diff --git a/README.md b/README.md index 3f4fb0c..14f8371 100644 --- a/README.md +++ b/README.md @@ -23,4 +23,9 @@ 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。 +``` + +``` + TODO: + 1. 转盘卡住了异常捕获。 ``` \ 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 b153bf4..9341439 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -110,8 +110,8 @@ 0 - 435 - 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000002000000010000000100000059443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C626F6172645C68617264776172652E637070000000000C68617264776172652E63707000000000C5D4F200FFFFFFFF71443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C696269666C79746F705F6D6963726F5C73746D33325C62617369635C73746D33325F68616C2E637070000000000D73746D33325F68616C2E63707000000000FFDC7800FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000FC010000660000009006000042020000 + 738 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000004000000030000000100000059443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C626F6172645C68617264776172652E637070000000000C68617264776172652E63707000000000C5D4F200FFFFFFFF71443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C696269666C79746F705F6D6963726F5C73746D33325C62617369635C73746D33325F68616C2E637070000000000D73746D33325F68616C2E63707000000000FFDC7800FFFFFFFF70443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C6C6E63756261746F725F74656D70657261747572655F636F6E74726F6C5F736572766963652E63707000000000296C6E63756261746F725F74656D70657261747572655F636F6E74726F6C5F736572766963652E63707000000000BECEA100FFFFFFFF66443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C7372635C69635C746D6334333631412E687070000000000C746D6334333631412E68707000000000F0A0A100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000FC010000660000009006000042020000 @@ -530,7 +530,7 @@ 0 16 - 03000000460200008D060000E0030000 + 03000000460200008D060000A7030000 16 @@ -1150,7 +1150,7 @@ 0 16 - 0300000066000000F5010000D9010000 + 0300000066000000F501000012020000 16 @@ -1170,7 +1170,7 @@ 0 16 - 03000000460200008D060000E0030000 + 03000000460200008D060000A7030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 03000000460200008D060000E0030000 + 03000000460200008D060000A7030000 16 @@ -1250,7 +1250,7 @@ 0 16 - 03000000460200008D060000E0030000 + 03000000460200008D060000A7030000 16 @@ -1270,7 +1270,7 @@ 0 16 - 03000000460200008D060000E0030000 + 03000000460200008D060000A7030000 16 @@ -1799,14 +1799,14 @@ 3312 - 000000000B000000000000000020000000000000FFFFFFFFFFFFFFFFD6000000D9000000DC040000DD000000000000000100000004000000010000000000000000000000FFFFFFFF08000000CB00000057010000CC000000F08B00005A01000079070000D601000045890000FFFF02000B004354616262656450616E650020000000000000D600000066000000DC040000F0000000D60000004F000000DC040000D90000000000000040280046080000000B446973617373656D626C7900000000CB00000001000000FFFFFFFFFFFFFFFF14506572666F726D616E636520416E616C797A6572000000005701000001000000FFFFFFFFFFFFFFFF14506572666F726D616E636520416E616C797A657200000000CC00000001000000FFFFFFFFFFFFFFFF0E4C6F67696320416E616C797A657200000000F08B000001000000FFFFFFFFFFFFFFFF0D436F646520436F766572616765000000005A01000001000000FFFFFFFFFFFFFFFF11496E737472756374696F6E205472616365000000007907000001000000FFFFFFFFFFFFFFFF0F53797374656D20416E616C797A657200000000D601000001000000FFFFFFFFFFFFFFFF104576656E742053746174697374696373000000004589000001000000FFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000000000000001000000FFFFFFFFCB00000001000000FFFFFFFFCB000000000000000040000000000000FFFFFFFFFFFFFFFF060400004F0000000A04000013020000000000000200000004000000010000000000000000000000FFFFFFFF2B000000E2050000CA0900002D8C00002E8C00002F8C0000308C0000318C0000328C0000338C0000348C0000358C0000368C0000378C0000388C0000398C00003A8C00003B8C00003C8C00003D8C00003E8C00003F8C0000408C0000418C000050C3000051C3000052C3000053C3000054C3000055C3000056C3000057C3000058C3000059C300005AC300005BC300005CC300005DC300005EC300005FC3000060C3000061C3000062C3000063C30000018000400000000000000A04000066000000DC0400002A0200000A0400004F000000DC0400001302000000000000404100462B0000000753796D626F6C7300000000E205000001000000FFFFFFFFFFFFFFFF0A5472616365204461746100000000CA09000001000000FFFFFFFFFFFFFFFF00000000002D8C000001000000FFFFFFFFFFFFFFFF00000000002E8C000001000000FFFFFFFFFFFFFFFF00