From 90646a0c4433f144cc0f5bdf97027c19ef0897b6 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 8 Apr 2023 11:51:32 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=95=B4=E4=B8=AA=E5=B7=A5?= =?UTF-8?q?=E7=A8=8B=E4=B8=BAcpp=E5=B7=A5=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/MDK-ARM/app.uvguix.h_zha | 62 ++++++++++++++++++++++---------------------- app/MDK-ARM/app.uvoptx | 14 +++++----- app/MDK-ARM/app.uvprojx | 12 ++++----- dep/libiflytop_micro | 2 +- dep/libtrinamic | 2 +- src/port.c | 60 ------------------------------------------ src/port.cpp | 62 ++++++++++++++++++++++++++++++++++++++++++++ src/port.h | 11 -------- src/port.hpp | 11 ++++++++ src/project_board.h | 18 ------------- src/project_board.hpp | 18 +++++++++++++ src/umain.c | 31 ---------------------- src/umain.cpp | 22 ++++++++++++++++ 13 files changed, 159 insertions(+), 166 deletions(-) delete mode 100644 src/port.c create mode 100644 src/port.cpp delete mode 100644 src/port.h create mode 100644 src/port.hpp delete mode 100644 src/project_board.h create mode 100644 src/project_board.hpp delete mode 100644 src/umain.c create mode 100644 src/umain.cpp diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index 74a4988..40755c5 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -110,8 +110,8 @@ 0 - 1351 - 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59392 @@ -3614,24 +3614,6 @@ 0 - ..\..\src\umain.c - 0 - 1 - 12 - 1 - - 0 - - - ..\..\src\port.c - 0 - 1 - 22 - 1 - - 0 - - startup_stm32f407xx.s 0 168 @@ -3685,6 +3667,24 @@ 0 + + ..\..\src\umain.cpp + 0 + 1 + 9 + 1 + + 0 + + + ..\..\src\port.cpp + 0 + 1 + 1 + 1 + + 0 + diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index 042ddf7..b63f79c 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -637,31 +637,31 @@ src - 0 + 1 0 0 0 6 32 - 1 + 8 0 0 0 - ..\..\src\port.c - port.c + ..\..\src\port.cpp + port.cpp 0 0 6 33 - 1 + 8 0 0 0 - ..\..\src\umain.c - umain.c + ..\..\src\umain.cpp + umain.cpp 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index eea7805..46585ba 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -921,14 +921,14 @@ src - port.c - 1 - ..\..\src\port.c + port.cpp + 8 + ..\..\src\port.cpp - umain.c - 1 - ..\..\src\umain.c + umain.cpp + 8 + ..\..\src\umain.cpp diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index 5ec980e..0350884 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit 5ec980e5bf5fe73bfdd7c5d7f1072ceeeb8982b0 +Subproject commit 035088488535565c63d8d9215393e4acc0f0f4f6 diff --git a/dep/libtrinamic b/dep/libtrinamic index c14b8b3..3899ab0 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit c14b8b32f3be6597254ff3c3c7990b8e205f1130 +Subproject commit 3899ab046bea32b5f4e165147d3f6790539d0d25 diff --git a/src/port.c b/src/port.c deleted file mode 100644 index d2c0b92..0000000 --- a/src/port.c +++ /dev/null @@ -1,60 +0,0 @@ -#include -#include - -#include "libiflytop_micro/stm32/basic/basic.h" -#include "main.h" -#include "project_board.h" -#include "spi.h" -#include "tim.h" -#include "usart.h" -/** - * @brief printf 串口重定向 - * - * @param ch - * @param stream - * @return int - */ -int fputc(int ch, FILE* stream) { - uint8_t c = ch; - HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); - return ch; -} - -void port_do_debug_light_state() { - static uint32_t lastprocess = 0; - if (sys_haspassedms(lastprocess) > 300) { - lastprocess = HAL_GetTick(); - HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); - } -} - -void port_spi_cs_select(uint8_t channel, bool select) { - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); - } else if (channel == MOTOR_1_TMC2160_CHANNEL) { - /** - * @brief TMC2160 连接到了 TMC4361A 的 SPI 接口上，所以不需要单独的片选 - */ - return; - } -} - -void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } - -void port_motor_spi_write_and_read(uint8_t channel, uint8_t* data, size_t length) { - // - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - port_spi_cs_select(channel, true); - port_delay_us(1); - HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); - port_spi_cs_select(channel, false); - } else if (channel == MOTOR_1_TMC2160_CHANNEL) { - } -} - -void port_tmc_extern_clk_enable() { - /** - * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ - * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw - */ -} diff --git a/src/port.cpp b/src/port.cpp new file mode 100644 index 0000000..2397ca3 --- /dev/null +++ b/src/port.cpp @@ -0,0 +1,62 @@ +#include +#include + +#include "libiflytop_micro/stm32/basic/basic.h" +#include "main.h" +#include "project_board.hpp" +#include "spi.h" +#include "tim.h" +#include "usart.h" +/** + * @brief printf 串口重定向 + * + * @param ch + * @param stream + * @return int + */ +extern "C" { +int fputc(int ch, FILE* stream) { + uint8_t c = ch; + HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); + return ch; +} +} + +void port_do_debug_light_state() { + static uint32_t lastprocess = 0; + if (sys_haspassedms(lastprocess) > 300) { + lastprocess = HAL_GetTick(); + HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); + } +} + +void port_spi_cs_select(uint8_t channel, bool select) { + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); + } else if (channel == MOTOR_1_TMC2160_CHANNEL) { + /** + * @brief TMC2160 连接到了 TMC4361A 的 SPI 接口上，所以不需要单独的片选 + */ + return; + } +} + +void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } + +void port_motor_spi_write_and_read(uint8_t channel, uint8_t* data, size_t length) { + // + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + port_spi_cs_select(channel, true); + port_delay_us(1); + HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); + port_spi_cs_select(channel, false); + } else if (channel == MOTOR_1_TMC2160_CHANNEL) { + } +} + +void port_tmc_extern_clk_enable() { + /** + * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ + * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw + */ +} diff --git a/src/port.h b/src/port.h deleted file mode 100644 index 7b240c9..0000000 --- a/src/port.h +++ /dev/null @@ -1,11 +0,0 @@ -#include -#include - -void port_do_debug_light_state(); -void port_delay_us(uint32_t us); - -/******************************************************************************* - * tmc芯片驱动相关 * - *******************************************************************************/ -void port_motor_spi_write_and_read(uint8_t channel, uint8_t *data, size_t length); -void port_tmc_extern_clk_enable(); diff --git a/src/port.hpp b/src/port.hpp new file mode 100644 index 0000000..7b240c9 --- /dev/null +++ b/src/port.hpp @@ -0,0 +1,11 @@ +#include +#include + +void port_do_debug_light_state(); +void port_delay_us(uint32_t us); + +/******************************************************************************* + * tmc芯片驱动相关 * + *******************************************************************************/ +void port_motor_spi_write_and_read(uint8_t channel, uint8_t *data, size_t length); +void port_tmc_extern_clk_enable(); diff --git a/src/project_board.h b/src/project_board.h deleted file mode 100644 index 2ee4eaf..0000000 --- a/src/project_board.h +++ /dev/null @@ -1,18 +0,0 @@ -#pragma once - -#define VERSION "v1.0" - -// 调试串口 -#define DEBUG_UART huart1 - -// 调试指示灯 -#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 -#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 diff --git a/src/project_board.hpp b/src/project_board.hpp new file mode 100644 index 0000000..2ee4eaf --- /dev/null +++ b/src/project_board.hpp @@ -0,0 +1,18 @@ +#pragma once + +#define VERSION "v1.0" + +// 调试串口 +#define DEBUG_UART huart1 + +// 调试指示灯 +#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 +#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 diff --git a/src/umain.c b/src/umain.c deleted file mode 100644 index ec17263..0000000 --- a/src/umain.c +++ /dev/null @@ -1,31 +0,0 @@ -#include -#include - -#include "libiflytop_micro\stm32\basic\basic.h" -#include "port.h" -#include "project_board.h" - -#define TAG "main" -/** - * @brief 对接libtrinamic - * - * @param channel - * @param data - * @param length - */ -// void libtrinamic_readWriteArray(uint8_t channel, uint8_t *data, size_t length) {} - -int umain(int argc, char const *argv[]) { - sys_loggger_enable(true); - - ZLOGI(TAG, "VERSION:%s", VERSION); - - - - - - while (true) { - port_do_debug_light_state(); - } - return 0; -} diff --git a/src/umain.cpp b/src/umain.cpp new file mode 100644 index 0000000..47db7d4 --- /dev/null +++ b/src/umain.cpp @@ -0,0 +1,22 @@ +#include +#include + +#include "libiflytop_micro\stm32\basic\basic.h" +#include "port.hpp" +#include "project_board.hpp" + +#define TAG "main" + +void libtrinamic_readWriteArray(uint8_t channel, uint8_t *data, size_t length) {} + +extern "C" { +int umain(int argc, char const *argv[]) { + sys_loggger_enable(true); + + ZLOGI(TAG, "VERSION:%s", VERSION); + while (true) { + port_do_debug_light_state(); + } + return 0; +} +}