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a8000_subboard_sdk
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update

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zhaohe 2 years ago
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c6b5f76925
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5d816689f1
3 changed files with 43 additions and 43 deletions
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  1. 1
      components/iflytop_can_slave_v1/iflytop_can_slave_protocol.hpp
  2. 63
      components/single_axis_motor_control/single_axis_motor_control.cpp
  3. 22
      components/single_axis_motor_control/single_axis_motor_control.hpp

1
components/iflytop_can_slave_v1/iflytop_can_slave_protocol.hpp
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@ -148,6 +148,7 @@ class Reg_t {
bool is(reg_flag_t flag) { return mask & flag; } bool is(reg_flag_t flag) { return mask & flag; }
int32_t getValue() { return value; } int32_t getValue() { return value; }
icps::error_t setVal(int32_t v) { return setValue(v); }
icps::error_t setValue(int32_t v) { icps::error_t setValue(int32_t v) {
if (is(klimit)) { if (is(klimit)) {
if (v < min) if (v < min)

63
components/single_axis_motor_control/single_axis_motor_control.cpp
View File

@ -36,18 +36,17 @@ void SingleAxisMotorControler::initialize(const char* name, IflytopCanProtocolSt
m_currentPosReg = m_processer->activeReg(m_slave, SAMC_REG_STAT_CURRENT_POS, icps::kwr, 0); m_currentPosReg = m_processer->activeReg(m_slave, SAMC_REG_STAT_CURRENT_POS, icps::kwr, 0);
m_exceptionReg = m_processer->activeReg(m_slave, SAMC_REG_STAT_EXCEPTION, icps::kwr, 0); m_exceptionReg = m_processer->activeReg(m_slave, SAMC_REG_STAT_EXCEPTION, icps::kwr, 0);
cfg_acc_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_ACC, icps::kwr, 0);
cfg_dec_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_DEC, icps::kwr, 0);
cfg_velocity_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_VELOCITY, icps::kwr, 0);
cfg_zero_shift_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_ZERO_SHIFT, icps::kwr, 0); // 零点偏移
cfg_runhome_velocity_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNHOME_VELOCITY, icps::kwr, 0); // 归零速度
cfg_runtohome_dec_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_DEC, icps::kwr, 0); // 归零减速度
cfg_runtohome_max_distance_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_MAX_DISTANCE, icps::kwr, 0); // 归零最大距离
cfg_runtohome_leave_zero_point_distance_reg =
m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_LEAVE_ZERO_POINT_DISTANCE, icps::kwr, 0); // 离开零点距离
cfg_min_pos_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_MIN_POS, icps::kwr, 0); // 最小位置
cfg_max_pos_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_MAX_POS, icps::kwr, 0); // 最大位置
cfg_runtohome_keep_move_distance_reg = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_KEEP_MOVE_DISTANCE, icps::kwr, 0); // 归零阶段1移动距离
cfg_acc = m_processer->activeReg(m_slave, SAMC_REG_CFG_ACC, icps::kwr, 0);
cfg_dec = m_processer->activeReg(m_slave, SAMC_REG_CFG_DEC, icps::kwr, 0);
cfg_velocity = m_processer->activeReg(m_slave, SAMC_REG_CFG_VELOCITY, icps::kwr, 0);
cfg_zero_shift = m_processer->activeReg(m_slave, SAMC_REG_CFG_ZERO_SHIFT, icps::kwr, 0); // 零点偏移
cfg_runhome_velocity = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNHOME_VELOCITY, icps::kwr, 0); // 归零速度
cfg_runtohome_dec = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_DEC, icps::kwr, 0); // 归零减速度
cfg_runtohome_max_distance = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_MAX_DISTANCE, icps::kwr, 0); // 归零最大距离
cfg_runtohome_leave_zero_point_distance = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_LEAVE_ZERO_POINT_DISTANCE, icps::kwr, 0); // 离开零点距离
cfg_min_pos = m_processer->activeReg(m_slave, SAMC_REG_CFG_MIN_POS, icps::kwr, 0); // 最小位置
cfg_max_pos = m_processer->activeReg(m_slave, SAMC_REG_CFG_MAX_POS, icps::kwr, 0); // 最大位置
cfg_runtohome_keep_move_distance = m_processer->activeReg(m_slave, SAMC_REG_CFG_RUNTOHOME_KEEP_MOVE_DISTANCE, icps::kwr, 0); // 归零阶段1移动距离
} }
icps::error_t SingleAxisMotorControler::onHostRegisterWriteEvent(icps::WriteEvent* event) { icps::error_t SingleAxisMotorControler::onHostRegisterWriteEvent(icps::WriteEvent* event) {
@ -88,7 +87,7 @@ icps::error_t SingleAxisMotorControler::rotate(int32_t velocity) {
m_step_scheduler.reset(); m_step_scheduler.reset();
m_step_scheduler.pushActionAction([this, velocity](StepActionContext* context) { // m_step_scheduler.pushActionAction([this, velocity](StepActionContext* context) { //
motor_rotate(velocity, cfg_acc_reg->getValue(), cfg_dec_reg->getValue());
motor_rotate(velocity, cfg_acc->getValue(), cfg_dec->getValue());
}); });
m_step_scheduler.pushActionIsDone([](StepActionContext* context) { return false; }); m_step_scheduler.pushActionIsDone([](StepActionContext* context) { return false; });
m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); }); m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); });
@ -104,7 +103,7 @@ icps::error_t SingleAxisMotorControler::moveTo(int32_t pos) {
