diff --git a/.vscode/settings.json b/.vscode/settings.json index 9e0ec99..c36f9bc 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -64,6 +64,7 @@ "deque": "cpp", "param.h": "c", "stdbool.h": "c", - "check.h": "c" + "check.h": "c", + "stm32f4xx_it.h": "c" } } \ No newline at end of file diff --git a/app/Core/Inc/stm32f4xx_it.h b/app/Core/Inc/stm32f4xx_it.h index 51b0036..547aa80 100644 --- a/app/Core/Inc/stm32f4xx_it.h +++ b/app/Core/Inc/stm32f4xx_it.h @@ -55,10 +55,13 @@ void SVC_Handler(void); void DebugMon_Handler(void); void PendSV_Handler(void); void SysTick_Handler(void); +void EXTI3_IRQHandler(void); void CAN1_TX_IRQHandler(void); void CAN1_RX0_IRQHandler(void); void CAN1_RX1_IRQHandler(void); void CAN1_SCE_IRQHandler(void); +void EXTI9_5_IRQHandler(void); +void EXTI15_10_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/app/Core/Src/gpio.c b/app/Core/Src/gpio.c index 31c082d..fdd0aa1 100644 --- a/app/Core/Src/gpio.c +++ b/app/Core/Src/gpio.c @@ -69,12 +69,12 @@ void MX_GPIO_Init(void) /*Configure GPIO pins : PC13 PC14 PC15 PC0 PC1 PC2 PC3 PC4 - PC5 PC6 PC7 PC10 - PC11 PC12 */ + PC5 PC6 PC10 PC11 + PC12 */ GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0 |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4 - |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_10 - |GPIO_PIN_11|GPIO_PIN_12; + |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_10|GPIO_PIN_11 + |GPIO_PIN_12; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); @@ -100,17 +100,29 @@ void MX_GPIO_Init(void) HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /*Configure GPIO pins : PD8 PD9 PD10 PD11 - PD12 PD13 PD15 PD0 - PD1 PD2 PD3 PD4 - PD5 PD6 PD7 */ + PD13 PD15 PD0 PD1 + PD2 PD4 PD5 PD6 + PD7 */ GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11 - |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_15|GPIO_PIN_0 - |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4 - |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; + |GPIO_PIN_13|GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_1 + |GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6 + |GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + /*Configure GPIO pins : PD12 PD3 */ + GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /*Configure GPIO pin : PC7 */ + GPIO_InitStruct.Pin = GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + /*Configure GPIO pin : PC9 */ GPIO_InitStruct.Pin = GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; @@ -119,6 +131,16 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Alternate = GPIO_AF0_MCO; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + /* EXTI interrupt init*/ + HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(EXTI3_IRQn); + + HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(EXTI9_5_IRQn); + + HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); + } /* USER CODE BEGIN 2 */ diff --git a/app/Core/Src/stm32f4xx_it.c b/app/Core/Src/stm32f4xx_it.c index 816c1b4..4b3d153 100644 --- a/app/Core/Src/stm32f4xx_it.c +++ b/app/Core/Src/stm32f4xx_it.c @@ -254,6 +254,7 @@ void CAN1_SCE_IRQHandler(void) /* USER CODE END CAN1_SCE_IRQn 1 */ } + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index 2660531..fda7856 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -90,8 +90,8 @@ 44 - 0 - 1 + 2 + 3 -1 -1 @@ -102,16 +102,16 @@ 14 - -1492 - -392 + 375 + 1475 1000 0 - 1862 - 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898 @@ -3603,12 +3603,12 @@ 0 100 - 0 + 12 ..\..\src\board\libtmcimpl.cpp - 23 + 8 1 - 23 + 2 1 0 @@ -3669,9 +3669,9 @@ ..\..