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a8000_subboard
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add tmc5160_ext

master
zhaohe 1 year ago
parent
2ad4e40f65
commit
d3842128c9
7 changed files with 233 additions and 1 deletions
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  1. 2
      sdk
  2. 8
      usrc/main.cpp
  3. 68
      usrc/subboards/subboard200_ext_tmc5160/pri_board.h
  4. 78
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
  5. 24
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp
  6. 42
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.c
  7. 12
      usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h

2
sdk

@ -1 +1 @@
Subproject commit 90ea2d6ded854658853cff8ca31a56835eac43e6
Subproject commit 7dae22500da25578045f9cd39c7011243d8b00fe

8
usrc/main.cpp
View File

@ -7,6 +7,8 @@
#include "sdk/os/zos.hpp" #include "sdk/os/zos.hpp"
#include "sysmgr/sys_mgr.hpp" #include "sysmgr/sys_mgr.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" #include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.hpp"
#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.h" #include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.h"
#include "subboards/subboard30_shake_module/subboard30_shake_module.hpp" #include "subboards/subboard30_shake_module/subboard30_shake_module.hpp"
@ -53,6 +55,9 @@ static void board_init() {
case 90: case 90:
subboard90_optical_module_board_init(); subboard90_optical_module_board_init();
break; break;
case 200:
subboard200_ext_tmc5160_board_init();
break;
default: default:
common_hardware_init(); common_hardware_init();
break; break;
@ -77,6 +82,9 @@ static void board_post_init() {
case 80: case 80:
Subboard80Cliptip::ins()->initialize(); Subboard80Cliptip::ins()->initialize();
break; break;
case 200:
Subboard200ExtTmc5160::ins()->initialize();
break;
// case 90: // case 90:
// Subboard90OpticalModule::ins()->initialize(); // Subboard90OpticalModule::ins()->initialize();
// break; // break;

68
usrc/subboards/subboard200_ext_tmc5160/pri_board.h
View File

@ -0,0 +1,68 @@
#pragma once
#define ID0_IO PC0
#define ID1_IO PC1
#define ID2_IO PC2
#define ID3_IO PC3
#define ID4_IO PC4
/***********************************************************************************************************************
* 板载扩展IO *
***********************************************************************************************************************/
#define EXT_INPUT_IO0 PD0
#define EXT_INPUT_IO1 PD1
#define EXT_INPUT_IO2 PD2
#define EXT_INPUT_IO3 PD3
#define EXT_INPUT_IO4 PD4
#define EXT_INPUT_IO5 PD5
#define EXT_INPUT_IO6 PD6
#define EXT_INPUT_IO7 PD7
#define EXT_INPUT_IO8 PD8
#define EXT_INPUT_IO9 PD9
#define EXT_INPUT_IO0_MIRROR true
#define EXT_INPUT_IO1_MIRROR true
#define EXT_INPUT_IO2_MIRROR true
#define EXT_INPUT_IO3_MIRROR true
#define EXT_INPUT_IO4_MIRROR true
#define EXT_INPUT_IO5_MIRROR true
#define EXT_INPUT_IO6_MIRROR true
#define EXT_INPUT_IO7_MIRROR true
#define EXT_INPUT_IO8_MIRROR true
#define EXT_INPUT_IO9_MIRROR true
#define TMC_MOTOR_SPI hspi1
/***********************************************************************************************************************
* TMC5160 *
***********************************************************************************************************************/
#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
#define MOTOR1_REFL_MIRROR true
#define MOTOR1_REFR_MIRROR true
#define MOTOR1_MOTOR_SHAFT false //
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 1000 //
#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 //
#define MOTOR1_STEPMOTOR_IHOLD 1
#define MOTOR1_STEPMOTOR_IRUN 8
#define MOTOR1_STEPMOTOR_IHOLDDELAY 100
#define MOTOR1_STEPMOTOR_IGLOBALSCALER 0
#define MOTOR1_MOTOR_DEFAULT_ACC 300
#define MOTOR1_MOTOR_DEFAULT_DEC 300
#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500
#define MOTOR1_MIN_D 0
#define MOTOR1_MAX_D 0
#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100
#define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 300
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50
#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 600

78
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
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@ -0,0 +1,78 @@
#include "subboard200_ext_tmc5160.hpp"
extern "C" {
#include "subboard200_ext_tmc5160_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 "Subboard200ExtTmc5160"
using namespace iflytop;
/***********************************************************************************************************************
* IMPL *
***********************************************************************************************************************/
void Subboard200ExtTmc5160::initialize() {
IO_INIT();
GService::inst()->getZCanProtocolParser()->registerModule(this);
#if 1
static StepMotorCtrlModule* opt_scan_motor = nullptr;
/***********************************************************************************************************************
* ID1 *
***********************************************************************************************************************/
// { TMC5130_MOTOR_INITER(1, 1); }
{
static TMC51X0 motor;
static StepMotorCtrlModule module;
int subid = 1;
TMC51X0::cfg_t tmc5130cfg = {
.spi = &hspi1,
.csgpio = PA4,
.ennPin = PB7,
.spi_mode_select = PB4,
};
motor.initialize(&tmc5130cfg);
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 = 1000;
stepcfg.motor_one_circle_pulse_denominator = 1;
stepcfg.stepmotor_ihold = 1;
stepcfg.stepmotor_irun = 8;
stepcfg.stepmotor_iholddelay = 100;
stepcfg.stepmotor_iglobalscaler = 0;
stepcfg.motor_default_acc = 300;
stepcfg.motor_default_dec = 300;
stepcfg.motor_default_velocity = 500;
stepcfg.min_d = 0;
stepcfg.max_d = 0;
stepcfg.motor_run_to_zero_speed = 100;
stepcfg.motor_run_to_zero_dec = 300;
stepcfg.motor_look_zero_edge_speed = 50;
stepcfg.motor_look_zero_edge_dec = 600;
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());
};
}
#endif
}

24
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp
View File

@ -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 "public_service/public_service.hpp"
#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
namespace iflytop {
class Subboard200ExtTmc5160 : public ExtBoardImpl {
public:
static Subboard200ExtTmc5160 *ins() {
static Subboard200ExtTmc5160 instance;
return &instance;
}
void initialize();
};
} // namespace iflytop

42
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.c
View File

@ -0,0 +1,42 @@
#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;
}
/**
* @brief 板夹仓初始化
*/
void subboard200_ext_tmc5160_board_init() {
common_hardware_init();
MX_SPI1_Init();
}

12
usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h
View File

@ -0,0 +1,12 @@
#pragma once
#include "main.h"
#ifdef __cplusplus
extern "C" {
#endif
void subboard200_ext_tmc5160_board_init();
#ifdef __cplusplus
}
#endif
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