From c23c5e39b3192da0dfb8eee05d348e0c5dec4dea Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 17 Apr 2023 17:16:34 +0800 Subject: [PATCH] update --- README.md | 9 ++ app/MDK-ARM/app.uvguix.h_zha | 185 +++++++++++++++++++++-------- app/MDK-ARM/app.uvoptx | 90 ++++++++------ dep/libiflytop_micro | 2 +- dep/libtrinamic | 2 +- src/board/device_io_service.cpp | 4 +- src/board/device_io_service.hpp | 7 ++ src/board/hardware.cpp | 66 +++++++--- src/board/hardware.hpp | 15 ++- src/lncubator_rotating_control_service.cpp | 24 ++++ src/lncubator_rotating_control_service.hpp | 62 ++++++++++ src/umain.cpp | 15 +-- 12 files changed, 360 insertions(+), 121 deletions(-) create mode 100644 src/lncubator_rotating_control_service.cpp create mode 100644 src/lncubator_rotating_control_service.hpp diff --git a/README.md b/README.md index 72ec3f0..3f4fb0c 100644 --- a/README.md +++ b/README.md @@ -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。 + + ``` \ No newline at end of file diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index ca739b8..c07883a 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -15,17 +15,17 @@ 38003 Registers - 140 79 + 177 177 346 Code Coverage - 860 160 + 860 442 204 Performance Analyzer - 1020 + 896 153 153 100 @@ -70,7 +70,7 @@ 466 Source Browser 500 - 300 + 166 @@ -102,16 +102,16 @@ 23 - 414 - 1514 + 415 + 1515 1009 0 - 637 - 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898 @@ -3603,7 +3603,7 @@ 0 100 - 2 + 7 ..\..\src\board\libtmcimpl.cpp 0 @@ -3624,9 +3624,90 @@ ..\..\src\lncubator_temperature_control_service.hpp - 26 + 21 1 - 17 + 2 + 1 + + 0 + + + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp + 0 + 44 + 63 + 1 + + 0 + + + ..\..\dep\libiflytop_micro\stm32\basic\zsignal.hpp + 0 + 77 + 78 + 1 + + 0 + + + ..\..\src\board\hardware.hpp + 0 + 1 + 27 + 1 + + 0 + + + startup_stm32f407xx.s + 0 + 167 + 174 + 1 + + 0 + + + ..\..\src\umain.cpp + 4 + 14 + 39 + 1 + + 0 + + + ..\..\src\board\hardware.cpp + 0 + 109 + 118 + 1 + + 0 + + + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + 0 + 248 + 260 + 1 + + 0 + + + ../Core/Src/stm32f4xx_it.c + 0 + 81 + 89 + 1 + + 0 + + + ..\..\src\board\device_io_service.cpp + 0 + 126 + 153 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index cd8d82f..54a488e 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 4 + 3 @@ -114,13 +114,13 @@ - Segger\JL2CM3.dll + BIN\CMSIS_AGDI.dll 0 CMSIS_AGDI - -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($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) + -X"Any" -UAny -O206 -S10 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) 0 @@ -140,7 +140,7 @@ 0 DLGUARM - d + 0 @@ -162,55 +162,55 @@ 0 0 - 70 + 51 1 -
134234636
+
134240374
0 0 0 0 0 1 - ..\..\src\umain.cpp + ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp - \\app\../../src/umain.cpp\70 + \\app\../../dep/libtrinamic/src/ic/tmc4361A.cpp\51 1 0 - 185 + 39 1 -
0
+
134237432
0 0 0 0 0 - 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + 1 + ..\..\src\umain.cpp - + \\app\../../src/umain.cpp\39 2 0 - 197 + 142 1 -
0
+
134238226
0 0 0 0 0 - 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + 1 + ..\..\src\board\device_io_service.cpp - + \\app\../../src/board/device_io_service.cpp\142 3 0 - 198 + 30 1
0
0 @@ -219,14 +219,14 @@ 0 0 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + startup_stm32f407xx.s 4 0 - 231 + 57 1
0
0 @@ -235,14 +235,14 @@ 0 0 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + startup_stm32f407xx.s 5 0 - 257 + 77 1
0
0 @@ -251,14 +251,14 @@ 0 0 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + startup_stm32f407xx.s 6 0 - 260 + 84 1
0
0 @@ -267,14 +267,14 @@ 0 0 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + startup_stm32f407xx.s 7 0 - 30 + 185 1
0
0 @@ -283,14 +283,14 @@ 0 0 0 - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + startup_stm32f407xx.s 8 0 - 51 + 197 1
0
0 @@ -299,14 +299,14 @@ 0 0 0 - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + startup_stm32f407xx.s 9 0 - 57 + 198 1
0
0 @@ -315,14 +315,14 @@ 0 0 0 - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + startup_stm32f407xx.s 10 0 - 77 + 231 1
0
0 @@ -331,14 +331,14 @@ 0 0 0 - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + startup_stm32f407xx.s 11 0 - 84 + 257 1
0
0 @@ -347,7 +347,23 @@ 0 0 0 - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + startup_stm32f407xx.s + + + + + 12 + 0 + 260 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + startup_stm32f407xx.s @@ -399,7 +415,7 @@ 0 0 2 - 1000000 + 2000000 diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index 645e10e..bb1b993 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit 645e10e79f235ef9a05d3026091d692b18f6b5f8 +Subproject commit bb1b993c2015abe36525a7876b17f076665433b4 diff --git a/dep/libtrinamic b/dep/libtrinamic index eb0ae96..cab741c 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit eb0ae9632bd558e6f1727437fa58715200c79693 +Subproject commit cab741ca3a6c542ebf25e6ef3a1d46766d035f55 diff --git a/src/board/device_io_service.cpp b/src/board/device_io_service.cpp index 09d46ce..279f18a 100644 --- a/src/board/device_io_service.cpp +++ b/src/board/device_io_service.cpp @@ -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) { diff --git a/src/board/device_io_service.hpp b/src/board/device_io_service.hpp index f9a84bc..1a577c8 100644 --- a/src/board/device_io_service.hpp +++ b/src/board/device_io_service.hpp @@ -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 * *******************************************************************************/ diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp index c9606e0..67e1101 100644 --- a/src/board/hardware.cpp +++ b/src/board/hardware.cpp @@ -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(); } } diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp index 4c0ee8c..b6571d6 100644 --- a/src/board/hardware.hpp +++ b/src/board/hardware.hpp @@ -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(); }; diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp new file mode 100644 index 0000000..6abc5ee --- /dev/null +++ b/src/lncubator_rotating_control_service.cpp @@ -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); + + + +} \ No newline at end of file diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp new file mode 100644 index 0000000..99d96e1 --- /dev/null +++ b/src/lncubator_rotating_control_service.hpp @@ -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 diff --git a/src/umain.cpp b/src/umain.cpp index b178d3c..52cc320 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -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[]) {