project_boditech_vidas_a8000_v3
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a8000_subboard
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add code scaner

master
zhaohe 1 year ago
parent
3478a6df19
commit
ae73c2d31a
9 changed files with 480 additions and 3 deletions
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  1. 2
      a8000_protocol
  2. 2
      sdk
  3. 7
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
  4. 1
      usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
  5. 89
      usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
  6. 217
      usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.cpp
  7. 44
      usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp
  8. 109
      usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.c
  9. 12
      usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.h

2
a8000_protocol

@ -1 +1 @@
Subproject commit 7e554cc4d7040f8e680dad8f3f470551a1f87d90
Subproject commit a85673b9c1b9a54c0e91a3e3f4299106a749e56d

2
sdk

@ -1 +1 @@
Subproject commit 234f88f7bd3531684e19b52c7bf65737f788ac1c
Subproject commit 0923cbacbdd6c1c5858d5ec160a6f3dd3b23560e

7
usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
View File

@ -39,6 +39,12 @@ int32_t Subboard30ShakeModule::board_read_ext_io(int32_t ioindex, int32_t *val)
return 0; return 0;
} }
int32_t Subboard30ShakeModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; } int32_t Subboard30ShakeModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
int32_t Subboard30ShakeModule::board_read_muti_io(int32_t *val) {
for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
*val |= IO[i].getState() << i;
}
return 0;
}
void Subboard30ShakeModule::initialize() { void Subboard30ShakeModule::initialize() {
IO[0].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); IO[0].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
@ -164,7 +170,6 @@ void Subboard30ShakeModule::initialize() {
StepMotorCtrlModule::config_t stepcfg = {0}; StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg); StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.motor_shaft = MOTOR3_MOTOR_SHAFT; stepcfg.motor_shaft = MOTOR3_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR3_MOTOR_ONE_CIRCLE_PULSE; stepcfg.motor_one_circle_pulse = MOTOR3_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR; stepcfg.motor_one_circle_pulse_denominator = MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;

1
usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
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@ -35,6 +35,7 @@ class Subboard30ShakeModule : public ZIBoard, public ZIModule {
***********************************************************************************************************************/ ***********************************************************************************************************************/
virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val); virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val);
virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val); virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val);
virtual int32_t board_read_muti_io(int32_t *val);
private: private:
int32_t getmoduleId(int off); int32_t getmoduleId(int off);

89
usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
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@ -0,0 +1,89 @@
#pragma once
#define TMC_MOTOR_SPI hspi1
/***********************************************************************************************************************
* 进料电机 *
***********************************************************************************************************************/
#define MOTOR1_CSN PA4
#define MOTOR1_ENN PE3
#define MOTOR1_SPI_MODE_SELECT PinNull
#define MOTOR1_REFL PinNull
#define MOTOR1_REFR PinNull
#define MOTOR1_REFL_MIRROR false
#define MOTOR1_REFR_MIRROR false
#define MOTOR1_MOTOR_SHAFT false //
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 100 //
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR1_STEPMOTOR_IHOLD 2
#define MOTOR1_STEPMOTOR_IRUN 24
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR1_MOTOR_DEFAULT_ACC 300
#define MOTOR1_MOTOR_DEFAULT_DEC 300
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 300
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 0
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 0
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 0
/***********************************************************************************************************************
* 送料电机 *
***********************************************************************************************************************/
#define MOTOR2_CSN PA8
#define MOTOR2_ENN PE6
#define MOTOR2_SPI_MODE_SELECT PinNull
#define MOTOR2_REFL PD11
#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 80 // 单位0.1mm
#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR2_STEPMOTOR_IHOLD 3
#define MOTOR2_STEPMOTOR_IRUN 10
#define MOTOR2_STEPMOTOR_IHOLDDELAY 100
#define MOTOR2_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR2_MOTOR_DEFAULT_ACC 300
#define MOTOR2_MOTOR_DEFAULT_DEC 300
#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR2_MIN_D 0
#define MOTOR2_MAX_D 0
#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100
#define MOTOR2_MOTOR_RUN_TO_ZERO_DEC 300
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC 300
/***********************************************************************************************************************
* 出料电机 *
***********************************************************************************************************************/
#define MOTOR3_CSN PA15
#define MOTOR3_ENN PE7
#define MOTOR3_SPI_MODE_SELECT PinNull
#define MOTOR3_REFL PinNull
#define MOTOR3_REFR PinNull
#define MOTOR3_REFL_MIRROR false
#define MOTOR3_REFR_MIRROR false
#define MOTOR3_MOTOR_SHAFT true //
#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE 100 //
#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
#define MOTOR3_STEPMOTOR_IHOLD 2
#define MOTOR3_STEPMOTOR_IRUN 24
#define MOTOR3_STEPMOTOR_IHOLDDELAY 100
#define MOTOR3_STEPMOTOR_IGLOBALSCALER 1
#define MOTOR3_MOTOR_DEFAULT_ACC 300
#define MOTOR3_MOTOR_DEFAULT_DEC 300
#define MOTOR3_MOTOR_DEFAULT_VELOCITY 300
#define MOTOR3_MIN_D 0
#define MOTOR3_MAX_D 0
#define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 0
#define MOTOR3_MOTOR_RUN_TO_ZERO_DEC 0
#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 0
#define MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC 0