000000002F8C000001000000FFFFFFFFFFFFFFFF0000000000308C000001000000FFFFFFFFFFFFFFFF0000000000318C000001000000FFFFFFFFFFFFFFFF0000000000328C000001000000FFFFFFFFFFFFFFFF0000000000338C000001000000FFFFFFFFFFFFFFFF0000000000348C000001000000FFFFFFFFFFFFFFFF0000000000358C000001000000FFFFFFFFFFFFFFFF0000000000368C000001000000FFFFFFFFFFFFFFFF0000000000378C000001000000FFFFFFFFFFFFFFFF0000000000388C000001000000FFFFFFFFFFFFFFFF0000000000398C000001000000FFFFFFFFFFFFFFFF00000000003A8C000001000000FFFFFFFFFFFFFFFF00000000003B8C000001000000FFFFFFFFFFFFFFFF00000000003C8C000001000000FFFFFFFFFFFFFFFF00000000003D8C000001000000FFFFFFFFFFFFFFFF00000000003E8C000001000000FFFFFFFFFFFFFFFF00000000003F8C000001000000FFFFFFFFFFFFFFFF0000000000408C000001000000FFFFFFFFFFFFFFFF0000000000418C000001000000FFFFFFFFFFFFFFFF000000000050C3000001000000FFFFFFFFFFFFFFFF000000000051C3000001000000FFFFFFFFFFFFFFFF000000000052C3000001000000FFFFFFFFFFFFFFFF000000000053C3000001000000FFFFFFFFFFFFFFFF000000000054C3000001000000FFFFFFFFFFFFFFFF000000000055C3000001000000FFFFFFFFFFFFFFFF000000000056C3000001000000FFFFFFFFFFFFFFFF000000000057C3000001000000FFFFFFFFFFFFFFFF000000000058C3000001000000FFFFFFFFFFFFFFFF000000000059C3000001000000FFFFFFFFFFFFFFFF00000000005AC3000001000000FFFFFFFFFFFFFFFF00000000005BC3000001000000FFFFFFFFFFFFFFFF00000000005CC3000001000000FFFFFFFFFFFFFFFF00000000005DC3000001000000FFFFFFFFFFFFFFFF00000000005EC3000001000000FFFFFFFFFFFFFFFF00000000005FC3000001000000FFFFFFFFFFFFFFFF000000000060C3000001000000FFFFFFFFFFFFFFFF000000000061C3000001000000FFFFFFFFFFFFFFFF000000000062C3000001000000FFFFFFFFFFFFFFFF000000000063C3000001000000FFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000000000000001000000FFFFFFFFE205000001000000FFFFFFFFE2050000000000000010000001000000FFFFFFFFFFFFFFFFF80100004F000000FC0100002B0200000100000002000010040000000100000030FDFFFFB5030000FFFFFFFF05000000ED0300006D000000C3000000C400000073940000018000100000010000000000000066000000F801000009020000000000004F000000F80100002B0200000000000040410056050000000750726F6A65637401000000ED03000001000000FFFFFFFFFFFFFFFF05426F6F6B73010000006D00000001000000FFFFFFFFFFFFFFFF0946756E6374696F6E7301000000C300000001000000FFFFFFFFFFFFFFFF0954656D706C6174657301000000C400000001000000FFFFFFFFFFFFFFFF09526567697374657273000000007394000001000000FFFFFFFFFFFFFFFF00000000000000000000000000000000000000000000000001000000FFFFFFFFED03000001000000FFFFFFFFED030000000000000080000000000000FFFFFFFFFFFFFFFF00000000FF010000DC0400000302000000000000010000000400000001000000000000000000000000000000000000000000000001000000C6000000FFFFFFFF0F0000008F070000930700009407000095070000960700009007000091070000B5010000B801000038030000B9050000BA050000BB050000BC050000CB09000001800080000000000000000000001A020000DC040000B80200000000000003020000DC040000A102000000000000404100460F0000001343616C6C20537461636B202B204C6F63616C73000000008F07000001000000FFFFFFFFFFFFFFFF0755415254202331000000009307000001000000FFFFFFFFFFFFFFFF0755415254202332000000009407000001000000FFFFFFFFFFFFFFFF0755415254202333000000009507000001000000FFFFFFFFFFFFFFFF15446562756720287072696E74662920566965776572000000009607000001000000FFFFFFFFFFFFFFFF0757617463682031000000009007000001000000FFFFFFFFFFFFFFFF0757617463682032000000009107000001000000FFFFFFFFFFFFFFFF10547261636520457863657074696F6E7300000000B501000001000000FFFFFFFFFFFFFFFF0E4576656E7420436F756E7465727300000000B801000001000000FFFFFFFFFFFFFFFF09554C494E4B706C7573000000003803000001000000FFFFFFFFFFFFFFFF084D656D6F7279203100000000B905000001000000FFFFFFFFFFFFFFFF084D656D6F7279203200000000BA05000001000000FFFFFFFFFFFFFFFF084D656D6F7279203300000000BB05000001000000FFFFFFFFFFFFFFFF084D656D6F7279203400000000BC05000001000000FFFFFFFFFFFFFFFF105472616365204E617669676174696F6E00000000CB09000001000000FFFFFFFFFFFFFFFFFFFFFFFF0000000001000000000000000000000001000000FFFFFFFF6E0200000302000072020000A102000000000000020000000400000000000000000000000000000000000000000000000000000002000000C6000000FFFFFFFF8F07000001000000FFFFFFFF8F07000001000000C6000000000000000080000001000000FFFFFFFFFFFFFFFF000000002B020000900600002F0200000100000001000010040000000100000037FDFFFF9D000000FFFFFFFF06000000C5000000C7000000B4010000D2010000CF0100007794000001800080000001000000000000000D02000090060000D7030000000000002F02000090060000C00300000000000040820056060000000C4275696C64204F757470757401000000C500000001000000FFFFFFFFFFFFFFFF0D46696E6420496E2046696C657300000000C700000001000000FFFFFFFFFFFFFFFF0A4572726F72204C69737400000000B401000001000000FFFFFFFFFFFFFFFF0E536F757263652042726F7773657200000000D201000001000000FFFFFFFFFFFFFFFF0E416C6C205265666572656E63657300000000CF01000001000000FFFFFFFFFFFFFFFF0742726F77736572000000007794000001000000FFFFFFFFFFFFFFFF00000000000000000000000000000000000000000000000001000000FFFFFFFFC500000001000000FFFFFFFFC5000000000000000000000000000000 + 000000000B000000000000000020000000000000FFFFFFFFFFFFFFFFD6000000D9000000DC040000DD000000000000000100000004000000010000000000000000000000FFFFFFFF08000000CB00000057010000CC000000F08B00005A01000079070000D601000045890000FFFF02000B004354616262656450616E650020000000000000D600000066000000DC040000F0000000D60000004F000000DC040000D90000000000000040280046080000000B446973617373656D626C7900000000CB00000001000000FFFFFFFFFFFFFFFF14506572666F726D616E636520416E616C797A6572000000005701000001000000FFFFFFFFFFFFFFFF14506572666F726D616E636520416E616C797A657200000000CC00000001000000FFFFFFFFFFFFFFFF0E4C6F67696320416E616C797A657200000000F08B000001000000FFFFFFFFFFFFFFFF0D436F646520436F766572616765000000005A01000001000000FFFFFFFFFFFFFFFF11496E737472756374696F6E205472616365000000007907000001000000FFFFFFFFFFFFFFFF0F53797374656D20416E616C797A657200000000D601000001000000FFFFFFFFFFFFFFFF104576656E742053746174697374696373000000004589000001000000FFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000000000000001000000FFFFFFFFCB00000001000000FFFFFFFFCB000000000000000040000000000000FFFFFFFFFFFFFFFF060400004F0000000A04000013020000000000000200000004000000010000000000000000000000FFFFFFFF2B000000E2050000CA0900002D8C00002E8C00002F8C0000308C0000318C0000328C0000338C0000348C0000358C0000368C0000378C0000388C0000398C00003A8C00003B8C00003C8C00003D8C00003E8C00003F8C0000408C0000418C000050C3000051C3000052C3000053C3000054C3000055C3000056C3000057C3000058C3000059C300005AC300005BC300005CC300005DC300005EC300005FC3000060C3000061C3000062C3000063C30000018000400000000000000A04000066000000DC0400002A0200000A0400004F000000DC0400001302000000000000404100462B0000000753796D626F6C7300000000E205000001000000FFFFFFFFFFFFFFFF0A5472616365204461746100000000CA09000001000000FFFFFFFFFFFFFFFF00000000002D8C000001000000FFFFFFFFFFFFFFFF00000000002E8C000001000000FFFFFFFFFFFFFFFF00000000002F8C000001000000FFFFFFFFFFFFFFFF0000000000308C000001000000FFFFFFFFFFFFFFFF0000000000318C000001000000FFFFFFFFFFFFFFFF0000000000328C000001000000FFFFFFFFFFFFFFFF0000000000338C000001000000FFFFFFFFFFFFFFFF0000000000348C000001000000FFFFFFFFFFFFFFFF0000000000358C000001000000FFFFFFFFFFFFFFFF0000000000368C000001000000FFFFFFFFFFFFFFFF0000000000378C000001000000FFFFFFFFFFFFFFFF0000000000388C000001000000FFFFFFFFFFFFFFFF0000000000398C000001000000FFFFFFFFFFFFFFFF00000000003A8C000001000000FFFFFFFFFFFFFFFF00000000003B8C000001000000FFFFFFFFFFFFFFFF00000000003C8C000001000000FFFFFFFFFFFFFFFF00000000003D8C000001000000FFFFFFFFFFFFFFFF00000000003E8C000001000000FFFFFFFFFFFFFFFF00000000003F8C000001000000FFFFFFFFFFFFFFFF0000000000408C000001000000FFFFFFFFFFFFFFFF0000000000418C000001000000FFFFFFFFFFFFFFFF000000000050C3000001000000FFFFFFFFFFFFFFFF000000000051C3000001000000FFFFFFFFFFFFFFFF000000000052C3000001000000FFFFFFFFFFFFFFFF000000000053C3000001000000FFFFFFFFFFFFFFFF000000000054C3000001000000FFFFFFFFFFFFFFFF000000000055C3000001000000FFFFFFFFFFFFFFFF000000000056C3000001000000FFFFFFFFFFFFFFFF000000000057C3000001000000FFFFFFFFFFFFFFFF000000000058C3000001000000FFFFFFFFFFFFFFFF000000000059C3000001000000FFFFFFFFFFFFFFFF00000000005AC3000001000000FFFFFFFFFFFFFFFF00000000005BC3000001000000FFFFFFFFFFFFFFFF00000000005CC3000001000000FFFFFFFFFFFFFFFF00000000005DC3000001000000FFFFFFFFFFFFFFFF00000000005EC3000001000000FFFFFFFFFFFFFFFF00000000005FC3000001000000FFFFFFFFFFFFFFFF000000000060C3000001000000FFFFFFFFFFFFFFFF000000000061C3000001000000FFFFFFFFFFFFFFFF000000000062C3000001000000FFFFFFFFFFFFFFFF000000000063C3000001000000FFFFFFFFFFFFFFFFFFFFFFFF000000000000000000000000000000000000000001000000FFFFFFFFE205000001000000FFFFFFFFE2050000000000000010000001000000FFFFFFFFFFFFFFFFF80100004F000000FC0100002B0200000100000002000010040000000100000030FDFFFFB5030000FFFFFFFF05000000ED0300006D000000C3000000C400000073940000018000100000010000000000000066000000F801000042020