ENN PB7
// #define MOTOR1_SPI_MODE_SELECT PB4
// #define MOTOR1_nFREEZE_IO PE12
// #define MOTOR1_nRESET_IO PinNull
{
{
static TMC51X0 motor;
static StepMotorCtrlModule module;
int subid = 1;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
.csgpio = PA4,
.ennPin = PB7
};
motor.initialize(&tmc5130cfg);
motor.setIHOLD_IRUN(1, 3, 100);
motor.enable(true);
motor.rotate(800);
// motor.setMotorShaft(false);
// static ZGPIO input[2];
// input[0].initAsInput(PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// StepMotorCtrlModule::config_t stepcfg = {0};
// StepMotorCtrlModule::create_default_cfg(stepcfg);
// stepcfg.motor_shaft = false;
// stepcfg.motor_one_circle_pulse = 10000;
// stepcfg.motor_one_circle_pulse_denominator = 1;
// stepcfg.stepmotor_ihold = 5;
// stepcfg.stepmotor_irun = 20;
// stepcfg.stepmotor_iholddelay = 10;
// stepcfg.stepmotor_iglobalscaler = 0;
// stepcfg.motor_default_velocity = 600;
// stepcfg.min_d = 0;
// stepcfg.max_d = 0;
// stepcfg.motor_run_to_zero_speed = 300;
// stepcfg.motor_look_zero_edge_speed = 200;
// stepcfg.motor_vstart = 100;
// stepcfg.motor_a1 = 50;
// stepcfg.motor_amax = 100;
// stepcfg.motor_v1 = 300;
// stepcfg.motor_dmax = 100;
// stepcfg.motor_d1 = 50;
// stepcfg.motor_vstop = 100;
// stepcfg.motor_tzerowait = 0;
// module.initialize(getmoduleId(subid), &motor, input, ((int32_t)(sizeof(input) / sizeof(input[0]))), &stepcfg);
// GService::inst()->getZCanProtocolParser()->registerModule(&module);
if (g_enable_log) {
zos_log(
"%08lu INFO [%-10s] "
"motor%d readic version %x"
"\n",
zchip_clock_get_ticket(), "Subboard200ExtTmc5160", subid, motor.readICVersion());
};
}
}
// { TMC5130_MOTOR_INITER(2, 2); }
#if 0
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
static XYRobotCtrlModule xyRobotCtrlModule;
static TMC4361A motora; // 1
static TMC4361A motorb; // 2
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = TMC_MOTOR1_SPI_SELECT1_IO, //
.resetPin = TMC_MOTOR1_nRESET_IO, //
.fREEZEPin = TMC_MOTOR1_nFREEZE_IO, //
.ennPin = PinNull, //
.driverIC_ennPin = TMC_MOTOR1_SUB_IC_ENN_IO, //
.driverIC_resetPin = PinNull, //
};
motora.initialize(&cfg);
motora.setMotorShaft(false);
motora.setGlobalScale(31);
ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.driverIC_readICVersion());
}
{
TMC4361A::cfg_t cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = TMC_MOTOR2_SPI_SELECT1_IO, //
.resetPin = TMC_MOTOR2_nRESET_IO, //
.fREEZEPin = TMC_MOTOR2_nFREEZE_IO, //
.ennPin = PinNull, //
.driverIC_ennPin = TMC_MOTOR2_SUB_IC_ENN_IO, //
.driverIC_resetPin = PinNull, //
};
motorb.initialize(&cfg);
motorb.setMotorShaft(false);
motorb.setGlobalScale(31);
ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.driverIC_readICVersion());
}
motora.setAcceleration(300);
motora.setDeceleration(300);
motora.setIHOLD_IRUN(0, 4, 10);
motorb.setAcceleration(300);
motorb.setDeceleration(300);
motorb.setIHOLD_IRUN(0, 4, 10);
motora.rotate(0);
motorb.rotate(0);
/*******************************************************************************
* zcanXYRobotCtrlModule *
*******************************************************************************/
static ZGPIO input[4];
input[0].initAsInput(ARM_X_ZERO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[1].initAsInput(ARM_Y_ZERO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[2].initAsInput(ARM_X_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[3].initAsInput(ARM_Y_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
static XYRobotCtrlModule::config_t xy_defaultcfg;
XYRobotCtrlModule::create_default_cfg(xy_defaultcfg);
xy_defaultcfg.configInited = true;
xy_defaultcfg.robot_type = 1;
xy_defaultcfg.robot_type = XYRobotCtrlModule::khbot;
xy_defaultcfg.x_shaft = 0;
xy_defaultcfg.y_shaft = 1;
xy_defaultcfg.ihold = 3;
xy_defaultcfg.irun = 31;
xy_defaultcfg.iholddelay = 100;
xy_defaultcfg.distance_scale = 7344;
xy_defaultcfg.shift_x = 0;
xy_defaultcfg.shift_y = 0;
// limit
xy_defaultcfg.acc = 400;
xy_defaultcfg.dec = 400;
xy_defaultcfg.min_x = 0;
xy_defaultcfg.max_x = 0;
xy_defaultcfg.min_y = 0;
xy_defaultcfg.max_y = 0;
xy_defaultcfg.default_velocity = 300;
xy_defaultcfg.run_to_zero_speed = 40;
xy_defaultcfg.look_zero_edge_speed = 10;
xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg);
GService::inst()->registerModule(&xyRobotCtrlModule);
#endif
}