217
usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.cpp
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@ -0,0 +1,217 @@
#include "subboard60_inlet_and_outlet_module.hpp"
extern "C" {
#include "subboard60_inlet_and_outlet_module_board.h"
}
#include "pri_board.h"
#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"
#define TAG "ShakeModule"
using namespace iflytop;
Subboard60InjectAndOutletModule::Subboard60InjectAndOutletModule(/* args */) {}
Subboard60InjectAndOutletModule::~Subboard60InjectAndOutletModule() {}
int32_t Subboard60InjectAndOutletModule::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
Subboard60InjectAndOutletModule *Subboard60InjectAndOutletModule::ins() {
static Subboard60InjectAndOutletModule instance;
return &instance;
}
/***********************************************************************************************************************
* PRI *
***********************************************************************************************************************/
static ZGPIO IO[5];
int32_t Subboard60InjectAndOutletModule::getid(int32_t *id) {
*id = getmoduleId(0);
return 0;
}
int32_t Subboard60InjectAndOutletModule::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
int32_t Subboard60InjectAndOutletModule::board_read_ext_io(int32_t ioindex, int32_t *val) {
if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) {
return err::kparam_out_of_range;
}
*val = IO[ioindex].getState();
return 0;
}
int32_t Subboard60InjectAndOutletModule::board_write_ext_io(int32_t ioindex, int32_t val) { return 0; }
int32_t Subboard60InjectAndOutletModule::board_read_muti_io(int32_t *val) {
for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
*val |= IO[i].getState() << i;
}
return 0;
}
void Subboard60InjectAndOutletModule::initialize() {
IO[0].initAsInput(PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
IO[1].initAsInput(PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
IO[2].initAsInput(PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
IO[3].initAsInput(PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
IO[4].initAsInput(PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
GService::inst()->getZCanProtocolParser()->registerModule(this);
#if 1
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 1;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR1_CSN, //
.ennPin = MOTOR1_ENN, //
.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFL_MIRROR);
input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFR_MIRROR);
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.motor_shaft = MOTOR1_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR1_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR1_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR1_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR1_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR1_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR1_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR1_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR1_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR1_MIN_D;
stepcfg.max_d = MOTOR1_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR1_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR1_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
/***********************************************************************************************************************
* ID2 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 2;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR2_CSN, //
.ennPin = MOTOR2_ENN, //
.spi_mode_select = MOTOR2_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR2_REFL_MIRROR);
input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR2_REFR_MIRROR);
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.motor_shaft = MOTOR2_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR2_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR2_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR2_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR2_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR2_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR2_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR2_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR2_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR2_MIN_D;
stepcfg.max_d = MOTOR2_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR2_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR2_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR2_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
/***********************************************************************************************************************
* ID3 *
***********************************************************************************************************************/
{
static TMC5130 motor;
static StepMotorCtrlModule module;
int subid = 3;
TMC5130::cfg_t tmc5130cfg = {
.spi = &TMC_MOTOR_SPI, //
.csgpio = MOTOR3_CSN, //
.ennPin = MOTOR3_ENN, //
.spi_mode_select = MOTOR3_SPI_MODE_SELECT, //
};
motor.initialize(&tmc5130cfg);
motor.setMotorShaft(false);
static ZGPIO input[2];
input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR3_REFL_MIRROR);
input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR3_REFR_MIRROR);
StepMotorCtrlModule::config_t stepcfg = {0};
StepMotorCtrlModule::create_default_cfg(stepcfg);
stepcfg.motor_shaft = MOTOR3_MOTOR_SHAFT;
stepcfg.motor_one_circle_pulse = MOTOR3_MOTOR_ONE_CIRCLE_PULSE;
stepcfg.motor_one_circle_pulse_denominator = MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR;
stepcfg.stepmotor_ihold = MOTOR3_STEPMOTOR_IHOLD;
stepcfg.stepmotor_irun = MOTOR3_STEPMOTOR_IRUN;
stepcfg.stepmotor_iholddelay = MOTOR3_STEPMOTOR_IHOLDDELAY;
stepcfg.stepmotor_iglobalscaler = MOTOR3_STEPMOTOR_IGLOBALSCALER;
stepcfg.motor_default_acc = MOTOR3_MOTOR_DEFAULT_ACC;
stepcfg.motor_default_dec = MOTOR3_MOTOR_DEFAULT_DEC;
stepcfg.motor_default_velocity = MOTOR3_MOTOR_DEFAULT_VELOCITY;
stepcfg.min_d = MOTOR3_MIN_D;
stepcfg.max_d = MOTOR3_MAX_D;
stepcfg.motor_run_to_zero_speed = MOTOR3_MOTOR_RUN_TO_ZERO_SPEED;
stepcfg.motor_run_to_zero_dec = MOTOR3_MOTOR_RUN_TO_ZERO_DEC;
stepcfg.motor_look_zero_edge_speed = MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED;
stepcfg.motor_look_zero_edge_dec = MOTOR3_MOTOR_LOOK_ZERO_EDGE_DEC;
module.initialize(getmoduleId(subid), &motor, input, ZARRAY_SIZE(input), &stepcfg);
GService::inst()->getZCanProtocolParser()->registerModule(&module);
ZLOGI(TAG, "motor%d readic version %x", subid, motor.readICVersion());
}
{
static M3078CodeScanner codescanner;
int subid = 4;
static M3078CodeScanner::hardware_config_t cfg = {
.uart = &huart3,
.hdma_rx = nullptr,
.hdma_tx = nullptr,
.codeReadOkPin = PinNull,
.rstPin = PinNull,
.triggerPin = PE15,
};
codescanner.initialize(getmoduleId(subid), &cfg);
GService::inst()->getZCanProtocolParser()->registerModule(&codescanner);
}
#endif
}

