project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
76ef997ee4
commit
13227d8499
3 changed files with 82 additions and 50 deletions
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  1. 103
      components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
  2. 27
      components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
  3. 2
      components/zprotocols/zcancmder

103
components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
View File

@ -110,6 +110,7 @@ int32_t StepMotorCtrlModule::_move_by(int32_t dx, action_cb_status_t status_cb)
getnowpos(xnow);
int32_t toxnow = xnow + dx;
// ZLOGI(TAG, "m%d move_by %d xnow:%d toxnow:%d", m_id, dx, xnow, toxnow);
return move_to(toxnow, [this, status_cb, xnow](int32_t status) {
if (status_cb) status_cb(status);
});
@ -316,10 +317,27 @@ int32_t StepMotorCtrlModule::set_base_param(const base_param_t& param) {
ZLOGI(TAG, "= min_x :%d", m_param.min_x);
ZLOGI(TAG, "= max_x :%d", m_param.max_x);
ZLOGI(TAG, "= shift_x :%d", m_param.shift_x);
ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_move_to_zero_max_d);
ZLOGI(TAG, "= leave_from_zero_max_d :%d", m_param.run_to_zero_leave_from_zero_max_d);
#if 0
s32 run_to_zero_max_d;
s32 run_to_zero_speed;
s32 run_to_zero_dec;
s32 look_zero_edge_max_d;
s32 look_zero_edge_speed;
s32 look_zero_edge_dec;
#endif
ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_max_d);
ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.run_to_zero_speed);
ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.run_to_zero_dec);
ZLOGI(TAG, "= look_zero_edge_max_d :%d", m_param.look_zero_edge_max_d);
ZLOGI(TAG, "= look_zero_edge_speed :%d", m_param.look_zero_edge_speed);
ZLOGI(TAG, "= look_zero_edge_dec :%d", m_param.look_zero_edge_dec);
// ZLOGI(TAG, "= run_to_zero_max_d :%d", m_param.run_to_zero_move_to_zero_max_d);
// ZLOGI(TAG, "= leave_from_zero_max_d :%d", m_param.run_to_zero_leave_from_zero_max_d);
// ZLOGI(TAG, "= run_to_zero_speed :%d", m_param.run_to_zero_speed);
// ZLOGI(TAG, "= run_to_zero_dec :%d", m_param.run_to_zero_dec);
ZLOGI(TAG, "==================================");
return 0;
}
@ -362,7 +380,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
if (!m_Xgpio->getState()) {
{
ZLOGI(TAG, "---------STEP1-------- move to zero first");
_motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed * 2, m_param.acc, m_param.run_to_zero_dec);
_motor_move_by(-m_param.run_to_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
@ -396,7 +414,7 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
* @brief 如果设备已经在零点，则反向移动一定距离远离零点
*/
if (m_Xgpio->getState()) {
_motor_move_by(m_param.run_to_zero_leave_from_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
_motor_move_by(m_param.look_zero_edge_max_d, m_param.look_zero_edge_speed, m_param.acc, m_param.look_zero_edge_dec);
while (!_motor_is_reach_target()) {
if (m_thread.getExitFlag()) break;
if (!m_Xgpio->getState()) break;
@ -417,37 +435,37 @@ int32_t StepMotorCtrlModule::exec_move_to_zero_task() {
/*******************************************************************************
* 移动X轴到零点 *
*******************************************************************************/
{
ZLOGI(TAG, "---------STEP3-------- move to zero");
_motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
bool xreach_zero = false;
while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
if (m_Xgpio->getState()) {
xreach_zero = true;
_motor_stop(-1);
while (!m_stepM1->isStoped()) { // 等待电机停止
_motor_stop(-1);
vTaskDelay(10);
}
break;
}
vTaskDelay(1);
}
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
return err::kce_break_by_user;
}
if (!xreach_zero) {
// 触发异常回调
ZLOGE(TAG, "x reach zero failed");
return err::kce_not_found_x_zero_point;
}
}
// {
// ZLOGI(TAG, "---------STEP3-------- move to zero");
// _motor_move_by(-m_param.run_to_zero_move_to_zero_max_d, m_param.run_to_zero_speed, m_param.acc, m_param.run_to_zero_dec);
// bool xreach_zero = false;
// while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
// // ZLOGI(TAG, "xgpio %d %d %d", m_Xgpio->getState(), m_stepM1->isReachTarget(), m_stepM2->isReachTarget());
// if (m_Xgpio->getState()) {
// xreach_zero = true;
// _motor_stop(-1);
// while (!m_stepM1->isStoped()) { // 等待电机停止
// _motor_stop(-1);
// vTaskDelay(10);
// }
// break;
// }
// vTaskDelay(1);
// }
// if (m_thread.getExitFlag()) {
// ZLOGI(TAG, "break move to zero thread exit");
// return err::kce_break_by_user;
// }
// if (!xreach_zero) {
// // 触发异常回调
// ZLOGE(TAG, "x reach zero failed");
// return err::kce_not_found_x_zero_point;
// }
// }
if (m_thread.getExitFlag()) {
ZLOGI(TAG, "break move to zero thread exit");
@ -579,17 +597,20 @@ void StepMotorCtrlModule::call_exec_status_cb(int32_t status, action_cb_status_t
void StepMotorCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg));
cfg.base_param.distance_scale = 10000;
cfg.base_param.ihold = 0;
cfg.base_param.irun = 8;
cfg.base_param.ihold = 1;
cfg.base_param.irun = 3;
cfg.base_param.iholddelay = 100;
cfg.base_param.acc = 300;
cfg.base_param.dec = 300;
cfg.base_param.maxspeed = 800;
cfg.base_param.run_to_zero_move_to_zero_max_d = 10000 * 100;
cfg.base_param.run_to_zero_leave_from_zero_max_d = 10000 * 2;
cfg.base_param.run_to_zero_speed = 100;
cfg.base_param.run_to_zero_dec = 600;
cfg.base_param.run_to_zero_max_d = 10000 * 100;
cfg.base_param.run_to_zero_speed = 100;
cfg.base_param.run_to_zero_dec = 600;
cfg.base_param.look_zero_edge_max_d = 10000 * 5;
cfg.base_param.look_zero_edge_speed = 100;
cfg.base_param.look_zero_edge_dec = 600;
}
int32_t StepMotorCtrlModule::flush() {