\src\umain.cpp - 56 - 15 - 27 + 0 + 8 + 9 1 0 @@ -3705,9 +3705,27 @@ ..\..\src\board\device_io_service.cpp + 3 + 16 + 29 + 1 + + 0 + + + ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp + 14 + 265 + 297 + 1 + + 0 + + + ..\..\src\board\fan_state_monitor.cpp 0 - 126 - 153 + 1 + 21 1 0 diff --git a/app/app.ioc b/app/app.ioc index 93e9407..72110e7 100644 --- a/app/app.ioc +++ b/app/app.ioc @@ -43,30 +43,33 @@ Mcu.Name=STM32F407V(E-G)Tx Mcu.Package=LQFP100 Mcu.Pin0=PH0-OSC_IN Mcu.Pin1=PH1-OSC_OUT -Mcu.Pin10=PA10 -Mcu.Pin11=PA11 -Mcu.Pin12=PA12 -Mcu.Pin13=PA13 -Mcu.Pin14=PA14 -Mcu.Pin15=PB3 -Mcu.Pin16=PB6 -Mcu.Pin17=PB7 -Mcu.Pin18=VP_CRC_VS_CRC -Mcu.Pin19=VP_RNG_VS_RNG +Mcu.Pin10=PC9 +Mcu.Pin11=PA9 +Mcu.Pin12=PA10 +Mcu.Pin13=PA11 +Mcu.Pin14=PA12 +Mcu.Pin15=PA13 +Mcu.Pin16=PA14 +Mcu.Pin17=PD3 +Mcu.Pin18=PB3 +Mcu.Pin19=PB6 Mcu.Pin2=PA5 -Mcu.Pin20=VP_SYS_VS_Systick -Mcu.Pin21=VP_TIM1_VS_ClockSourceINT -Mcu.Pin22=VP_TIM3_VS_ClockSourceINT -Mcu.Pin23=VP_TIM6_VS_ClockSourceINT -Mcu.Pin24=VP_TIM7_VS_ClockSourceINT +Mcu.Pin20=PB7 +Mcu.Pin21=VP_CRC_VS_CRC +Mcu.Pin22=VP_RNG_VS_RNG +Mcu.Pin23=VP_SYS_VS_Systick +Mcu.Pin24=VP_TIM1_VS_ClockSourceINT +Mcu.Pin25=VP_TIM3_VS_ClockSourceINT +Mcu.Pin26=VP_TIM6_VS_ClockSourceINT +Mcu.Pin27=VP_TIM7_VS_ClockSourceINT Mcu.Pin3=PA6 Mcu.Pin4=PA7 Mcu.Pin5=PE9 -Mcu.Pin6=PD14 -Mcu.Pin7=PC8 -Mcu.Pin8=PC9 -Mcu.Pin9=PA9 -Mcu.PinsNb=25 +Mcu.Pin6=PD12 +Mcu.Pin7=PD14 +Mcu.Pin8=PC7 +Mcu.Pin9=PC8 +Mcu.PinsNb=28 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407VETx @@ -78,6 +81,9 @@ NVIC.CAN1_RX1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.CAN1_SCE_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true +NVIC.EXTI3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true +NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false @@ -118,13 +124,19 @@ PB6.Signal=I2C1_SCL PB7.Locked=true PB7.Mode=I2C PB7.Signal=I2C1_SDA +PC7.Locked=true +PC7.Signal=GPXTI7 PC8.Locked=true PC8.Signal=S_TIM8_CH3 PC9.Locked=true PC9.Mode=Clock-out-2 PC9.Signal=RCC_MCO_2 +PD12.Locked=true +PD12.Signal=GPXTI12 PD14.Locked=true PD14.Signal=S_TIM4_CH3 +PD3.Locked=true +PD3.Signal=GPXTI3 PE9.GPIOParameters=GPIO_ModeDefaultPP,GPIO_PuPd PE9.GPIO_ModeDefaultPP=GPIO_MODE_AF_PP PE9.GPIO_PuPd=GPIO_PULLDOWN @@ -203,6 +215,12 @@ RCC.VCOI2SOutputFreq_Value=128000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=288000000 RCC.VcooutputI2S=64000000 +SH.GPXTI12.0=GPIO_EXTI12 +SH.GPXTI12.ConfNb=1 +SH.GPXTI3.0=GPIO_EXTI3 +SH.GPXTI3.ConfNb=1 +SH.GPXTI7.0=GPIO_EXTI7 +SH.GPXTI7.ConfNb=1 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 SH.S_TIM1_CH1.ConfNb=1 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2 diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index bb1b993..160fa66 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit bb1b993c2015abe36525a7876b17f076665433b4 +Subproject commit 160fa668ad40f8abac72d2634ee54fa4f3ad9188 diff --git a/dep/libtrinamic b/dep/libtrinamic index 0280741..d438155 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit 02807418568c7fdb1bee192424af3ad274b06269 +Subproject commit d4381558b25522ebd43c86d125f8177d38c578e3 diff --git a/src/board/device_io_service.cpp b/src/board/device_io_service.cpp index ea59b8a..e19efe2 100644 --- a/src/board/device_io_service.cpp +++ b/src/board/device_io_service.cpp @@ -1,6 +1,8 @@ #include "device_io_service.hpp" #include "libiflytop_micro/stm32/basic/stm32_hal_utils.hpp" +#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp" +#include "project_board.hpp" #define TAG "DEVICE_IO_SERVICE" extern "C" { int fputc(int