project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
ed76b5bd57
commit
6fca64edea
2 changed files with 120 additions and 13 deletions
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  1. 73
      components/step_motor_45/step_motor_45.cpp
  2. 60
      components/step_motor_45/step_motor_45.hpp

73
components/step_motor_45/step_motor_45.cpp
View File

@ -33,12 +33,14 @@ stepmotor_control_matrix_t onestepsq2[] = {
#define MAX_STEP_TABLE_OFF (ZARRAY_SIZE(onestepsq1) - 1) #define MAX_STEP_TABLE_OFF (ZARRAY_SIZE(onestepsq1) - 1)
void StepMotor45::initialize(StepMotor45Scheduler* scheduler, cfg_t cfg) {
void StepMotor45::initialize(int32_t module_id, StepMotor45Scheduler *scheduler, cfg_t cfg) {
m_cfg = cfg; m_cfg = cfg;
if (m_cfg.zerofilterCount == 0) { if (m_cfg.zerofilterCount == 0) {
m_cfg.zerofilterCount = 20; m_cfg.zerofilterCount = 20;
} }
m_module_id = module_id;
// ³õʼ»¯GPIO // ³õʼ»¯GPIO
ZASSERT(cfg.driverPin[0] != PinNull); ZASSERT(cfg.driverPin[0] != PinNull);
ZASSERT(cfg.driverPin[1] != PinNull); ZASSERT(cfg.driverPin[1] != PinNull);
@ -109,7 +111,7 @@ void StepMotor45::onTimIRQ1ms() {
} }
} }
int32_t StepMotor45::get_zero_pin_state(int32_t& state) {
int32_t StepMotor45::get_zero_pin_state(int32_t &state) {
CriticalContext cc; CriticalContext cc;
state = getzeropinstate(); state = getzeropinstate();
// ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate()); // ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate());
@ -196,7 +198,7 @@ void StepMotor45::schedule() {
m_off = 0; m_off = 0;
} }
stepmotor_control_matrix_t* table = NULL;
stepmotor_control_matrix_t *table = NULL;
if (m_cfg.mirror) { if (m_cfg.mirror) {
table = onestepsq2; table = onestepsq2;
} else { } else {
@ -242,8 +244,8 @@ int32_t StepMotor45::move_to(int to, int speed) {
posmode = true; posmode = true;
return (int32_t)0; return (int32_t)0;
} }
int32_t StepMotor45::move_to(int to) { move_to(to, defaultspeed); }
int32_t StepMotor45::is_reach_target_pos(bool& reach) {
int32_t StepMotor45::move_to(int to) { return move_to(to, defaultspeed); }
int32_t StepMotor45::is_reach_target_pos(bool &reach) {
CriticalContext cc; CriticalContext cc;
if (posmode) { if (posmode) {
reach = m_pos == m_targetPos; reach = m_pos == m_targetPos;
@ -281,3 +283,64 @@ void StepMotor45::stop_motor() {
setdriverpinstate(1, 1, 1, 1); setdriverpinstate(1, 1, 1, 1);
} }
/*******************************************************************************
* OVERRIDE MODULE *
*******************************************************************************/
int32_t StepMotor45::getid(int32_t *id) {
*id = m_module_id;
return (int32_t)0;
}
int32_t StepMotor45::module_stop() {
stop_motor();
return (int32_t)0;
}
int32_t StepMotor45::module_break() {
stop_motor();
return (int32_t)0;
}
int32_t StepMotor45::module_get_last_exec_status(int32_t *status) {
*status = 0;
return (int32_t)0;
}
int32_t StepMotor45::module_get_status(int32_t *status) {
if (m_state == kstop) {
*status = 0;
} else {
*status = 1;
}
return (int32_t)0;
}
int32_t StepMotor45::module_get_error(int32_t *iserror) {
*iserror = 0;
return (int32_t)0;
}
int32_t StepMotor45::module_clear_error() { return (int32_t)0; }
int32_t StepMotor45::module_set_param(int32_t param_id, int32_t param_value) { return err::kmodule_not_find_config_index; }
int32_t StepMotor45::module_get_param(int32_t param_id, int32_t *param_value) { return err::kmodule_not_find_config_index; }
int32_t StepMotor45::module_readio(int32_t *io) { return (int32_t)0; }
int32_t StepMotor45::module_writeio(int32_t io) { return (int32_t)0; }
int32_t StepMotor45::module_read_adc(int32_t adcindex, int32_t *adc) { return (int32_t)0; }
/*******************************************************************************
* Motor *
*******************************************************************************/
int32_t StepMotor45::motor_enable(int32_t enable) { return (int32_t)0; }
int32_t StepMotor45::motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return rotate(direction); }
int32_t StepMotor45::motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return move_by(distance); }
int32_t StepMotor45::motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return move_to(position); }
int32_t StepMotor45::motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }
int32_t StepMotor45::motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) { return rotate(direction); }
int32_t StepMotor45::motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) { return move_by(distance); }
int32_t StepMotor45::motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) { return move_to(position); }
int32_t StepMotor45::motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
int32_t StepMotor45::motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return zero_calibration(); }
int32_t StepMotor45::motor_read_pos(int32_t *pos) {
*pos = m_pos;
return (int32_t)0;
}

