6 changed files with 245 additions and 4 deletions
-
102usrc/subboards/subboard10_plate_clamp_case/pri_board.h
-
32usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.cpp
-
24usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case.hpp
-
73usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.c
-
12usrc/subboards/subboard10_plate_clamp_case/subboard20_plate_clamp_case_board.h
-
6usrc/subboards/subboard40_and_50_temperature_ctrl/pri_board.h
@ -0,0 +1,102 @@ |
|||
#pragma once |
|||
|
|||
/*********************************************************************************************************************** |
|||
* 板载扩展IO * |
|||
***********************************************************************************************************************/ |
|||
#define EXT_INPUT_IO0 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
|||
#define EXT_INPUT_IO1 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
|||
#define EXT_INPUT_IO2 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
|||
#define EXT_INPUT_IO3 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
|||
#define EXT_INPUT_IO4 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true |
|||
#define EXT_INPUT_IO5 PinNull, 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 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/ |
|||
#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*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 |
|||
|
|||
/*********************************************************************************************************************** |
|||
* 左右移动 * |
|||
***********************************************************************************************************************/ |
|||
|
|||
#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 |
|||
#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 3 |
|||
#define MOTOR1_STEPMOTOR_IRUN 16 |
|||
#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 |
|||
|
|||
/*********************************************************************************************************************** |
|||
* 推杆电机 * |
|||
***********************************************************************************************************************/ |
|||
|
|||
#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 |
|||
#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 8 |
|||
#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 |
|||
@ -0,0 +1,32 @@ |
|||
#include "subboard20_plate_clamp_case.hpp"
|
|||
extern "C" { |
|||
#include "subboard20_plate_clamp_case_board.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"
|
|||
|
|||
#define TAG "Subboard20PlateClampCase"
|
|||
|
|||
using namespace iflytop; |
|||
|
|||
/***********************************************************************************************************************
|
|||
* IMPL * |
|||
***********************************************************************************************************************/ |
|||
void Subboard20PlateClampCase::initialize() { |
|||
IO_INIT(); |
|||
GService::inst()->getZCanProtocolParser()->registerModule(this); |
|||
#if 1
|
|||
/***********************************************************************************************************************
|
|||
* ID1 * |
|||
***********************************************************************************************************************/ |
|||
{ TMC5130_MOTOR_INITER(1, 1); } |
|||
{ TMC5130_MOTOR_INITER(2, 2); } |
|||
#endif
|
|||
} |
|||
@ -0,0 +1,24 @@ |
|||
#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 Subboard20PlateClampCase : public ExtBoardImpl { |
|||
public: |
|||
static Subboard20PlateClampCase *ins() { |
|||
static Subboard20PlateClampCase instance; |
|||
return &instance; |
|||
} |
|||
|
|||
void initialize(); |
|||
}; |
|||
|
|||
} // namespace iflytop
|
|||
@ -0,0 +1,73 @@ |
|||
#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 MX_SPI2_Init(void) { |
|||
__HAL_RCC_SPI2_CLK_ENABLE(); |
|||
__HAL_RCC_GPIOB_CLK_ENABLE(); |
|||
|
|||
hspi2.Instance = SPI2; |
|||
hspi2.Init.Mode = SPI_MODE_MASTER; |
|||
hspi2.Init.Direction = SPI_DIRECTION_2LINES; |
|||
hspi2.Init.DataSize = SPI_DATASIZE_8BIT; |
|||
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; |
|||
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; |
|||
hspi2.Init.NSS = SPI_NSS_SOFT; |
|||
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; |
|||
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; |
|||
hspi2.Init.TIMode = SPI_TIMODE_DISABLE; |
|||
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
|||
hspi2.Init.CRCPolynomial = 10; |
|||
if (HAL_SPI_Init(&hspi2) != HAL_OK) { |
|||
Error_Handler(); |
|||
} |
|||
GPIO_InitTypeDef GPIO_InitStruct = {0}; |
|||
GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15; |
|||
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_SPI2; |
|||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); |
|||
|
|||
hspi2_enable = true; |
|||
} |
|||
|
|||
/** |
|||
* @brief 板夹仓初始化 |
|||
*/ |
|||
|
|||
void subboard20_plate_clamp_case_board_init() { |
|||
common_hardware_init(); |
|||
MX_SPI1_Init(); |
|||
MX_SPI2_Init(); |
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
#pragma once |
|||
#include "main.h" |
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
void subboard20_plate_clamp_case_board_init(); |
|||
|
|||
#ifdef __cplusplus |
|||
} |
|||
#endif |
|||
Write
Preview
Loading…
Cancel
Save
Reference in new issue