add tmc5160_ext

1 year ago · d3842128c9
7 changed files with 233 additions and 1 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 90ea2d6ded854658853cff8ca31a56835eac43e6
+Subproject commit 7dae22500da25578045f9cd39c7011243d8b00fe
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@ -7,6 +7,8 @@
 #include "sdk/os/zos.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_board.h"
 #include "subboards/subboard30_shake_module/subboard30_shake_module.hpp"
@ -53,6 +55,9 @@ static void board_init() {
    case 90:
      subboard90_optical_module_board_init();
      break;
+    case 200:
+      subboard200_ext_tmc5160_board_init();
+      break;
    default:
      common_hardware_init();
      break;
@ -77,6 +82,9 @@ static void board_post_init() {
    case 80:
      Subboard80Cliptip::ins()->initialize();
      break;
+    case 200:
+      Subboard200ExtTmc5160::ins()->initialize();
+      break;
    // case 90:
    //   Subboard90OpticalModule::ins()->initialize();
    //   break;
--- a/usrc/subboards/subboard200_ext_tmc5160/pri_board.h
+++ b/usrc/subboards/subboard200_ext_tmc5160/pri_board.h
@ -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
--- a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
+++ b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.cpp
@ -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
+}
--- a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp
+++ b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp
@ -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
--- a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.c
+++ b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.c
@ -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();
+}
--- a/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h
+++ b/usrc/subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h
@ -0,0 +1,12 @@
+#pragma once
+#include "main.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void subboard200_ext_tmc5160_board_init();
+
+#ifdef __cplusplus
+}
+#endif