44
usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp
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@ -0,0 +1,44 @@
#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"
namespace iflytop {
class Subboard60InjectAndOutletModule : public ZIBoard, public ZIModule {
ENABLE_MODULE(Subboard60InjectAndOutletModule, kboard, 1);
private:
/* data */
public:
Subboard60InjectAndOutletModule(/* args */);
~Subboard60InjectAndOutletModule();
static Subboard60InjectAndOutletModule *ins();
void initialize();
public:
/***********************************************************************************************************************
* ZIModule *
***********************************************************************************************************************/
virtual int32_t getid(int32_t *id);
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val);
/***********************************************************************************************************************
* ZIBoard *
***********************************************************************************************************************/
virtual int32_t board_read_ext_io(int32_t ioindex, int32_t *val);
virtual int32_t board_write_ext_io(int32_t ioindex, int32_t val);
virtual int32_t board_read_muti_io(int32_t *val);
private:
int32_t getmoduleId(int off);
};
} // namespace iflytop

109
usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.c
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@ -0,0 +1,109 @@
#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;
}
static void UART3_Init() {
GPIO_InitTypeDef GPIO_InitStruct = {0};
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
huart3.Instance = USART3;
huart3.Init.BaudRate = 9600;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart3) != HAL_OK) {
Error_Handler();
}
GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hdma1_stream1.Instance = DMA1_Stream1;
hdma1_stream1.Init.Channel = DMA_CHANNEL_4;
hdma1_stream1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma1_stream1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream1.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream1.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream1.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream1.Init.Mode = DMA_NORMAL;
hdma1_stream1.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream1) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmarx, hdma1_stream1);
hdma1_stream3.Instance = DMA1_Stream3;
hdma1_stream3.Init.Channel = DMA_CHANNEL_4;
hdma1_stream3.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma1_stream3.Init.PeriphInc = DMA_PINC_DISABLE;
hdma1_stream3.Init.MemInc = DMA_MINC_ENABLE;
hdma1_stream3.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma1_stream3.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma1_stream3.Init.Mode = DMA_NORMAL;
hdma1_stream3.Init.Priority = DMA_PRIORITY_LOW;
hdma1_stream3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma1_stream3) != HAL_OK) {
Error_Handler();
}
__HAL_LINKDMA(&huart3, hdmatx, hdma1_stream3);
hdma_usart3_rx = &hdma1_stream1;
hdma_usart3_tx = &hdma1_stream3;
hdma1_stream1_enable = true;
hdma1_stream3_enable = true;
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
}
void subboard60_inlet_and_outlet_module_board_init() {
common_hardware_init();
MX_SPI1_Init();
UART3_Init();
}

12
usrc/subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.h
View File

@ -0,0 +1,12 @@
#pragma once
#include "main.h"
#ifdef __cplusplus
extern "C" {
#endif
void subboard60_inlet_and_outlet_module_board_init();
#ifdef __cplusplus
}
#endif
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