000000000004F000000F80100002B0200000000000040410056050000000750726F6A65637401000000ED03000001000000FFFFFFFFFFFFFFFF05426F6F6B73010000006D00000001000000FFFFFFFFFFFFFFFF0946756E6374696F6E7301000000C300000001000000FFFFFFFFFFFFFFFF0954656D706C6174657301000000C400000001000000FFFFFFFFFFFFFFFF09526567697374657273000000007394000001000000FFFFFFFFFFFFFFFF00000000000000000000000000000000000000000000000001000000FFFFFFFFED03000001000000FFFFFFFFED030000000000000080000000000000FFFFFFFFFFFFFFFF00000000FF010000DC0400000302000000000000010000000400000001000000000000000000000000000000000000000000000001000000C6000000FFFFFFFF0F0000008F070000930700009407000095070000960700009007000091070000B5010000B801000038030000B9050000BA050000BB050000BC050000CB09000001800080000000000000000000001A020000DC040000B80200000000000003020000DC040000A102000000000000404100460F0000001343616C6C20537461636B202B204C6F63616C73000000008F07000001000000FFFFFFFFFFFFFFFF0755415254202331000000009307000001000000FFFFFFFFFFFFFFFF0755415254202332000000009407000001000000FFFFFFFFFFFFFFFF0755415254202333000000009507000001000000FFFFFFFFFFFFFFFF15446562756720287072696E74662920566965776572000000009607000001000000FFFFFFFFFFFFFFFF0757617463682031000000009007000001000000FFFFFFFFFFFFFFFF0757617463682032000000009107000001000000FFFFFFFFFFFFFFFF10547261636520457863657074696F6E7300000000B501000001000000FFFFFFFFFFFFFFFF0E4576656E7420436F756E7465727300000000B801000001000000FFFFFFFFFFFFFFFF09554C494E4B706C7573000000003803000001000000FFFFFFFFFFFFFFFF084D656D6F7279203100000000B905000001000000FFFFFFFFFFFFFFFF084D656D6F7279203200000000BA05000001000000FFFFFFFFFFFFFFFF084D656D6F7279203300000000BB05000001000000FFFFFFFFFFFFFFFF084D656D6F7279203400000000BC05000001000000FFFFFFFFFFFFFFFF105472616365204E617669676174696F6E00000000CB09000001000000FFFFFFFFFFFFFFFFFFFFFFFF0000000001000000000000000000000001000000FFFFFFFF6E0200000302000072020000A102000000000000020000000400000000000000000000000000000000000000000000000000000002000000C6000000FFFFFFFF8F07000001000000FFFFFFFF8F07000001000000C6000000000000000080000001000000FFFFFFFFFFFFFFFF000000002B020000900600002F0200000100000001000010040000000100000037FDFFFF9D000000FFFFFFFF06000000C5000000C7000000B4010000D2010000CF0100007794000001800080000001000000000000004602000090060000D7030000000000002F02000090060000C00300000000000040820056060000000C4275696C64204F757470757401000000C500000001000000FFFFFFFFFFFFFFFF0D46696E6420496E2046696C657300000000C700000001000000FFFFFFFFFFFFFFFF0A4572726F72204C69737400000000B401000001000000FFFFFFFFFFFFFFFF0E536F757263652042726F7773657200000000D201000001000000FFFFFFFFFFFFFFFF0E416C6C205265666572656E63657300000000CF01000001000000FFFFFFFFFFFFFFFF0742726F77736572000000007794000001000000FFFFFFFFFFFFFFFF00000000000000000000000000000000000000000000000001000000FFFFFFFFC500000001000000FFFFFFFFC5000000000000000000000000000000 59392 File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uild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ebug 2373 - 00200000000000001900FFFF01001100434D4643546F6F6C426172427574746F6ECC880000000000002500000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018017800000000000002600000000000000000000000000000000010000000100000001801D800000000000002700000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001801A800000000000002800000000000000000000000000000000010000000100000001801B80000000000000290000000000000000000000000000000001000000010000000180E57F0000000000002A00000000000000000000000000000000010000000100000001801C800000000000002B00000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018000890000000000002C00000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180E48B0000000000002D0000000000000000000000000000000001000000010000000180F07F0000000000002E0000000000000000000000000000000001000000010000000180E8880000000000003700000000000000000000000000000000010000000100000001803B010000000000002F0000000000000000000000000000000001000000010000000180BB8A00000000000030000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E0E01000000000000310000000D57617463682057696E646F7773000000000000000000000000010000000100000000000000000000000100000003001380D88B00000000000031000000085761746368202631000000000000000000000000010000000100000000000000000000000100000000001380D98B00000000000031000000085761746368202632000000000000000000000000