ch, FILE *stream) { @@ -12,21 +14,36 @@ int fputc(int ch, FILE *stream) { using namespace iflytop; namespace iflytop {} +void DeviceIoService::initialize() { // + // STM32_HAL.connect(this, &DeviceIoService::onGPIO_EXTI_Callback); +} + +void DeviceIoService::onGPIO_EXTI_Callback(uint16_t gpioNum) { + /** + * @brief 赋予盘零位光电触发 + */ + if (gpioNum == TMC_HOME_REF_GPIO_PIN) { + if (STM32_HAL_GPIO_IS_THIS_PIN_TRIGGER_IRQ(TMC_HOME_REF_GPIO)) { + onHomeRefSwitch.trigger(); + } + } +} + void DeviceIoService::debug_light_init() { - Stm32HalUtils::gpioInit(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); } void DeviceIoService::fanInit(int freq) { - Stm32HalUtils::setPWMFreq(&htim2, freq); // fan0->fan3 - Stm32HalUtils::setPWMFreq(&htim4, freq); // fan4 - Stm32HalUtils::setPWMFreq(&htim8, freq); // fan5 + STM32_HAL.setPWMFreq(&htim2, freq); // fan0->fan3 + STM32_HAL.setPWMFreq(&htim4, freq); // fan4 + STM32_HAL.setPWMFreq(&htim8, freq); // fan5 // fan0 fan1 fan2 fan3 - Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(GPIOC, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); // fan4 - Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_2, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(GPIOC, GPIO_PIN_2, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); // fan5 - Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_3, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(GPIOC, GPIO_PIN_3, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); } void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) { @@ -37,7 +54,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) { } if (fanIndex <= 3) { - Stm32HalUtils::setPWMDuty(&htim2, TIM_CHANNEL_2, dutyCycle); + STM32_HAL.setPWMDuty(&htim2, TIM_CHANNEL_2, dutyCycle); m_fanState[0] = dutyCycle > 0; m_fanState[1] = dutyCycle > 0; m_fanState[2] = dutyCycle > 0; @@ -50,7 +67,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) { } } else if (fanIndex == 4) { - Stm32HalUtils::setPWMDuty(&htim4, TIM_CHANNEL_3, dutyCycle); + STM32_HAL.setPWMDuty(&htim4, TIM_CHANNEL_3, dutyCycle); m_fanState[4] = dutyCycle > 0; if (dutyCycle > 0) { @@ -59,7 +76,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) { HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2, GPIO_PIN_RESET); } } else if (fanIndex == 5) { - Stm32HalUtils::setPWMDuty(&htim8, TIM_CHANNEL_3, dutyCycle); + STM32_HAL.setPWMDuty(&htim8, TIM_CHANNEL_3, dutyCycle); m_fanState[5] = dutyCycle > 0; if (dutyCycle > 0) { @@ -94,8 +111,8 @@ void DeviceIoService::peltier_hot_ctr_pwm(int pwm) { HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3); } void DeviceIoService::peltier_init() { // - Stm32HalUtils::gpioInit(GPIOB, GPIO_PIN_1, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); - Stm32HalUtils::gpioInit(GPIOE, GPIO_PIN_10, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(GPIOB, GPIO_PIN_1, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); + STM32_HAL.gpioInit(GPIOE, GPIO_PIN_10, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET); } void DeviceIoService::peltier_set_pwm(int pwm) { /** @@ -139,11 +156,11 @@ void DeviceIoService::peltier_set_pwm(int pwm) { * tmc芯片驱动相关 * *******************************************************************************/ void DeviceIoService::tmc_init() { - Stm32HalUtils::gpioInit( // + STM32_HAL.gpioInit( // GPIOA, GPIO_PIN_4, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET); - Stm32HalUtils::gpioInit( // + STM32_HAL.gpioInit( // GPIOE, GPIO_PIN_12, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET); - Stm32HalUtils::gpioInit( // + STM32_HAL.gpioInit( // GPIOE, GPIO_PIN_11, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET); } @@ -176,3 +193,7 @@ void DeviceIoService::tmc_subic_ENN_pin_set_state(uint8_t channel, bool state) { } } void DeviceIoService::tmc_nRESET_pin_set_state(uint8_t channel, bool state) {} + +void DeviceIoService::home_ref_switch_init() { // + STM32_HAL.gpioInitAsEXIT(TMC_HOME_REF_GPIO_PORT, TMC_HOME_REF_GPIO_PIN, GPIO_NOPULL, TMC_HOME_REF_GPIO_IRQ_MODE); +} diff --git a/src/board/device_io_service.hpp b/src/board/device_io_service.hpp index c638ba5..765272f 100644 --- a/src/board/device_io_service.hpp +++ b/src/board/device_io_service.hpp @@ -2,12 +2,13 @@ #include #include +#include "board/project_board.hpp" #include "libiflytop_micro/stm32/basic/basic.h" #include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" +#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp" #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" @@ -18,13 +19,15 @@ using namespace std; class DeviceIoService : public IflytopMicroOS { private: /* data */ - bool m_fanState[6]; + ZSLOT1(DeviceIoService, onGPIO_EXTI_Callback, uint16_t); // GPIO中断回调 public: DeviceIoService(/* args */) {} ~DeviceIoService() {} + void initialize(); + /******************************************************************************* * 调试指示灯初始化 * *******************************************************************************/ @@ -56,6 +59,9 @@ class DeviceIoService : public IflytopMicroOS { void tmc_subic_ENN_pin_set_state(uint8_t channel, bool state); void tmc_nRESET_pin_set_state(uint8_t channel, bool state); + ZSignal0 onHomeRefSwitch; + void home_ref_switch_init(); + /******************************************************************************* * OVERRIDE IflytopMicroOS * *******************************************************************************/ diff --git a/src/board/fan_state_monitor.cpp b/src/board/fan_state_monitor.cpp index efe9761..33b2a5d 100644 --- a/src/board/fan_state_monitor.cpp +++ b/src/board/fan_state_monitor.cpp @@ -1,7 +1,7 @@ #include "fan_state_monitor.hpp" #include "libiflytop_micro/stm32/basic/basic.h" -#include "libiflytop_micro\stm32\basic\stm32_hal_utils.hpp" +#include "libiflytop_micro\stm32\basic/stm32_hal_res_manager.hpp" using namespace iflytop; @@ -18,7 +18,7 @@ void FanStateMonitor::initialize(IflytopMicroOS* os, GPIO_TypeDef* FB_GPIOx, uin m_lastFanState = false; m_fanError = false; - Stm32HalUtils::gpioInitAsInput(FB_GPIOx, FB_GPIO_Pin); + STM32_HAL.gpioInitAsInput(FB_GPIOx, FB_GPIO_Pin); m_lastPinState = HAL_GPIO_ReadPin(m_FB_GPIOx, m_FB_GPIO_Pin); } void FanStateMonitor::doFanStateCheckPeriodicJob() { diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp index 2fce8f4..63a00ed 100644 --- a/src/board/hardware.cpp +++ b/src/board/hardware.cpp @@ -30,6 +30,7 @@ void Hardware::hardwareinit() { IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID); canSlaveService.initialize(m_os, config); canSlaveService.activateRxIT(); + canSlaveService.registerListener(this); #endif /******************************************************************************* * 帕尔贴初始化 * @@ -54,13 +55,13 @@ void Hardware::hardwareinit() { m_deviceIoService.tmc_init(); m_deviceIoService.tmc_extern_clk_enable(); // 4361初始化 - TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); + TMC4361A::TMC4361AConfig_t *tmc4361aconfig = TMC4361A::createDeafultTMC4361AConfig(this); tmc4361aconfig->encoder_config.diff_enc_in_disable = false; tmc4361aconfig->encoder_config.invert_enc_dir = true; // 如果编码器方向和期望方向相反，设置为true