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

update

master
zhaohe 2 years ago
parent
6c8980f7e6
commit
c23c5e39b3
12 changed files with 360 additions and 121 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 9
      README.md
  2. 185
      app/MDK-ARM/app.uvguix.h_zha
  3. 90
      app/MDK-ARM/app.uvoptx
  4. 2
      dep/libiflytop_micro
  5. 2
      dep/libtrinamic
  6. 4
      src/board/device_io_service.cpp
  7. 7
      src/board/device_io_service.hpp
  8. 66
      src/board/hardware.cpp
  9. 15
      src/board/hardware.hpp
  10. 24
      src/lncubator_rotating_control_service.cpp
  11. 62
      src/lncubator_rotating_control_service.hpp
  12. 15
      src/umain.cpp

9
README.md
View File

@ -14,4 +14,13 @@ STM32F407VET6示例工程
3. 控制tmc4361使得电机转起来
4. 配置闭环寄存器使得电机闭环转起来
5. 实现解析TMCL指令对接TMC-IDE
```
# 调试记录
```
TMC4361芯片异常
编码器的供电电压和TMC的芯片电压不匹配时会出现TMC4361芯片无法工作的问题。
```

185
app/MDK-ARM/app.uvguix.h_zha
File diff suppressed because it is too large
View File

90
app/MDK-ARM/app.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>4</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,13 +114,13 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S10 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>d</Name>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -162,55 +162,55 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>70</LineNumber>
<LineNumber>51</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234636</Address>
<Address>134240374</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\..\src\umain.cpp</Filename>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<ExecCommand></ExecCommand>
<Expression>\\app\../../src/umain.cpp\70</Expression>
<Expression>\\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\51</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>185</LineNumber>
<LineNumber>39</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<Address>134237432</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\..\src\umain.cpp</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
<Expression>\\app\../../src/umain.cpp\39</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>197</LineNumber>
<LineNumber>142</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<Address>134238226</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\..\src\board\device_io_service.cpp</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
<Expression>\\app\../../src/board/device_io_service.cpp\142</Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>198</LineNumber>
<LineNumber>30</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -219,14 +219,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>4</Number>
<Type>0</Type>
<LineNumber>231</LineNumber>
<LineNumber>57</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -235,14 +235,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>5</Number>
<Type>0</Type>
<LineNumber>257</LineNumber>
<LineNumber>77</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -251,14 +251,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>6</Number>
<Type>0</Type>
<LineNumber>260</LineNumber>
<LineNumber>84</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -267,14 +267,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>7</Number>
<Type>0</Type>
<LineNumber>30</LineNumber>
<LineNumber>185</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -283,14 +283,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>8</Number>
<Type>0</Type>
<LineNumber>51</LineNumber>
<LineNumber>197</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -299,14 +299,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>9</Number>
<Type>0</Type>
<LineNumber>57</LineNumber>
<LineNumber>198</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -315,14 +315,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>10</Number>
<Type>0</Type>
<LineNumber>77</LineNumber>
<LineNumber>231</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -331,14 +331,14 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>11</Number>
<Type>0</Type>
<LineNumber>84</LineNumber>
<LineNumber>257</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
@ -347,7 +347,23 @@
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\..\dep\libtrinamic\src\ic\tmc4361A.cpp</Filename>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>12</Number>
<Type>0</Type>
<LineNumber>260</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
@ -399,7 +415,7 @@
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>1000000</DbgClock>
<DbgClock>2000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>

2
dep/libiflytop_micro

@ -1 +1 @@
Subproject commit 645e10e79f235ef9a05d3026091d692b18f6b5f8
Subproject commit bb1b993c2015abe36525a7876b17f076665433b4

2
dep/libtrinamic

@ -1 +1 @@
Subproject commit eb0ae9632bd558e6f1727437fa58715200c79693