010000000100000000000000000000000100000000001380CE01000000000000FFFFFFFF0C576174636820416E63686F720000000000000000010000000000000001000000000000000000000001000000000013800F01000000000000320000000E4D656D6F72792057696E646F7773000000000000000000000000010000000100000000000000000000000100000004001380D28B00000000000032000000094D656D6F7279202631000000000000000000000000010000000100000000000000000000000100000000001380D38B00000000000032000000094D656D6F7279202632000000000000000000000000010000000100000000000000000000000100000000001380D48B00000000000032000000094D656D6F7279202633000000000000000000000000010000000100000000000000000000000100000000001380D58B00000000000032000000094D656D6F72792026340000000000000000000000000100000001000000000000000000000001000000000013801001000000000000330000000E53657269616C2057696E646F77730000000000000000000000000100000001000000000000000000000001000000040013809307000000000000330000000855415254202326310000000000000000000000000100000001000000000000000000000001000000000013809407000000000000330000000855415254202326320000000000000000000000000100000001000000000000000000000001000000000013809507000000000000330000000855415254202326330000000000000000000000000100000001000000000000000000000001000000000013809607000000000000330000001626446562756720287072696E746629205669657765720000000000000000000000000100000001000000000000000000000001000000000013803C010000000000007200000010416E616C797369732057696E646F7773000000000000000000000000010000000100000000000000000000000100000004001380658A000000000000340000000F264C6F67696320416E616C797A6572000000000000000000000000010000000100000000000000000000000100000000001380DC7F0000000000003E0000001526506572666F726D616E636520416E616C797A6572000000000000000000000000010000000100000000000000000000000100000000001380E788000000000000380000000E26436F646520436F766572616765000000000000000000000000010000000100000000000000000000000100000000001380CD01000000000000FFFFFFFF0F416E616C7973697320416E63686F7200000000000000000100000000000000010000000000000000000000010000000000138053010000000000003F0000000D54726163652057696E646F77730000000000000000000000000100000001000000000000000000000001000000010013805401000000000000FFFFFFFF115472616365204D656E7520416E63686F720000000000000000010000000000000001000000000000000000000001000000000013802901000000000000350000001553797374656D205669657765722057696E646F77730000000000000000000000000100000001000000000000000000000001000000010013804B01000000000000FFFFFFFF1453797374656D2056696577657220416E63686F720000000000000000010000000000000001000000000000000000000001000000000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000013800189000000000000360000000F26546F6F6C626F782057696E646F7700000000000000000000000001000000010000000000000000000000010000000300138044C5000000000000FFFFFFFF0E5570646174652057696E646F77730000000000000000010000000000000001000000000000000000000001000000000013800000000000000400FFFFFFFF000000000000000000010000000000000001000000000000000000000001000000000013805B01000000000000FFFFFFFF12546F6F6C626F78204D656E75416E63686F72000000000000000001000000000000000100000000000000000000000100000000000000000005446562756764020000 + 00200000000000001900FFFF01001100434D4643546F6F6C426172427574746F6ECC880000000000002500000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018017800000000000002600000000000000000000000000000000010000000100000001801D800000000000002700000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001801A800000000000002800000000000000000000000000000000010000000100000001801B80000000000000290000000000000000000000000000000001000000010000000180E57F0000000000002A00000000000000000000000000000000010000000100000001801C800000000000002B00000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000018000890000000000002C00000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180E48B0000000000002D0000000000000000000000000000000001000000010000000180F07F0000000000002E0000000000000000000000000000000001000000010000000180E8880000000000003700000000000000000000000000000000010000000100000001803B010000000000002F0000000000000000000000000000000001000000010000000180BB8A00000000000030000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6E0E01000000000000310000000D57617463682057696E646F7773000000000000000000000000010000000100000000000000000000000100000003001380D88B00000000000031000