project_boditech_vidas_a8000_v3
/
a8000_subboard
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

add code scaner

master
zhaohe 1 year ago
parent
3478a6df19
commit
ae73c2d31a
9 changed files with 480 additions and 3 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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;
}
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() {
IO[0].initAsInput(PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
@ -164,7 +170,6 @@ void Subboard30ShakeModule::initialize() {
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;

1
usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
View File

@ -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_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);

89
usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
Write Preview
Loading…
Cancel
Save