Subproject commit cab741ca3a6c542ebf25e6ef3a1d46766d035f55

4
src/board/device_io_service.cpp
View File

@ -11,7 +11,9 @@ int fputc(int ch, FILE *stream) {
}
using namespace iflytop;
namespace iflytop {
namespace iflytop {}
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);
}
void DeviceIoService::fanInit(int freq) {

7
src/board/device_io_service.hpp
View File

@ -24,6 +24,13 @@ class DeviceIoService : public IflytopMicroOS {
public:
DeviceIoService(/* args */) {}
~DeviceIoService() {}
/*******************************************************************************
* 调试指示灯初始化 *
*******************************************************************************/
void debug_light_init();
/*******************************************************************************
* 风扇控制 *
*******************************************************************************/

66
src/board/hardware.cpp
View File

@ -2,64 +2,93 @@
#include "i2c.h"
using namespace iflytop;
#define TAG "hardware"
#define TAG "hardware"
#define ENABLE_CAN 1
int32_t Hardware::port_tmc4361_get_version(uint8_t channel) {
int value;
uint8_t data[5];
data[0] = 0x7f;
m_deviceIoService.tmc_motor_spi_write_and_read(channel, &data[0], 5);
value = ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4];
return value;
}
void Hardware::hardwareinit() {
m_os = &m_deviceIoService;
m_canOnRxDataFlag = false;
m_os = &m_deviceIoService;
/*******************************************************************************
* CANSLAVEService初始化 *
* 调试指示灯初始化 *
*******************************************************************************/
m_deviceIoService.debug_light_init();
/*******************************************************************************
* CANSLAVEService初始化 *
*******************************************************************************/
#if ENABLE_CAN
IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID);
canSlaveService.initialize(m_os, config);
canSlaveService.activateRxIT();
#endif
/*******************************************************************************
* 帕尔贴初始化 *
*******************************************************************************/
#if 0
m_deviceIoService.peltier_init();
#endif
/*******************************************************************************
* 温度传感器初始化 *
*******************************************************************************/
#if 0
tmp117[0].initializate(&hi2c1, TMP117::ID0);
tmp117[1].initializate(&hi2c1, TMP117::ID1);
tmp117[2].initializate(&hi2c1, TMP117::ID2);
tmp117[3].initializate(&hi2c1, TMP117::ID3);
#endif
/*******************************************************************************
* 电机初始化 *
*******************************************************************************/
#if 1
m_deviceIoService.tmc_init();
m_deviceIoService.tmc_extern_clk_enable();
// 4361初始化
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;
tmc4361aconfig->close_loop_config.enable_closed_loop = false;
tmc4361motor1.initialize(&m_deviceIoService, MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig);
tmc4361motor1.setMaximumAcceleration(300000);
tmc4361motor1.setMaximumDeceleration(300000);
// 2160初始化
tmc2160motor1.setMaximumCurrent(3);
tmc2160motor1.initialize(&m_deviceIoService, &tmc4361motor1, MOTOR_1_TMC2160_CHANNEL);
tmc2160motor1.setMaximumCurrent(3);
HAL_Delay(100);
// 使能电机
tmc4361motor1.enableIC(true);
tmc2160motor1.enableIC(true);
tmc4361motor1.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);
if (ic4361Version != 2 || ic2160Version != 30) {
ZLOGE(TAG, "TMC4361 or TMC2160 is not normal");
}
// 期望 4361Version:2 ic2160Version:30
/*******************************************************************************
* 风扇初始化 *
*******************************************************************************/
tmc4361motor1.rotate(300000);
#endif
/*******************************************************************************
* 风扇初始化 *
*******************************************************************************/
#if 0
m_deviceIoService.fanInit(1000);
/**
* @brief 风扇反馈初始化
@ -71,22 +100,27 @@ void Hardware::hardwareinit() {
* FAN4_FB_INT PC7
* FAN5_FB_INT PC10
*/
m_fanStateMonitor[0].initialize(m_os, GPIOC, GPIO_PIN_1, m_deviceIoService.fanGetPowerState(0));
m_fanStateMonitor[1].initialize(m_os, GPIOC, GPIO_PIN_4, m_deviceIoService.fanGetPowerState(1));
m_fanStateMonitor[2].initialize(m_os, GPIOC, GPIO_PIN_5, m_deviceIoService.fanGetPowerState(2));
m_fanStateMonitor[3].initialize(m_os, GPIOC, GPIO_PIN_6, m_deviceIoService.fanGetPowerState(3));
m_fanStateMonitor[4].initialize(m_os, GPIOC, GPIO_PIN_7, m_deviceIoService.fanGetPowerState(4));
m_fanStateMonitor[5].initialize(m_os, GPIOC, GPIO_PIN_10, m_deviceIoService.fanGetPowerState(5));
#endif
}
void Hardware::periodicJob() {
#if 0
/**
* @brief 风扇状态监控服务周期调度
*/