25
usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.hpp
View File

@ -0,0 +1,25 @@
#include <stddef.h>
#include <stdio.h>
//
#include "configs/device_id_mgr.hpp"
#include "sdk/chip/chip.hpp"
#include "sdk/os/zos.hpp"
//
#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "public_service/public_service.hpp"
namespace iflytop {
class Subboard10HbotV2 : public ExtBoardImpl {
public:
static Subboard10HbotV2 *ins() {
static Subboard10HbotV2 instance;
return &instance;
}
void initialize();
};
} // namespace iflytop

3
usrc/subboards/subboard200_ext_tmc5160/pri_board.h
View File

@ -39,9 +39,6 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR1_SPI_MODE_SELECT PB4
#define MOTOR1_nFREEZE_IO PE12
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PE11
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PD1

5
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
View File

@ -28,8 +28,11 @@ void Subboard200ExtTmc5160::initialize() {
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
{ TMC5130_MOTOR_INITER(1, 1); }
static ZGPIO TMC51X0_1_SD_MODE;
TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false);
{ TMC5130_MOTOR_INITER(1, 1); }
#endif
}

8
usrc/subboards/subboard20_plate_clamp_case/pri_board.h
View File

@ -33,10 +33,6 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PD5
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_nFREEZE_IO PinNull
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PinNull
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PD8
@ -70,10 +66,6 @@
#define MOTOR2_CSN PB1
#define MOTOR2_ENN PD4
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_nFREEZE_IO PinNull
#define MOTOR2_nRESET_IO PinNull
#define MOTOR2_SUB_IC_ENN_IO PinNull
#define MOTOR2_REFL PD2
#define MOTOR2_REFR PD9

3
usrc/subboards/subboard70_incubation_turntable/pri_board.h
View File

@ -39,9 +39,6 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PB7
#define MOTOR1_SPI_MODE_SELECT PB4
#define MOTOR1_nFREEZE_IO PE12
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PE11
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PD1

2
usrc/subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.cpp
View File

@ -17,6 +17,8 @@ void Subboard70IncubationTurntable::initialize() {
IO_INIT();
GService::inst()->getZCanProtocolParser()->registerModule(this);
static ZGPIO TMC51X0_1_SD_MODE;
TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false);
#if 1
TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1);
#endif

3
usrc/subboards/subboard80_cliptip/pri_board.h
View File

@ -34,9 +34,6 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PD0
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_nFREEZE_IO PinNull
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PinNull
#define MOTOR1_REFL PD2
#define MOTOR1_REFR PD1

8
usrc/subboards/subboard90_optical_module/pri_board.h
View File

@ -34,10 +34,6 @@
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PD5
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_nFREEZE_IO PinNull
#define MOTOR1_nRESET_IO PinNull
#define MOTOR1_SUB_IC_ENN_IO PinNull
#define MOTOR1_REFL PD0
#define MOTOR1_REFR PinNull
@ -94,10 +90,6 @@
#define MOTOR2_CSN PB1
#define MOTOR2_ENN PD4
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_nFREEZE_IO PinNull
#define MOTOR2_nRESET_IO PinNull
#define MOTOR2_SUB_IC_ENN_IO PinNull
#define MOTOR2_REFL PD2
#define MOTOR2_REFR PD8

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