Intelligent_winding_robot_51x0/usrc/main.cpp

#include <stddef.h>
#include <stdio.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() { return BOARD_ID; }
/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
void        nvs_init_cb() {}
static void initsubmodule() {
  osDelay(1000);
  {
    static TMC5130             g_motor;
    static StepMotorCtrlModule g_stepMotorCtrlModule;
    TMC5130::cfg_t             cfg = {
                    .spi             = &TMC_MOTOR_SPI,          //
                    .csgpio          = MOTOR0_CSN,              //
                    .ennPin          = MOTOR0_ENN,              //
                    .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
    };
    g_motor.initialize(&cfg);
    ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());

    g_motor.setMotorShaft(false);
    g_motor.setAcceleration(100);
    g_motor.setDeceleration(100);
    g_motor.setIHOLD_IRUN(0, 8, 10);

    static ZGPIO input[10];
    input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

    I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
    StepMotorCtrlModule::create_default_cfg(smcm_cfg);
    smcm_cfg.base_param.distance_scale             = 100;
    smcm_cfg.base_param.distance_scale_denominator = 1;
    smcm_cfg.base_param.ihold                      = 1;
    smcm_cfg.base_param.irun                       = 8;
    smcm_cfg.base_param.x_shaft                    = true;
    smcm_cfg.base_param.maxspeed                   = 300;
    smcm_cfg.base_param.run_to_zero_speed          = 50;
    smcm_cfg.base_param.max_x                      = 0;
    smcm_cfg.base_param.min_x                      = 0;

    g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
    initer.register_module(&g_stepMotorCtrlModule);
  }

  {
    static PipetteModule    g_pipetteModule;
    PipetteModule::config_t cfg = {
        .limit_ul = 100,
    };

    PipetteModule::hardward_config_t hardwarecfg = {
        .uart    = &huart2,
        .hdma_rx = &hdma_usart2_rx,
        .hdma_tx = &hdma_usart2_tx,
    };
    g_pipetteModule.initialize(initer.get_module_id(2), &cfg, &hardwarecfg);
    initer.register_module(&g_pipetteModule);
  }

  {
    //
    static M3078CodeScanner                    codescanner;
    static M3078CodeScanner::hardware_config_t cfg = {
        .uart    = &huart2,
        .hdma_rx = nullptr,
        .hdma_tx = nullptr,

        .codeReadOkPin = PinNull,
        .rstPin        = PinNull,
        .triggerPin    = PD15,
    };
    codescanner.initialize(initer.get_module_id(3), &cfg);
    initer.register_module(&codescanner);
  }
}

/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {
          .deviceId    = getDeviceId(),
          .input_gpio  = {},
          .output_gpio = {},
      };
  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}