diff --git a/.vscode/settings.json b/.vscode/settings.json index 6f1625e..181a970 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -60,6 +60,7 @@ "streambuf": "cpp", "cinttypes": "cpp", "typeinfo": "cpp", - "can.h": "c" + "can.h": "c", + "deque": "cpp" } } \ No newline at end of file diff --git a/app/Core/Src/can.c b/app/Core/Src/can.c index 909a3fb..8fca68a 100644 --- a/app/Core/Src/can.c +++ b/app/Core/Src/can.c @@ -47,7 +47,7 @@ void MX_CAN1_Init(void) hcan1.Init.AutoBusOff = ENABLE; hcan1.Init.AutoWakeUp = DISABLE; hcan1.Init.AutoRetransmission = ENABLE; - hcan1.Init.ReceiveFifoLocked = ENABLE; + hcan1.Init.ReceiveFifoLocked = DISABLE; hcan1.Init.TransmitFifoPriority = DISABLE; if (HAL_CAN_Init(&hcan1) != HAL_OK) { diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index b15f2e1..02fd5f6 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\src\ic + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1 @@ -15,7 +15,7 @@ 38003 Registers - 122 30 + 160 161 346 @@ -90,28 +90,28 @@ 44 - 0 - 1 + 2 + 3 - -1 - -1 + -32000 + -32000 -1 -1 - 288 - 290 - 1390 - 1274 + 47 + -1447 + -347 + 1033 0 - 2371 - 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898 @@ -3603,7 +3603,7 @@ 0 100 - 11 + 20 ../Core/Src/main.c 0 @@ -3669,17 +3669,17 @@ ..\..\src\umain.cpp - 25 - 23 - 48 + 0 + 1 + 20 1 0 ..\..\src\port.cpp - 4 - 22 + 3 + 23 47 1 @@ -3748,6 +3748,51 @@ 0 + + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\Macros.h + 0 + 1 + 27 + 1 + + 0 + + + C:\Keil_v5\ARM\ARMCC\include\functional + 0 + 1 + 1 + 1 + + 0 + + + ../../dep/libiflytop_micro\common\zsignal.hpp + 0 + 109 + 133 + 1 + + 0 + + + ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp + 0 + 1 + 18 + 1 + + 0 + + + ..\..\src\port.hpp + 36 + 1 + 36 + 1 + + 0 + diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index accba96..414b451 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -806,7 +806,7 @@ dep/libiflytop_micro - 0 + 1 0 0 0 @@ -822,6 +822,30 @@ 0 0 + + 5 + 34 + 8 + 0 + 0 + 0 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp + stm32_hal_res_manager.cpp + 0 + 0 + + + 5 + 35 + 8 + 0 + 0 + 0 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.cpp + iflytop_can_client.cpp + 0 + 0 + @@ -832,7 +856,7 @@ 0 6 - 34 + 36 8 0 0 @@ -844,7 +868,7 @@ 6 - 35 + 37 8 0 0 @@ -864,7 +888,7 @@ 0 7 - 36 + 38 1 0 0 @@ -876,7 +900,7 @@ 7 - 37 + 39 1 0 0 @@ -888,7 +912,7 @@ 7 - 38 + 40 1 0 0 @@ -900,7 +924,7 @@ 7 - 39 + 41 1 0 0 @@ -912,7 +936,7 @@ 7 - 40 + 42 8 0 0 @@ -924,7 +948,7 @@ 7 - 41 + 43 1 0 0 @@ -936,7 +960,7 @@ 7 - 42 + 44 1 0 0 @@ -948,7 +972,7 @@ 7 - 43 + 45 8 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index 6c23be5..69a232d 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -1027,6 +1027,16 @@ 1 ..\..\dep\libiflytop_micro\stm32\basic\basic.c + + stm32_hal_res_manager.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp + + + iflytop_can_client.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.cpp + diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index bf17a8f..59c26e1 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit bf17a8fb71483b29390173bc035f135b33b58c6a +Subproject commit 59c26e1dcba6743ee3ed302bb14a110526c50aaf diff --git a/src/port.cpp b/src/port.cpp index 55b1c23..6ebba1d 100644 --- a/src/port.cpp +++ b/src/port.cpp @@ -2,11 +2,14 @@ #include #include "libiflytop_micro/stm32/basic/basic.h" +#include "libtrinamic/src/ic/tmc2160.hpp" +#include "libtrinamic\src\ic\tmc4361A.hpp" #include "main.h" #include "project_board.hpp" #include "spi.h" #include "tim.h" #include "usart.h" + /** * @brief printf 串口重定向 * @@ -15,13 +18,14 @@ * @return int */ extern "C" { -int fputc(int ch, FILE* stream) { +int fputc(int ch, FILE *stream) { uint8_t c = ch; HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); return ch; } } +namespace iflytop { void port_do_debug_light_state() { static uint32_t lastprocess = 0; if (sys_haspassedms(lastprocess) > 300) { @@ -30,11 +34,10 @@ void port_do_debug_light_state() { } } void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } - void port_spi_cs_select(bool select) { // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); } -void port_tmc_motor_spi_write_and_read(int channel, uint8_t* data, size_t length) { +void port_tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length) { // if (channel == MOTOR_1_TMC4361A_CHANNEL) { port_spi_cs_select(false); @@ -43,7 +46,6 @@ void port_tmc_motor_spi_write_and_read(int channel, uint8_t* data, size_t length port_spi_cs_select(true); } } - void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) { if (channel == MOTOR_1_TMC4361A_CHANNEL) { HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET); @@ -55,7 +57,6 @@ void port_tmc_ENN_pin_set_state(uint8_t channel, bool state) { } } void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state) {} - void port_tmc_extern_clk_enable() { #if 1 /** @@ -129,3 +130,5 @@ void port_peltier_set_pwm(int pwm) { HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ } } + +} // namespace iflytop diff --git a/src/port.hpp b/src/port.hpp index 7bcd42c..508034b 100644 --- a/src/port.hpp +++ b/src/port.hpp @@ -1,22 +1,64 @@ #include #include +#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" +namespace iflytop { void port_do_debug_light_state(); void port_delay_us(uint32_t us); /******************************************************************************* - * tmc芯片驱动相关 * + * IflytopMicroOS对接 * *******************************************************************************/ -void port_tmc_motor_spi_write_and_read(int channel, uint8_t* data, size_t length); -void port_tmc_extern_clk_enable(); - -void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state); -void port_tmc_ENN_pin_set_state(uint8_t channel, bool state); -void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state); - -int32_t port_tmc4361_get_version(uint8_t channel); +class IflytopMicroOSImpl : public IflytopMicroOS { + public: + virtual void sleepMS(int ms) { HAL_Delay(ms); }; + virtual uint32_t hasPassedMS(uint32_t ticket) { return sys_haspassedms(ticket); }; + virtual uint32_t getTicket() { return HAL_GetTick(); }; + virtual uint32_t getNowMS() { return HAL_GetTick(); }; +}; /******************************************************************************* * 帕尔贴驱动电路 * *******************************************************************************/ void port_peltier_set_pwm(int pwm); +/******************************************************************************* + * tmc芯片驱动相关 * + *******************************************************************************/ +void port_tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length); +void port_tmc_extern_clk_enable(); +void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state); +void port_tmc_ENN_pin_set_state(uint8_t channel, bool state); +void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state); +int32_t port_tmc4361_get_version(uint8_t channel); +/** + * @brief 对接TMC4361和硬件的接口 + */ +class TMC4361AImpl : public TMC4361A { + protected: + virtual void setResetPinState(bool state) { port_tmc_nRESET_pin_set_state(m_channel, state); }; + virtual void setFREEZEPinState(bool state) { port_tmc_nFREEZE_pin_set_state(m_channel, state); }; + virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; + virtual bool getTargetReachedPinState() { return false; }; + virtual void sleepus(int32_t us) { port_delay_us(us); }; + virtual void readWriteArray(uint8_t *data, size_t length) { // + port_tmc_motor_spi_write_and_read(m_channel, data, length); + }; +}; +/** + * @brief 对接TMC2160和硬件的接口 + */ +class TMC2160Impl : public TMC2160 { + TMC4361A *m_tmc4361; + + public: + void initialize(uint8_t channel, TMC4361A *tmc4361) { + m_tmc4361 = tmc4361; + TMC2160::initialize(channel); + } + + protected: + virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; + virtual void sleepus(int32_t us) { port_delay_us(us); }; + virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; +}; +} // namespace iflytop \ No newline at end of file diff --git a/src/project_board.hpp b/src/project_board.hpp index 2ee4eaf..82e08dd 100644 --- a/src/project_board.hpp +++ b/src/project_board.hpp @@ -1,6 +1,8 @@ #pragma once #define VERSION "v1.0" +// 设备ID +#define DEVICE_ID 0x02 // 调试串口 #define DEBUG_UART huart1 @@ -9,10 +11,10 @@ #define DEBUG_LIGHT_PORT GPIOE #define DEBUG_LIGHT_PIN GPIO_PIN_8 -//微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置 -//http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md +// 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置 +// http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md #define DELAY_US_TIMER htim6 // 电机编号 #define MOTOR_1_TMC4361A_CHANNEL 1 -#define MOTOR_1_TMC2160_CHANNEL 2 \ No newline at end of file +#define MOTOR_1_TMC2160_CHANNEL 2 diff --git a/src/umain.cpp b/src/umain.cpp index c81168b..712062d 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -6,102 +6,83 @@ #include "libtrinamic\src\ic\tmc4361A.hpp" #include "port.hpp" #include "project_board.hpp" - -#define TAG "main" - // -// port_tmc_DRV_ENN_pin_set_state +#include "libiflytop_micro\common\zsignal.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.hpp" +#define TAG "main" using namespace iflytop; -class TMC4361AImpl : public TMC4361A { - protected: - virtual void setResetPinState(bool state) { port_tmc_nRESET_pin_set_state(m_channel, state); }; - virtual void setFREEZEPinState(bool state) { port_tmc_nFREEZE_pin_set_state(m_channel, state); }; - virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; - virtual bool getTargetReachedPinState() { return false; }; - virtual void sleepus(int32_t us) { port_delay_us(us); }; - virtual void readWriteArray(uint8_t *data, size_t length) { // - port_tmc_motor_spi_write_and_read(m_channel, data, length); - }; -}; -class TMC2160Impl : public TMC2160 { - TMC4361A *m_tmc4361; - +using namespace std; +class Main { public: - void initialize(uint8_t channel, TMC4361A *tmc4361) { - m_tmc4361 = tmc4361; - TMC2160::initialize(channel); + TMC4361AImpl tmc4361motor1; + TMC2160Impl tmc2160motor1; + IflytopCanClient canClient; + IflytopMicroOSImpl os; + + ZSLOT3(Main, onCanRxData, CAN_RxHeaderTypeDef *, uint8_t *, uint8_t); + void onCanRxData(CAN_RxHeaderTypeDef *rxMegHeader, uint8_t *data, uint8_t len) { + ZLOGI(TAG, "onCanRxData:"); + ZLOGI_HEX(TAG, data, len); } - protected: - virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; - virtual void sleepus(int32_t