tianjialong
/
p_boditech_vidas_a8000_Incubator_control_system_copy
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

enable can module

master
zhaohe 2 years ago
parent
376f0a104e
commit
5e43a9d241
10 changed files with 259 additions and 151 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      .vscode/settings.json
  2. 2
      app/Core/Src/can.c
  3. 113
      app/MDK-ARM/app.uvguix.h_zha
  4. 46
      app/MDK-ARM/app.uvoptx
  5. 10
      app/MDK-ARM/app.uvprojx
  6. 2
      dep/libiflytop_micro
  7. 13
      src/port.cpp
  8. 60
      src/port.hpp
  9. 8
      src/project_board.hpp
  10. 153
      src/umain.cpp

3
.vscode/settings.json
View File

@ -60,6 +60,7 @@
"streambuf": "cpp", "streambuf": "cpp",
"cinttypes": "cpp", "cinttypes": "cpp",
"typeinfo": "cpp", "typeinfo": "cpp",
"can.h": "c"
"can.h": "c",
"deque": "cpp"
} }
} }

2
app/Core/Src/can.c
View File

@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
hcan1.Init.AutoBusOff = ENABLE; hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE; hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE; hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE; hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK) if (HAL_CAN_Init(&hcan1) != HAL_OK)
{ {

113
app/MDK-ARM/app.uvguix.h_zha
File diff suppressed because it is too large
View File

46
app/MDK-ARM/app.uvoptx
View File

@ -806,7 +806,7 @@
<Group> <Group>
<GroupName>dep/libiflytop_micro</GroupName> <GroupName>dep/libiflytop_micro</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -822,6 +822,30 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>34</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp</PathWithFileName>
<FilenameWithoutPath>stm32_hal_res_manager.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>35</FileNumber>
<FileType>8</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\..\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.cpp</PathWithFileName>
<FilenameWithoutPath>iflytop_can_client.cpp</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group> </Group>
<Group> <Group>
@ -832,7 +856,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>34</FileNumber>
<FileNumber>36</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -844,7 +868,7 @@
</File> </File>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>35</FileNumber>
<FileNumber>37</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -864,7 +888,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>36</FileNumber>
<FileNumber>38</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -876,7 +900,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>37</FileNumber>
<FileNumber>39</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -888,7 +912,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>38</FileNumber>
<FileNumber>40</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -900,7 +924,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>39</FileNumber>
<FileNumber>41</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -912,7 +936,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>40</FileNumber>
<FileNumber>42</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -924,7 +948,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>41</FileNumber>
<FileNumber>43</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -936,7 +960,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>42</FileNumber>
<FileNumber>44</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -948,7 +972,7 @@
</File> </File>
<File> <File>
<GroupNumber>7</GroupNumber> <GroupNumber>7</GroupNumber>
<FileNumber>43</FileNumber>
<FileNumber>45</FileNumber>
<FileType>8</FileType> <FileType>8</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

10
app/MDK-ARM/app.uvprojx
View File

@ -1027,6 +1027,16 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\..\dep\libiflytop_micro\stm32\basic\basic.c</FilePath> <FilePath>..\..\dep\libiflytop_micro\stm32\basic\basic.c</FilePath>
</File> </File>
<File>
<FileName>stm32_hal_res_manager.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp</FilePath>
</File>
<File>
<FileName>iflytop_can_client.cpp</FileName>
<FileType>8</FileType>
<FilePath>..\..\dep\libiflytop_micro\stm32\component\iflytop_can_client_v1\iflytop_can_client.cpp</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

2
dep/libiflytop_micro

@ -1 +1 @@
Subproject commit bf17a8fb71483b29390173bc035f135b33b58c6a
Subproject commit 59c26e1dcba6743ee3ed302bb14a110526c50aaf

13
src/port.cpp
View File

@ -2,11 +2,14 @@
#include <stdio.h> #include <stdio.h>
#include "libiflytop_micro/stm32/basic/basic.h" #include "libiflytop_micro/stm32/basic/basic.h"
#include "libtrinamic/src/ic/tmc2160.hpp"
#include "libtrinamic\src\ic\tmc4361A.hpp"
#include "main.h" #include "main.h"
#include "project_board.hpp" #include "project_board.hpp"
#include "spi.h" #include "spi.h"
#include "tim.h" #include "tim.h"
#include "usart.h" #include "usart.h"
/** /**
* @brief printf 串口重定向 * @brief printf 串口重定向
* *
@ -15,13 +18,14 @@
* @return int * @return int
*/ */
extern "C" { extern "C" {
int fputc(int ch, FILE* stream) {
int fputc(int ch, FILE *stream) {
uint8_t c = ch; uint8_t c = ch;
HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100);
return ch; return ch;
} }
} }
namespace iflytop {
void port_do_debug_light_state() { void port_do_debug_light_state() {
static uint32_t lastprocess = 0; static uint32_t lastprocess = 0;
if (sys_haspassedms(lastprocess) > 300) { 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_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); }
void port_spi_cs_select(bool select) { // void port_spi_cs_select(bool select) { //
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); 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) { if (channel == MOTOR_1_TMC4361A_CHANNEL) {
port_spi_cs_select(false); 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); port_spi_cs_select(true);
} }
} }
void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) { void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) {
if (channel == MOTOR_1_TMC4361A_CHANNEL) { if (channel == MOTOR_1_TMC4361A_CHANNEL) {
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET); 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_nRESET_pin_set_state(uint8_t channel, bool state) {}
void port_tmc_extern_clk_enable() { void port_tmc_extern_clk_enable() {
#if 1 #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*/ HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/
} }
} }
} // namespace iflytop

60
src/port.hpp
View File

@ -1,22 +1,64 @@
#include <stdint.h> #include <stdint.h>
#include <stdio.h> #include <stdio.h>
#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp"
namespace iflytop {
void port_do_debug_light_state(); void port_do_debug_light_state();
void port_delay_us(uint32_t us); 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 * * 帕尔贴驱动电路 *
*******************************************************************************/ *******************************************************************************/
void port_peltier_set_pwm(int pwm); 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

8
src/project_board.hpp
View File

@ -1,6 +1,8 @@
#pragma once #pragma once
#define VERSION "v1.0" #define VERSION "v1.0"
// 设备ID
#define DEVICE_ID 0x02
// 调试串口 // 调试串口
#define DEBUG_UART huart1 #define DEBUG_UART huart1
@ -9,10 +11,10 @@
#define DEBUG_LIGHT_PORT GPIOE #define DEBUG_LIGHT_PORT GPIOE
#define DEBUG_LIGHT_PIN GPIO_PIN_8 #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 #define DELAY_US_TIMER htim6
// 电机编号 // 电机编号
#define MOTOR_1_TMC4361A_CHANNEL 1 #define MOTOR_1_TMC4361A_CHANNEL 1
#define MOTOR_1_TMC2160_CHANNEL 2
#define MOTOR_1_TMC2160_CHANNEL 2

153
src/umain.cpp
View File

@ -6,102 +6,83 @@
#include "libtrinamic\src\ic\tmc4361A.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp"
#include "port.hpp" #include "port.hpp"
#include "project_board.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; 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: 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" { extern "C" {
int umain(int argc, char const *argv[]) { 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; return 0;
} }
} }
Write Preview
Loading…
Cancel
Save