tmc4361aconfig->encoder_config.enc_in_res = 4000; tmc4361aconfig->close_loop_config.enable_closed_loop = false; - tmc4361motor1.initialize(&m_deviceIoService, MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); + tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); tmc4361motor1.setMaximumAcceleration(300000); tmc4361motor1.setMaximumDeceleration(300000); @@ -183,3 +184,10 @@ void Hardware::testCanSlaveTxAndRx() { // canSlaveService.activateRxIT(); } } +void Hardware::TMC4361APort_setResetPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_nRESET_pin_set_state(channel, state); } +void Hardware::TMC4361APort_setFREEZEPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_nFREEZE_pin_set_state(channel, state); } +void Hardware::TMC4361APort_setENNPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_ENN_pin_set_state(channel, state); } +bool Hardware::TMC4361APort_getTargetReachedPinState(uint16_t channel) { return false; } +void Hardware::TMC4361APort_sleepus(int32_t us) { m_os->sleepus(us); } +void Hardware::TMC4361APort_readWriteArray(uint8_t *data, size_t length) { m_deviceIoService.tmc_motor_spi_write_and_read(0, data, length); } +void Hardware::TMC4361APort_setSubICENNPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_subic_ENN_pin_set_state(channel, state); } diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp index 1e51920..137fd8d 100644 --- a/src/board/hardware.hpp +++ b/src/board/hardware.hpp @@ -7,12 +7,12 @@ #include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" namespace iflytop { -class Hardware { +class Hardware : public IflytopCanSlaveListener, public TMC4361APort { private: /* data */ public: - TMC4361AImpl tmc4361motor1; + TMC4361A tmc4361motor1; TMP117 tmp117[4]; FanStateMonitor m_fanStateMonitor[6]; IflytopCanSlave canSlaveService; @@ -22,11 +22,15 @@ class Hardware { bool m_canOnRxDataFlag; public: - ZSLOT0(Hardware, onCanRxData) { + /******************************************************************************* + * ListenerImpl * + *******************************************************************************/ + virtual void OnIflytopCanSlaveOnCanRxData() { m_canOnRxDataFlag = true; canSlaveService.deactivateRxIT(); } + public: Hardware(/* args */){}; ~Hardware(){}; @@ -41,6 +45,20 @@ class Hardware { void testTmp117(); void testCanSlaveTxAndRx(); void do_debug_light_state(); + + public: + /******************************************************************************* + * TMC4361APort * + *******************************************************************************/ + virtual void TMC4361APort_setResetPinState(uint16_t channel, bool state); + virtual void TMC4361APort_setFREEZEPinState(uint16_t channel, bool state); + virtual void TMC4361APort_setENNPinState(uint16_t channel, bool state); + virtual bool TMC4361APort_getTargetReachedPinState(uint16_t channel); + virtual void TMC4361APort_sleepus(int32_t us); + virtual void TMC4361APort_readWriteArray(uint8_t *data, size_t length); + virtual void TMC4361APort_setSubICENNPinState(uint16_t channel, bool state); + + public: }; } // namespace iflytop diff --git a/src/board/libtmcimpl.cpp b/src/board/libtmcimpl.cpp index f00f343..54d7dba 100644 --- a/src/board/libtmcimpl.cpp +++ b/src/board/libtmcimpl.cpp @@ -2,22 +2,3 @@ #include "libtmcimpl.hpp" #include "device_io_service.hpp" -namespace iflytop { -using namespace std; -/******************************************************************************* - * TMC4361AImpl * - *******************************************************************************/ -void TMC4361AImpl::setResetPinState(bool state) { m_deviceIoService->tmc_nRESET_pin_set_state(m_channel, state); }; -void TMC4361AImpl::setFREEZEPinState(bool state) { m_deviceIoService->tmc_nFREEZE_pin_set_state(m_channel, state); }; -void TMC4361AImpl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); }; -void TMC4361AImpl::setSubICENNPinState(bool state) { m_deviceIoService->tmc_subic_ENN_pin_set_state(m_channel, state); } -bool TMC4361AImpl::getTargetReachedPinState() { return false; }; -void TMC4361AImpl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); }; -void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { // - m_deviceIoService->tmc_motor_spi_write_and_read(m_channel, data, length); -}; -void TMC4361AImpl::initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config) { - m_deviceIoService = deviceIoService; - TMC4361A::initialize(channel, driver_ic_type, config); -} -} // namespace iflytop \ No newline at end of file diff --git a/src/board/libtmcimpl.hpp b/src/board/libtmcimpl.hpp index f0ad986..9285198 100644 --- a/src/board/libtmcimpl.hpp +++ b/src/board/libtmcimpl.hpp @@ -4,24 +4,3 @@ #include "libiflytop_micro/stm32/basic/basic.h" #include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" -namespace iflytop { -using namespace std; -/** - * @brief 对接TMC4361和硬件的接口 - */ -class TMC4361AImpl : public TMC4361A { - DeviceIoService *m_deviceIoService; - - protected: - virtual void setResetPinState(bool state); - virtual void setFREEZEPinState(bool state); - virtual void setENNPinState(bool state); - virtual bool getTargetReachedPinState(); - virtual void sleepus(int32_t us); - virtual void readWriteArray(uint8_t *data, size_t length); - virtual void setSubICENNPinState(bool state); - - public: - void initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config); -}; -} // namespace iflytop \ No newline at end of file diff --git a/src/project_board.hpp b/src/board/project_board.hpp similarity index 52% rename from src/project_board.hpp rename to src/board/project_board.hpp index 9dd8c82..4ffdd15 100644 --- a/src/project_board.hpp +++ b/src/board/project_board.hpp @@ -3,20 +3,23 @@ #define VERSION "v1.0" // 设备ID #define DEVICE_ID 0x02 - // 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 +// + +/******************************************************************************* + * TMC * + *******************************************************************************/ +// 电机通道编号 #define MOTOR_1_TMC4361A_CHANNEL 1 -#define MOTOR_1_TMC2160_CHANNEL 2 -// \ No newline at end of file +#define TMC_HOME_REF_GPIO_PIN GPIO_PIN_3 +#define TMC_HOME_REF_GPIO_PORT GPIOD +#define TMC_HOME_REF_GPIO_IRQ_MODE GPIO_MODE_IT_RISING \ No newline at end of file diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp index d539a3d..b7c51a8 100644 --- a/src/lncubator_rotating_control_service.cpp +++ b/src/lncubator_rotating_control_service.cpp @@ -1,6 +1,7 @@ #include "lncubator_rotating_control_service.hpp" using namespace iflytop; +#define TAG "LRCS" const uint32_t LncubatorRotatingControlService::mc_onecircle_ustep_num = (256 * 200 * 50); const uint32_t LncubatorRotatingControlService::mc_default_velocity = 500000; // 500k @@ -30,15 +31,39 @@ void LncubatorRotatingControlService::initialize(Hardware* hardware) { // * @brief 电机必须工作在位置模式 */ m_motor->setMotorInPositionMode(); + hardware->m_deviceIoService.onHomeRefSwitch.connect(this, onHomeSwitchKey); } void LncubatorRotatingControlService::moveToHome() { m_dowhat = krotateToHome; m_motor->moveTo(mc_onecircle_ustep_num * 2, m_maxVelocity); } - +void LncubatorRotatingControlService::onHomeSwitchKey() { + /** + * @brief 电机零点光电触发 + */ + m_homeKeyTriggered = true; +} void LncubatorRotatingControlService::setVelocity(uint32_t velocityMax) { m_maxVelocity = velocityMax; } void LncubatorRotatingControlService::rotate(uint32_t count) { m_motor->moveBy(count, m_maxVelocity); } void LncubatorRotatingControlService::periodicJob() { - if (krotateToHome) { + if (krotateToHome == m_dowhat) { + doRotateToHomeJob(); } } + +void LncubatorRotatingControlService::doRotateToHomeJob() { + if (m_homeKeyTriggered) { + m_homeKeyTriggered = false; + /** + * @brief 零点光电触发,记录零点位置 + */ + m_homePosition = m_motor->getENC_POS(); + m_motor->stop(); + m_dowhat = kidle; + ZLOGI(TAG, "home position:%d", m_homePosition); + } +} + +void LncubatorRotatingControlService::registerListener(LncubatorRotatingControlServiceListener* listener) { // + m_listener = listener; +} diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp index 27f644b..a8edbb1 100644 --- a/src/lncubator_rotating_control_service.hpp +++ b/src/lncubator_rotating_control_service.hpp @@ -1,5 +1,8 @@ #pragma once #include "board\hardware.hpp" +#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp" +#include "libiflytop_micro\stm32\component\state_machine\state_machine.hpp" + namespace iflytop { /** * @brief @@ -14,11 +17,19 @@ namespace iflytop { * 7. 读取校准值 * 8. 写入校准值 * + * + * */ #define LNCUBATOR_MAX_POSITION_COUNT 20 #define ZEROOFFSETCORRECTION 0 +class LncubatorRotatingControlServiceListener { + public: + virtual void OnlncubatorRotatingControlServiceException() = 0; + virtual void OnlncubatorRotatingControlServiceJobFinished() = 0; +}; + class LncubatorRotatingControlService { public: typedef enum { @@ -35,23 +46,26 @@ class LncubatorRotatingControlService { kidle, krotateToTarget, krotateToHome, + kspeedMode, } dowhat_t; /* data */ Hardware* m_hardware; IflytopMicroOS* m_os; - TMC4361AImpl* m_motor; + TMC4361A* m_motor; dowhat_t m_dowhat; // 零点位置 uint32_t m_homePosition; // 便宜修正，第一个仓位中心距离零点的距离 uint32_t m_homeOffsetCorrection; - uint32_t m_maxVelocity = 0; + bool m_workfinished; + bool m_homeKeyTriggered; - bool m_workfinished; + LncubatorRotatingControlServiceListener* m_listener; - bool homeKeyTriggered; + private: + ZSLOT0(LncubatorRotatingControlService, onHomeSwitchKey); public: LncubatorRotatingControlService(); @@ -61,6 +75,8 @@ class LncubatorRotatingControlService { void setVelocity(uint32_t velocityMax); void rotate(uint32_t count); + void registerListener(LncubatorRotatingControlServiceListener* listener); + void moveToHome(); void moveTo(refpoint_t refpoint, uint32_t positionIndex); void stop(); @@ -74,5 +90,8 @@ class LncubatorRotatingControlService { void calibrationPosition(refpoint_t refpoint, uint32_t positionIndex); void periodicJob(); + + private: + void doRotateToHomeJob(); }; } // namespace iflytop diff --git a/src/umain.cpp b/src/umain.cpp index 52cc320..e17373a 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -3,10 +3,10 @@ #include "board/device_io_service.hpp" #include "board/libtmcimpl.hpp" +#include "board/project_board.hpp" #include "libiflytop_micro\stm32\basic\basic.h" #include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" -#include "project_board.hpp" // #include "board/hardware.hpp" #include "i2c.h" @@ -36,7 +36,7 @@ class Main { void Main::initialize() { zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener)); - m_hardware.hardwareinit(); + m_hardware.hardwareinit(); // canSlaveService = &m_hardware.canSlaveService; }