000085761746368202631000000000000000000000000010000000100000000000000000000000100000000001380D98B00000000000031000000085761746368202632000000000000000000000000010000000100000000000000000000000100000000001380CE01000000000000FFFFFFFF0C576174636820416E63686F720100000000000000010000000000000001000000000000000000000001000000000013800F01000000000000320000000E4D656D6F72792057696E646F7773000000000000000000000000010000000100000000000000000000000100000004001380D28B00000000000032000000094D656D6F7279202631000000000000000000000000010000000100000000000000000000000100000000001380D38B00000000000032000000094D656D6F7279202632000000000000000000000000010000000100000000000000000000000100000000001380D48B00000000000032000000094D656D6F7279202633000000000000000000000000010000000100000000000000000000000100000000001380D58B00000000000032000000094D656D6F72792026340000000000000000000000000100000001000000000000000000000001000000000013801001000000000000330000000E53657269616C2057696E646F77730000000000000000000000000100000001000000000000000000000001000000040013809307000000000000330000000855415254202326310000000000000000000000000100000001000000000000000000000001000000000013809407000000000000330000000855415254202326320000000000000000000000000100000001000000000000000000000001000000000013809507000000000000330000000855415254202326330000000000000000000000000100000001000000000000000000000001000000000013809607000000000000330000001626446562756720287072696E746629205669657765720000000000000000000000000100000001000000000000000000000001000000000013803C010000000000007200000010416E616C797369732057696E646F7773000000000000000000000000010000000100000000000000000000000100000004001380658A000000000000340000000F264C6F67696320416E616C797A6572000000000000000000000000010000000100000000000000000000000100000000001380DC7F0000000000003E0000001526506572666F726D616E636520416E616C797A6572000000000000000000000000010000000100000000000000000000000100000000001380E788000000000000380000000E26436F646520436F766572616765000000000000000000000000010000000100000000000000000000000100000000001380CD01000000000000FFFFFFFF0F416E616C7973697320416E63686F7201000000000000000100000000000000010000000000000000000000010000000000138053010000000000003F0000000D54726163652057696E646F77730000000000000000000000000100000001000000000000000000000001000000010013805401000000000000FFFFFFFF115472616365204D656E7520416E63686F720100000000000000010000000000000001000000000000000000000001000000000013802901000000000000350000001553797374656D205669657765722057696E646F77730000000000000000000000000100000001000000000000000000000001000000010013804B01000000000000FFFFFFFF1453797374656D2056696577657220416E63686F720100000000000000010000000000000001000000000000000000000001000000000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000013800189000000000000360000000F26546F6F6C626F782057696E646F7700000000000000000000000001000000010000000000000000000000010000000300138044C5000000000000FFFFFFFF0E5570646174652057696E646F77730100000000000000010000000000000001000000000000000000000001000000000013800000000000000400FFFFFFFF000000000000000000010000000000000001000000000000000000000001000000000013805B01000000000000FFFFFFFF12546F6F6C626F78204D656E75416E63686F72010000000000000001000000000000000100000000000000000000000100000000000000000005446562756764020000 898 @@ -3603,11 +3603,11 @@ 0 100 - 1 + 3 ..\..\src\board\hardware.cpp 0 - 350 + 356 380 1 @@ -3615,9 +3615,27 @@ ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal.cpp - 27 + 16 346 - 369 + 359 + 1 + + 0 + + + ..\..\src\lncubator_temperature_control_service.cpp + 37 + 42 + 66 + 1 + + 0 + + + ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp + 52 + 72 + 95 1 0 diff --git a/dep/libtrinamic b/dep/libtrinamic index b0450ea..a06ef2f 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit b0450ea2b7b4892637b4885c2518d3b8db245588 +Subproject commit a06ef2f6d468540c3cb04c5ce5c65e0d476af9f4 diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp index b650b8c..f47f0fc 100644 --- a/src/board/hardware.hpp +++ b/src/board/hardware.hpp @@ -30,7 +30,6 @@ class Hardware : public IflytopCanSlaveListener, // private: TMC4361A tmc4361motor1; - TMP117 tmp117[4]; FanStateMonitor m_fanStateMonitor[6]; IflytopCanSlave canSlaveService; bool m_canOnRxDataFlag; @@ -40,6 +39,8 @@ class Hardware : public