60
components/step_motor_45/step_motor_45.hpp
View File

@ -2,6 +2,7 @@
#include "sdk/os/zos.hpp" #include "sdk/os/zos.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp" #include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
namespace iflytop { namespace iflytop {
using namespace std; using namespace std;
@ -11,7 +12,7 @@ using namespace std;
* https://iflytop1.feishu.cn/wiki/MtaawWm8yijb0tkpWoic1IhsnZc * https://iflytop1.feishu.cn/wiki/MtaawWm8yijb0tkpWoic1IhsnZc
*/ */
class StepMotor45 {
class StepMotor45 : public ZIModule, public ZIMotor {
public: public:
typedef enum { typedef enum {
kstop, kstop,
@ -60,21 +61,24 @@ class StepMotor45 {
ZGPIO *m_driverPinZGPIO[4]; ZGPIO *m_driverPinZGPIO[4];
ZGPIO *m_zeroPinZGPIO; ZGPIO *m_zeroPinZGPIO;
cfg_t m_cfg;
cfg_t m_cfg;
int32_t m_module_id;
int defaultspeed = 1000; int defaultspeed = 1000;
public: public:
void initialize(StepMotor45Scheduler *scheduler, cfg_t cfg);
void initialize(int32_t module_id, StepMotor45Scheduler *scheduler, cfg_t cfg);
int32_t rotate(int direction) { rotate(direction, defaultspeed); }
int32_t rotate(int direction) { return rotate(direction, defaultspeed); }
int32_t rotate(int direction, int speed); int32_t rotate(int direction, int speed);
int32_t move_by(int pos, int speed); int32_t move_by(int pos, int speed);
int32_t move_by(int pos) { move_by(pos, defaultspeed); }
int32_t move_by(int pos) {return move_by(pos, defaultspeed); }
int32_t move_to(int to, int speed); int32_t move_to(int to, int speed);
int32_t move_to(int to); int32_t move_to(int to);
int32_t set_default_speed(int speed) { defaultspeed = speed; }
int32_t set_default_speed(int speed) { defaultspeed = speed;
return 0;
}
int32_t get_default_speed(int32_t &speed) { int32_t get_default_speed(int32_t &speed) {
speed = defaultspeed; speed = defaultspeed;
return (int32_t)0; return (int32_t)0;
@ -82,7 +86,9 @@ class StepMotor45 {
int32_t is_reach_target_pos(bool &reach); int32_t is_reach_target_pos(bool &reach);
int32_t stop(); int32_t stop();
int32_t zero_calibration(); int32_t zero_calibration();
int32_t set_pos(int32_t pos) { m_pos = pos; }
int32_t set_pos(int32_t pos) { m_pos = pos;
return int32_t(0);}
int32_t get_zero_pin_state(int32_t &state); int32_t get_zero_pin_state(int32_t &state);
@ -91,6 +97,44 @@ class StepMotor45 {
return (int32_t)0; return (int32_t)0;
} }
/*******************************************************************************
* OVERRIDE MODULE *
*******************************************************************************/
virtual int32_t getid(int32_t *id) override;
virtual int32_t module_stop() override;
virtual int32_t module_break() override;
virtual int32_t module_get_last_exec_status(int32_t *status) override;
virtual int32_t module_get_status(int32_t *status) override;
virtual int32_t module_get_error(int32_t *iserror) override;
virtual int32_t module_clear_error() override;
virtual int32_t module_set_param(int32_t param_id, int32_t param_value) override;
virtual int32_t module_get_param(int32_t param_id, int32_t *param_value) override;
virtual int32_t module_readio(int32_t *io) override;
virtual int32_t module_writeio(int32_t io) override;
virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
/*******************************************************************************
* Motor *
*******************************************************************************/
virtual int32_t motor_enable(int32_t enable) override;
virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) override;
virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) override;
virtual int32_t motor_rotate_acctime(int32_t direction, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_by_acctime(int32_t distance, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_acctime(int32_t position, int32_t motor_velocity, int32_t acctime) override;
virtual int32_t motor_move_to_zero_forward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_move_to_zero_backward(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
virtual int32_t motor_read_pos(int32_t *pos);
private: private:
bool getzeropinstate(); bool getzeropinstate();
void setdriverpinstate(bool s1, bool s2, bool s3, bool s4); void setdriverpinstate(bool s1, bool s2, bool s3, bool s4);
@ -102,4 +146,4 @@ class StepMotor45 {
void onTimIRQ1ms(); void onTimIRQ1ms();
}; };
} // namespace iflytop
} // namespace iflytop
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