From 843fc05c32a110274ce36e4d38598515d8332796 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 27 Dec 2023 17:20:29 +0800
Subject: [PATCH] init .

---
 usrc/board.h           | 19 ++++++++++++----
 usrc/main.cpp          | 62 +++++++++++++++++++++++++++-----------------------
 usrc/project_configs.h |  2 +-
 3 files changed, 48 insertions(+), 35 deletions(-)

diff --git a/usrc/board.h b/usrc/board.h
index 9f7093b..ea6eb85 100644
--- a/usrc/board.h
+++ b/usrc/board.h
@@ -1,11 +1,20 @@
 #pragma once
+#define TMC_MOTOR_SPI hspi1
+#define TMC_DIAG1     PB0
+#define TMC_DIAG0     PB1
 
-// MOTOR1
-#define TMC_MOTOR_SPI          hspi1
-#define TMC5130_MOTOR_NUM      1
+// MOTOR0
 #define MOTOR0_CSN             PA4
-#define MOTOR0_ENN             PD0
+#define MOTOR0_ENN             PE3
+#define MOTOR0_SPI_MODE_SELECT PinNull
+#define MOTOR0_REFL            PD13
+#define MOTOR0_REFR            PD14
+
+// MOTOR1
+#define MOTOR1_CSN             PA8
+#define MOTOR1_ENN             PE6
 #define MOTOR1_SPI_MODE_SELECT PinNull
+#define MOTOR1_REFL            PD11
+#define MOTOR1_REFR            PD12
 
 #define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
-
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 56430e0..76cbf52 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -41,7 +41,7 @@ static void initsubmodule() {
                     .spi             = &TMC_MOTOR_SPI,          //
                     .csgpio          = MOTOR0_CSN,              //
                     .ennPin          = MOTOR0_ENN,              //
-                    .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
+                    .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
     };
     g_motor.initialize(&cfg);
     ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
@@ -52,10 +52,8 @@ static void initsubmodule() {
     g_motor.setIHOLD_IRUN(0, 8, 10);
 
     static ZGPIO input[10];
-    input[0].initAsInput(PD2 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[1].initAsInput(PD1 /*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);
+    input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
     I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
     StepMotorCtrlModule::create_default_cfg(smcm_cfg);
@@ -74,34 +72,40 @@ static void initsubmodule() {
   }
 
   {
-    static PipetteModule    g_pipetteModule;
-    PipetteModule::config_t cfg = {
-        .limit_ul = 30,
+    static TMC5130             g_motor;
+    static StepMotorCtrlModule g_stepMotorCtrlModule;
+    TMC5130::cfg_t             cfg = {
+                    .spi             = &TMC_MOTOR_SPI,          //
+                    .csgpio          = MOTOR1_CSN,              //
+                    .ennPin          = MOTOR1_ENN,              //
+                    .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
     };
+    g_motor.initialize(&cfg);
+    ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
 
-    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);
-  }
+    g_motor.setMotorShaft(false);
+    g_motor.setAcceleration(100);
+    g_motor.setDeceleration(100);
+    g_motor.setIHOLD_IRUN(0, 8, 10);
 
-  {
-    //
-    static M3078CodeScanner                    codescanner;
-    static M3078CodeScanner::hardware_config_t cfg = {
-        .uart    = &huart4,
-        .hdma_rx = nullptr,
-        .hdma_tx = nullptr,
+    static ZGPIO input[10];
+    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-        .codeReadOkPin = PinNull,
-        .rstPin        = PinNull,
-        .triggerPin    = PD15,
-    };
-    codescanner.initialize(initer.get_module_id(3), &cfg);
-    initer.register_module(&codescanner);
+    I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
+    StepMotorCtrlModule::create_default_cfg(smcm_cfg);
+    smcm_cfg.base_param.distance_scale             = 80;
+    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                    = false;
+    smcm_cfg.base_param.maxspeed                   = 500;
+    smcm_cfg.base_param.run_to_zero_speed          = 100;
+    smcm_cfg.base_param.max_x                      = 0;
+    smcm_cfg.base_param.min_x                      = 0;
+
+    g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
+    initer.register_module(&g_stepMotorCtrlModule);
   }
 }
 
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 1808110..d2c67b4 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -18,4 +18,4 @@
 #define PC_NVS_ENABLE              1
 #define PC_NVS_CONFIG_FLASH_SECTOR 8
 
-#define BOARD_ID 8
+#define BOARD_ID 4