us) { port_delay_us(us); }; - virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; -}; -static TMC4361AImpl tmc4361motor1; -static TMC2160Impl tmc2160motor1; - -void initmotor() { - port_tmc_extern_clk_enable(); - // tmc4361motor1.init(); - - TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); - tmc4361aconfig->base_config.fs_per_rev = 200; - tmc4361aconfig->encoder_config.diff_enc_in_disable = false; - tmc4361aconfig->encoder_config.enc_in_res = 4000; - tmc4361aconfig->close_loop_config.enable_closed_loop = true; - - tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); - tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1); - - // 2160初始化 - tmc2160motor1.setMaximumCurrent(3); - - HAL_Delay(100); - tmc4361motor1.enableIC(true); - tmc2160motor1.enableIC(true); - - /** - * @brief - * PPS = 1000000 - * RPS = 1000000/200/256 - * RPM = 1000000/200/256*60 - */ + void motorInitialize() { + port_tmc_extern_clk_enable(); + TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); + tmc4361aconfig->base_config.fs_per_rev = 200; + tmc4361aconfig->encoder_config.diff_enc_in_disable = false; + tmc4361aconfig->encoder_config.enc_in_res = 4000; + tmc4361aconfig->close_loop_config.enable_closed_loop = true; + + tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); + tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1); + + // 2160初始化 + tmc2160motor1.setMaximumCurrent(3); + + HAL_Delay(100); + tmc4361motor1.enableIC(true); + tmc2160motor1.enableIC(true); + /** + * @brief 通过读取Version寄存器来判断芯片是否正常 + */ + int32_t ic4361Version = tmc4361motor1.readICVersion(); + int32_t ic2160Version = tmc2160motor1.readICVersion(); + // 期望 4361Version:2 ic2160Version:30 + ZLOGI(TAG, "TMC4361Version:%x TMC2160VERSION:%x", ic4361Version, ic2160Version); + tmc4361motor1.setMaximumAcceleration(300000); + tmc4361motor1.setMaximumDeceleration(300000); + } - /** - * @brief 通过读取Version寄存器来判断芯片是否正常 - */ - int32_t ic4361Version = tmc4361motor1.readICVersion(); - int32_t ic2160Version = tmc2160motor1.readICVersion(); - // 期望 4361Version:2 ic2160Version:30 - ZLOGI(TAG, "TMC4361Version:%x TMC2160VERSION:%x", ic4361Version, ic2160Version); + void main(int argc, char const *argv[]) { + sys_loggger_enable(true); + ZLOGI(TAG, "VERSION:%s", VERSION); + // port_peltier_set_pwm(0); + + IflytopCanClient::iflytop_can_client_config_t *config = canClient.createDefaultConfig(DEVICE_ID); + canClient.initialize(&os, config); + canClient.onCanRxData.connect(this, &Main::onCanRxData); + + while (true) { + port_do_debug_light_state(); + #if 0 + static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8}; + canClient.translate(0x01, tx, 8, 2); + if (canClient.getLastTransmitStatus() == HAL_OK) { + ZLOGI(TAG, "send ok"); + } else { + ZLOGI(TAG, "send fail"); + } + HAL_Delay(1000); + #endif + } + } +}; - tmc4361motor1.setMaximumAcceleration(300000); - tmc4361motor1.setMaximumDeceleration(300000); - tmc4361motor1.moveTo(8000000, 1000000); -} +static Main mainObject; extern "C" { int umain(int argc, char const *argv[]) { -#if 1 - sys_loggger_enable(true); - ZLOGI(TAG, "VERSION:%s", VERSION); - - // port_peltier_set_pwm(30); - port_peltier_set_pwm(0); - - while (true) { - port_do_debug_light_state(); - // HAL_Delay(30); - // 打印电机当前位置 - // int32_t encpos = tmc4361motor1.getENC_POS(); - // int32_t xactual = tmc4361motor1.getXACTUAL(); - // ZLOGI(TAG, "encpos:%d xactual:%d %d", encpos, xactual, tmc4361motor1.getENC_POS_DEV()); - } -#endif - + mainObject.main(argc, argv); return 0; } } - - -