IflytopCanSlaveListener, // int m_listenerNum; public: + TMP117 tmp117[4]; + public: /******************************************************************************* * ListenerImpl * diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp index 5b5b414..3d8d77c 100644 --- a/src/lncubator_rotating_control_service.cpp +++ b/src/lncubator_rotating_control_service.cpp @@ -3,11 +3,22 @@ using namespace iflytop; #define TAG "LRCS" +#define UPDATE_ZERO_POSITION_ALWAYS 1 + const uint32_t LncubatorRotatingControlService::mc_onecircle_ustep_num = (256 * 200 * 50); const uint32_t LncubatorRotatingControlService::mc_default_velocity = 500000; // 500kpps const uint32_t LncubatorRotatingControlService::mc_one_sub_position_width = (256 * 200 * 50) / 20; -LncubatorRotatingControlService::LncubatorRotatingControlService() {} +LncubatorRotatingControlService::LncubatorRotatingControlService() { + m_hardware = NULL; + m_motor = NULL; + m_os = NULL; + m_workfinished = false; + m_dowhat = kidle; + m_maxVelocity = mc_default_velocity; + m_inletPosition = 0; + m_outletPosition = m_inletPosition + mc_one_sub_position_width / 2; +} LncubatorRotatingControlService::~LncubatorRotatingControlService() {} void LncubatorRotatingControlService::initialize(Hardware* hardware) { // m_hardware = hardware; @@ -31,7 +42,15 @@ void LncubatorRotatingControlService::setVelocity(int32_t velocityMax) { m_maxVe void LncubatorRotatingControlService::registerListener(LncubatorRotatingControlServiceListener* listener) { // m_listener = listener; } - +void LncubatorRotatingControlService::calibrationPosition(refpoint_t refpoint) { + /** + * @brief 此时是孵育船1对其了入口 + */ + if (refpoint == REFPOINT_TYPE_INLET) { + m_inletPosition = tmc_getPosition(); + m_outletPosition = normalizePosition(m_inletPosition + mc_onecircle_ustep_num / 2); + } +} /******************************************************************************* * motorHelp * *******************************************************************************/ @@ -58,7 +77,7 @@ int32_t LncubatorRotatingControlService::normalizePosition(int32_t position) { } void LncubatorRotatingControlService::tmc_moveBy(int32_t relativePosition) { m_motor->moveBy(relativePosition, m_maxVelocity); } /******************************************************************************* - * TriggerEvent * + * JobBasic * *******************************************************************************/ void LncubatorRotatingControlService::Hardware_onHomeRefSwitchISR() { /** @@ -66,84 +85,67 @@ void LncubatorRotatingControlService::Hardware_onHomeRefSwitchISR() { */ m_homeKeyTriggered = true; } -void LncubatorRotatingControlService::triggerEvent(interevent_t event) {} - -void LncubatorRotatingControlService::periodicJob() { +void LncubatorRotatingControlService::triggerEvent(interevent_t event) { if (kmoveToHomeJob == m_dowhat) { - doRotateToHomeJob(kPeriodicJobEvent); + doRotateToHomeJob(event); } else if (kmoveSubPositionJob == m_dowhat) { - doMoveToSubPositionJob(kPeriodicJobEvent); + doMoveToSubPositionJob(event); } else if (kmoveByJob == m_dowhat) { - doMoveByJob(kPeriodicJobEvent); + doMoveByJob(event); } +} +void LncubatorRotatingControlService::periodicJob() { + triggerEvent(kPeriodicJobEvent); if (m_homeKeyTriggered) { m_homeKeyTriggered = false; - if (kmoveToHomeJob == m_dowhat) { - doRotateToHomeJob(kPeriodicJobEvent); - } else if (kmoveSubPositionJob == m_dowhat) { - doMoveToSubPositionJob(kPeriodicJobEvent); - } else if (kmoveByJob == m_dowhat) { - doMoveByJob(kPeriodicJobEvent); - } + triggerEvent(kHomeSwitchTriggeredEvent); } } void LncubatorRotatingControlService::TMC4361A_onEvent(uint32_t event) { if (event & TMC4361A::event_mask_t::ktarget_reached) { - if (kmoveToHomeJob == m_dowhat) { - doRotateToHomeJob(kTMC4361AReachTargetEvent); - } else if (kmoveSubPositionJob == m_dowhat) { - doMoveToSubPositionJob(kTMC4361AReachTargetEvent); - } else if (kmoveByJob == m_dowhat) { - doMoveByJob(kTMC4361AReachTargetEvent); - } + triggerEvent(kTMC4361AReachTargetEvent); + } +} +void LncubatorRotatingControlService::changeState(dowhat_t tostate) { + m_dowhat = tostate; + if (tostate == kidle) { + m_workfinished = true; + } else { + m_workfinished = false; } } + /******************************************************************************* * RotateToHomeJob * *******************************************************************************/ - void LncubatorRotatingControlService::moveToHome() { if (m_dowhat != kidle) return; - m_dowhat = kmoveToHomeJob; + changeState(kmoveToHomeJob); moveBy(mc_onecircle_ustep_num * 2); } void LncubatorRotatingControlService::doRotateToHomeJob(interevent_t event) { if (event == kPeriodicJobEvent) { - if (m_homeKeyTriggered) { - m_homeKeyTriggered = false; - /** - * @brief 零点光电触发,记录零点位置 - */ - m_motor->stop(); - m_motor->setZeroPoint(); - m_dowhat = kidle; - ZLOGI(TAG, "find Zero Point"); - if (m_listener) m_listener->LncubatorRotatingControlService_onMoveToHomeJobFinished(); - } + } else if (event == kHomeSwitchTriggeredEvent) { + m_motor->stop(); + m_motor->setZeroPoint(); + changeState(kidle); + ZLOGI(TAG, "find Zero Point"); + if (m_listener) m_listener->LncubatorRotatingControlService_onMoveToHomeJobFinished(); } else if (event == kTMC4361AReachTargetEvent) { /** * @brief 电机转了两圈依然没有找到零点 */ if (m_listener) m_listener->LncubatorRotatingControlService_onException(kGoHomeFail); - m_dowhat = kidle; - } -} -void LncubatorRotatingControlService::calibrationPosition(refpoint_t refpoint) { - /** - * @brief 此时是孵育船1对其了入口 - */ - if (refpoint == REFPOINT_TYPE_INLET) { - m_inletPosition = tmc_getPosition(); - m_outletPosition = normalizePosition(m_inletPosition + mc_onecircle_ustep_num / 2); + changeState(kidle); } } /******************************************************************************* - * moveToSubPosition * + * moveToSubPositionJob * *******************************************************************************/ void LncubatorRotatingControlService::moveToSubPosition(refpoint_t refpoint, int32_t positionIndex) { if (m_dowhat != kidle) return; - m_dowhat = kmoveSubPositionJob; + changeState(kmoveSubPositionJob); // 出口 if (refpoint == REFPOINT_TYPE_OUTLET) { int32_t targetPosition = m_outletPosition + positionIndex * mc_one_sub_position_width; @@ -157,12 +159,16 @@ void LncubatorRotatingControlService::moveToSubPosition(refpoint_t refpoint, int } void LncubatorRotatingControlService::doMoveToSubPositionJob(interevent_t event) { if (event == kPeriodicJobEvent) { + } else if (event == kHomeSwitchTriggeredEvent) { +#if UPDATE_ZERO_POSITION_ALWAYS + m_motor->setZeroPoint(); +#endif } else if (event == kTMC4361AReachTargetEvent) { /** * @brief moveToTarget */ if (m_listener) m_listener->LncubatorRotatingControlService_onMoveSubPositionJobFinished(); - m_dowhat = kidle; + changeState(kidle); } } @@ -171,18 +177,22 @@ void LncubatorRotatingControlService::doMoveToSubPositionJob(interevent_t event) *******************************************************************************/ void LncubatorRotatingControlService::moveBy(int32_t pluseCount) { if (m_dowhat == kidle || m_dowhat == kmoveByJob) { - m_dowhat = kmoveByJob; + changeState(kmoveByJob); tmc_moveBy(pluseCount); } } void LncubatorRotatingControlService::doMoveByJob(interevent_t event) { if (event == kPeriodicJobEvent) { + } else if (event == kHomeSwitchTriggeredEvent) { +#if UPDATE_ZERO_POSITION_ALWAYS + m_motor->setZeroPoint(); +#endif } else if (event == kTMC4361AReachTargetEvent) { /** * @brief moveToTarget */ if (m_listener) m_listener->LncubatorRotatingControlService_onMoveByJobFinished(); - m_dowhat = kidle; + changeState(kidle); } } /******************************************************************************* @@ -190,9 +200,7 @@ void LncubatorRotatingControlService::doMoveByJob(interevent_t event) { *******************************************************************************/ void LncubatorRotatingControlService::stop() { if (m_dowhat == kidle) return; - if (m_dowhat == kmoveToHomeJob) { - m_motor->stop(); - m_dowhat = kidle; - return; - } + m_motor->stop(); + changeState(kidle); + return; } diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp index 4781d7b..c6884de 100644 --- a/src/lncubator_rotating_control_service.hpp +++ b/src/lncubator_rotating_control_service.hpp @@ -121,6 +121,7 @@ class LncubatorRotatingControlService : public HardwareListener, // void doRotateToHomeJob(interevent_t event); void doMoveToSubPositionJob(interevent_t event); void doMoveByJob(interevent_t event); + void changeState(dowhat_t state); private: int32_t tmc_getPosition();