m_step_scheduler.reset(); m_step_scheduler.reset();
m_step_scheduler.pushActionAction([this, pos](StepActionContext* context) { // m_step_scheduler.pushActionAction([this, pos](StepActionContext* context) { //
motor_moveTo(pos, cfg_velocity_reg->getValue(), cfg_acc_reg->getValue(), cfg_dec_reg->getValue());
motor_moveTo(pos, cfg_velocity->getValue(), cfg_acc->getValue(), cfg_dec->getValue());
}); });
m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1)); m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1));
m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); }); m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); });
@ -121,7 +120,7 @@ icps::error_t SingleAxisMotorControler::moveBy(int32_t pos) {
m_step_scheduler.reset(); m_step_scheduler.reset();
m_step_scheduler.pushActionAction([this, pos](StepActionContext* context) { // m_step_scheduler.pushActionAction([this, pos](StepActionContext* context) { //
motor_moveBy(pos, cfg_velocity_reg->getValue(), cfg_acc_reg->getValue(), cfg_dec_reg->getValue());
motor_moveBy(pos, cfg_velocity->getValue(), cfg_acc->getValue(), cfg_dec->getValue());
}); });
m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1)); m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1));
m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); }); m_step_scheduler.regDoneCallback([this]() { changeToState(kstate_idle); });
@ -149,10 +148,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
m_motor->stop(); m_motor->stop();
}); });
motor_moveBy(-cfg_runtohome_max_distance_reg->getValue(), //
cfg_runhome_velocity_reg->getValue() * 2, //
cfg_acc_reg->getValue(), //
cfg_runtohome_dec_reg->getValue());
motor_moveBy(-cfg_runtohome_max_distance->getValue(), //
cfg_runhome_velocity->getValue() * 2, //
cfg_acc->getValue(), //
cfg_runtohome_dec->getValue());
}); });
m_step_scheduler.pushActionIsDone([this](StepActionContext* context) { m_step_scheduler.pushActionIsDone([this](StepActionContext* context) {
if (motorIsStop(context)) { if (motorIsStop(context)) {
@ -173,10 +172,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
*/ */
m_step_scheduler.pushActionAction([this](StepActionContext* context) { // m_step_scheduler.pushActionAction([this](StepActionContext* context) { //
regGpioIrqProcesser(nullptr); regGpioIrqProcesser(nullptr);
motor_moveBy(cfg_runtohome_leave_zero_point_distance_reg->getValue(), //
cfg_runhome_velocity_reg->getValue(), //
cfg_acc_reg->getValue(), //
cfg_dec_reg->getValue()); // 此时处于零点位置，先离开原点一定位置
motor_moveBy(cfg_runtohome_leave_zero_point_distance->getValue(), //
cfg_runhome_velocity->getValue(), //
cfg_acc->getValue(), //
cfg_dec->getValue()); // 此时处于零点位置，先离开原点一定位置
}); });
m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1)); m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1));
@ -190,10 +189,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
m_runToHomeContext.zeroPointPos = m_motor->getXACTUAL(); m_runToHomeContext.zeroPointPos = m_motor->getXACTUAL();
m_motor->stop(); m_motor->stop();
}); });
motor_moveBy(-cfg_runtohome_leave_zero_point_distance_reg->getValue() * 1.5, //
cfg_runhome_velocity_reg->getValue(), //
cfg_acc_reg->getValue(), //
cfg_runtohome_dec_reg->getValue()); // 此时处于零点位置，先离开原点一定位置
motor_moveBy(-cfg_runtohome_leave_zero_point_distance->getValue() * 1.5, //
cfg_runhome_velocity->getValue(), //
cfg_acc->getValue(), //
cfg_runtohome_dec->getValue()); // 此时处于零点位置，先离开原点一定位置
}); });
m_step_scheduler.pushActionIsDone([this](StepActionContext* context) { m_step_scheduler.pushActionIsDone([this](StepActionContext* context) {
if (motorIsStop(context)) { if (motorIsStop(context)) {
@ -211,7 +210,7 @@ icps::error_t SingleAxisMotorControler::runToHome() {
int32_t nowposition = m_motor->getXACTUAL(); int32_t nowposition = m_motor->getXACTUAL();
int32_t nowposition_real = nowposition - m_runToHomeContext.zeroPointPos; int32_t nowposition_real = nowposition - m_runToHomeContext.zeroPointPos;
ZLOGI(m_name, "nowposition:%d,zeroPointPosition:%d", nowposition, m_runToHomeContext.zeroPointPos); ZLOGI(m_name, "nowposition:%d,zeroPointPosition:%d", nowposition, m_runToHomeContext.zeroPointPos);
m_motor->setXACTUAL(nowposition_real - cfg_zero_shift_reg->getValue());
m_motor->setXACTUAL(nowposition_real - cfg_zero_shift->getValue());
}); });
/** /**
@ -219,10 +218,10 @@ icps::error_t SingleAxisMotorControler::runToHome() {
*/ */
m_step_scheduler.pushActionAction([this](StepActionContext* context) { // m_step_scheduler.pushActionAction([this](StepActionContext* context) { //
regGpioIrqProcesser(nullptr); regGpioIrqProcesser(nullptr);
motor_moveTo(0, //
cfg_runhome_velocity_reg->getValue(), //
cfg_acc_reg->getValue(), //
cfg_dec_reg->getValue()); // 此时处于零点位置，先离开原点一定位置
motor_moveTo(0, //
cfg_runhome_velocity->getValue(), //
cfg_acc->getValue(), //
cfg_dec->getValue()); // 此时处于零点位置，先离开原点一定位置
}); });
m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1)); m_step_scheduler.pushActionIsDone(bind(&SingleAxisMotorControler::motorIsStop, this, std::placeholders::_1));