27
components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
View File

@ -55,10 +55,17 @@ static void cmd_dump_ack(I_StepMotorCtrlModule::base_param_t& ack) {
ZLOGI(TAG, " min_x: %d", ack.min_x);
ZLOGI(TAG, " max_x: %d", ack.max_x);
ZLOGI(TAG, " shift_x: %d", ack.shift_x);
ZLOGI(TAG, " run_to_zero_move_to_zero_max_d: %d", ack.run_to_zero_move_to_zero_max_d);
ZLOGI(TAG, " run_to_zero_leave_from_zero_max_d: %d", ack.run_to_zero_leave_from_zero_max_d);
ZLOGI(TAG, " run_to_zero_speed: %d", ack.run_to_zero_speed);
ZLOGI(TAG, " run_to_zero_dec: %d", ack.run_to_zero_dec);
ZLOGI(TAG, "= run_to_zero_max_d :%d", ack.run_to_zero_max_d);
ZLOGI(TAG, "= run_to_zero_speed :%d", ack.run_to_zero_speed);
ZLOGI(TAG, "= run_to_zero_dec :%d", ack.run_to_zero_dec);
ZLOGI(TAG, "= look_zero_edge_max_d :%d", ack.look_zero_edge_max_d);
ZLOGI(TAG, "= look_zero_edge_speed :%d", ack.look_zero_edge_speed);
ZLOGI(TAG, "= look_zero_edge_dec :%d", ack.look_zero_edge_dec);
// ZLOGI(TAG, " run_to_zero_move_to_zero_max_d: %d", ack.run_to_zero_move_to_zero_max_d);
// ZLOGI(TAG, " run_to_zero_leave_from_zero_max_d: %d", ack.run_to_zero_leave_from_zero_max_d);
// ZLOGI(TAG, " run_to_zero_speed: %d", ack.run_to_zero_speed);
// ZLOGI(TAG, " run_to_zero_dec: %d", ack.run_to_zero_dec);
}
static void cmd_dump_ack(I_StepMotorCtrlModule::logic_point_t& ack) {
@ -244,14 +251,18 @@ void StepMotorCtrlScriptCmderModule::regcmd() { //
param.max_x = value;
} else if (streq(paramName, "shift_x")) {
param.shift_x = value;
} else if (streq(paramName, "run_to_zero_move_to_zero_max_d")) {
param.run_to_zero_move_to_zero_max_d = value;
} else if (streq(paramName, "run_to_zero_leave_from_zero_max_d")) {
param.run_to_zero_leave_from_zero_max_d = value;
} else if (streq(paramName, "run_to_zero_max_d")) {
param.run_to_zero_max_d = value;
} else if (streq(paramName, "run_to_zero_speed")) {
param.run_to_zero_speed = value;
} else if (streq(paramName, "run_to_zero_dec")) {
param.run_to_zero_dec = value;
} else if (streq(paramName, "look_zero_edge_max_d")) {
param.look_zero_edge_max_d = value;
} else if (streq(paramName, "look_zero_edge_speed")) {
param.look_zero_edge_speed = value;
} else if (streq(paramName, "look_zero_edge_dec")) {
param.look_zero_edge_dec = value;
} else {
ZLOGE(TAG, "invalid param name:%s", paramName);
return (int32_t)err::kce_param_out_of_range;

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit 66f198bd2f0f38fefbdba179b98317f3948e0c04
Subproject commit 5c9d5ade69831f8d65d7ed30e49987706100bbfa
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