for (size_t i = 0; i < ZARRAY_SIZE(m_fanStateMonitor); i++) {
m_fanStateMonitor[i].periodicJob();
}
#endif
do_debug_light_state();
#if ENABLE_CAN
// testCanSlaveTxAndRx();
#endif
}
void Hardware::do_debug_light_state() {
static uint32_t lastprocess = 0;
@ -116,7 +150,7 @@ void Hardware::testTmp117() {
/**
* @brief 测试CAN的发送和接收
*/
void Hardware::testCanSlaveTxAndRx(bool canOnRxDataFlag) {
void Hardware::testCanSlaveTxAndRx() {
{
static uint32_t lastcall;
static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8};
@ -134,8 +168,8 @@ void Hardware::testCanSlaveTxAndRx(bool canOnRxDataFlag) {
/**
* @brief 接收CAN消息
*/
if (canOnRxDataFlag) {
canOnRxDataFlag = false;
if (m_canOnRxDataFlag) {
m_canOnRxDataFlag = false;
static CAN_RxHeaderTypeDef packetHeader;
static uint8_t packetData[8];
while (canSlaveService.getRxMessage(&packetHeader, packetData)) {
@ -143,6 +177,6 @@ void Hardware::testCanSlaveTxAndRx(bool canOnRxDataFlag) {
ZLOGI(TAG, "\tid:%x len:%d", packetHeader.StdId, packetHeader.DLC);
ZLOGI_HEX(TAG, packetData, packetHeader.DLC);
}
canSlaveService.activateRxIT();
// canSlaveService.activateRxIT();
}
}

15
src/board/hardware.hpp
View File

@ -10,26 +10,37 @@ namespace iflytop {
class Hardware {
private:
/* data */
public:
TMC4361AImpl tmc4361motor1;
TMC2160Impl tmc2160motor1;
TMP117 tmp117[4];
FanStateMonitor m_fanStateMonitor[6];
IflytopCanSlave canSlaveService;
IflytopMicroOS* m_os;
IflytopMicroOS *m_os;
DeviceIoService m_deviceIoService;
bool m_canOnRxDataFlag;
public:
ZSLOT0(Hardware, onCanRxData) {
m_canOnRxDataFlag = true;
canSlaveService.deactivateRxIT();
}
Hardware(/* args */){};
~Hardware(){};
void hardwareinit();
void periodicJob();
int32_t port_tmc4361_get_version(uint8_t channel);
/*******************************************************************************
* 测试 *
*******************************************************************************/
void testTmp117();
void testCanSlaveTxAndRx(bool canOnRxDataFlag);
void testCanSlaveTxAndRx();
void do_debug_light_state();
};

24
src/lncubator_rotating_control_service.cpp
View File

@ -0,0 +1,24 @@
#include "lncubator_rotating_control_service.hpp"
using namespace iflytop;
LncubatorRotatingControlService::LncubatorRotatingControlService() {}
LncubatorRotatingControlService::~LncubatorRotatingControlService() {}
void LncubatorRotatingControlService::initialize(Hardware* hardware) { //
m_hardware = hardware;
m_motor = &m_hardware->tmc4361motor1;
m_os = &m_hardware->m_deviceIoService;
/**
* @brief 电机必须工作在位置模式
*/
m_motor->setMotorInPositionMode();
}
void LncubatorRotatingControlService::setVelocity(uint32_t velocityMax) { m_maxVelocity = velocityMax; }
void LncubatorRotatingControlService::rotate(uint32_t count) {
m_motor->moveBy(count, m_maxVelocity);
}

62
src/lncubator_rotating_control_service.hpp
View File

@ -0,0 +1,62 @@
#pragma once
#include "board\hardware.hpp"
namespace iflytop {
/**
* @brief
* 孵育盘
*
* 1. 孵育船位X对其孵育盘出口
* 2. 孵育船位X对其孵育盘入口
* 3. 找零点
* 4. 电机顺时针转x度
* 5. 电机逆时针转x度
* 6. 校准位置([0]参考标识类型:出口，入口，零点，[1]第几个孵育船);
* 7. 读取校准值
* 8. 写入校准值
*
*/
#define LNCUBATOR_MAX_POSITION_COUNT 20
#define ZEROOFFSETCORRECTION 0
class LncubatorRotatingControlService {
public:
typedef enum {
REFPOINT_TYPE_OUTLET = 0, // 出口
REFPOINT_TYPE_INLET, // 入口
REFPOINT_TYPE_ZERO, // 零点
} refpoint_t;
private:
/* data */
Hardware* m_hardware;
IflytopMicroOS* m_os;
TMC4361AImpl* m_motor;
// 零点位置
uint32_t m_zeroPosition;
// 便宜修正，第一个仓位中心距离零点的距离
uint32_t m_ZeroOffsetCorrection;
uint32_t m_maxVelocity = 0;
public:
LncubatorRotatingControlService();
~LncubatorRotatingControlService();
void initialize(Hardware* hardware);
void setVelocity(uint32_t velocityMax);
void rotate(uint32_t count);
void moveToZero();
void moveTo(refpoint_t refpoint, uint32_t positionIndex);
/**
* @brief 人工校准当前位置为指定位置
*
* @param refpoint 参考点
* @param positionIndex 第几个位置
*/
void calibrationPosition(refpoint_t refpoint, uint32_t positionIndex);
};
} // namespace iflytop

15
src/umain.cpp
View File

@ -24,27 +24,20 @@ class Main {
LncubatorTemperatureControlService m_lncubatorTemperatureControlService;
Hardware m_hardware;
IflytopCanSlave *canSlaveService;
IflytopMicroOS *os;
// IflytopCanSlave *canSlaveService;
IflytopMicroOS *os;
bool canOnRxDataFlag;
Main() { canOnRxDataFlag = false; }
ZSLOT0(Main, onCanRxData);
void onCanRxData() {
canOnRxDataFlag = true;
canSlaveService->deactivateRxIT();
}
void initialize();
void main(int argc, char const *argv[]);
};
void Main::initialize() {
zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
m_hardware.hardwareinit();
canSlaveService = &m_hardware.canSlaveService;
canSlaveService->onCanRxData.connect(this, &Main::onCanRxData);
canSlaveService->activateRxIT();
m_hardware.hardwareinit();
// canSlaveService = &m_hardware.canSlaveService;
}
void Main::main(int argc, char const *argv[]) {

Write Preview
Loading…
Cancel
Save