22
components/single_axis_motor_control/single_axis_motor_control.hpp
View File

@ -91,17 +91,17 @@ class SingleAxisMotorControler : public ICPSListener {
ZGPIO::onirq_t m_gpioirqprocesser; ZGPIO::onirq_t m_gpioirqprocesser;
public: public:
icps::Reg_t* cfg_acc_reg;
icps::Reg_t* cfg_dec_reg;
icps::Reg_t* cfg_velocity_reg;
icps::Reg_t* cfg_zero_shift_reg;
icps::Reg_t* cfg_runhome_velocity_reg;
icps::Reg_t* cfg_runtohome_dec_reg;
icps::Reg_t* cfg_runtohome_max_distance_reg;
icps::Reg_t* cfg_runtohome_leave_zero_point_distance_reg;
icps::Reg_t* cfg_min_pos_reg;
icps::Reg_t* cfg_max_pos_reg;
icps::Reg_t* cfg_runtohome_keep_move_distance_reg;
icps::Reg_t* cfg_acc;
icps::Reg_t* cfg_dec;
icps::Reg_t* cfg_velocity;
icps::Reg_t* cfg_zero_shift;
icps::Reg_t* cfg_runhome_velocity;
icps::Reg_t* cfg_runtohome_dec;
icps::Reg_t* cfg_runtohome_max_distance;
icps::Reg_t* cfg_runtohome_leave_zero_point_distance;
icps::Reg_t* cfg_min_pos;
icps::Reg_t* cfg_max_pos;
icps::Reg_t* cfg_runtohome_keep_move_distance;
public: public:
SingleAxisMotorControler(){}; SingleAxisMotorControler(){};

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