diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index c699a89..48cb063 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 33e932d..dc281f4 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -63,6 +63,8 @@ void USART2_IRQHandler(void);
void USART3_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
+void DMA2_Stream2_IRQHandler(void);
+void DMA2_Stream7_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index 600bc69..4d94598 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -29,7 +29,8 @@ extern "C" {
#include "main.h"
/* USER CODE BEGIN Includes */
-
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index a942cde..37461b8 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -41,6 +41,7 @@ void MX_DMA_Init(void)
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
+ __HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream5_IRQn interrupt configuration */
@@ -49,6 +50,12 @@ void MX_DMA_Init(void)
/* DMA1_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
+ /* DMA2_Stream2_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
+ /* DMA2_Stream7_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index af75621..6a3d354 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -226,7 +226,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
/* USER CODE END Callback 1 */
}
#endif
-
/**
* @brief This function is executed in case of error occurrence.
* @retval None
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 434e434..63e3aae 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -59,6 +59,8 @@ extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart2;
@@ -322,6 +324,34 @@ void TIM7_IRQHandler(void)
/* USER CODE END TIM7_IRQn 1 */
}
+/**
+ * @brief This function handles DMA2 stream2 global interrupt.
+ */
+void DMA2_Stream2_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream2_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_rx);
+ /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream2_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA2 stream7 global interrupt.
+ */
+void DMA2_Stream7_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
+
+ /* USER CODE END DMA2_Stream7_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_tx);
+ /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
+
+ /* USER CODE END DMA2_Stream7_IRQn 1 */
+}
+
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 58c311d..ff5092b 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -27,6 +27,8 @@
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
+DMA_HandleTypeDef hdma_usart1_rx;
+DMA_HandleTypeDef hdma_usart1_tx;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
@@ -43,7 +45,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
- huart1.Init.BaudRate = 1000000;
+ huart1.Init.BaudRate = 961200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@@ -142,6 +144,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ /* USART1 DMA Init */
+ /* USART1_RX Init */
+ hdma_usart1_rx.Instance = DMA2_Stream2;
+ hdma_usart1_rx.Init.Channel = DMA_CHANNEL_4;
+ hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart1_rx.Init.Mode = DMA_NORMAL;
+ hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+ hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+ if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
+
+ /* USART1_TX Init */
+ hdma_usart1_tx.Instance = DMA2_Stream7;
+ hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
+ hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+ hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+ hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+ hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+ if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
+
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
@@ -256,6 +295,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
+ /* USART1 DMA DeInit */
+ HAL_DMA_DeInit(uartHandle->hdmarx);
+ HAL_DMA_DeInit(uartHandle->hdmatx);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
diff --git a/a8000_cliptip_module.ioc b/a8000_cliptip_module.ioc
index 874efda..50782d4 100644
--- a/a8000_cliptip_module.ioc
+++ b/a8000_cliptip_module.ioc
@@ -23,7 +23,29 @@ CAN1.TTCM=ENABLE
CAN1.TXFP=DISABLE
Dma.Request0=USART2_RX
Dma.Request1=USART2_TX
-Dma.RequestsNb=2
+Dma.Request2=USART1_RX
+Dma.Request3=USART1_TX
+Dma.RequestsNb=4
+Dma.USART1_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.2.Instance=DMA2_Stream2
+Dma.USART1_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.2.Mode=DMA_NORMAL
+Dma.USART1_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART1_TX.3.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.3.Instance=DMA2_Stream7
+Dma.USART1_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.3.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.3.Mode=DMA_NORMAL
+Dma.USART1_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.3.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.USART2_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART2_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART2_RX.0.Instance=DMA1_Stream5
@@ -129,6 +151,8 @@ NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -318,7 +342,7 @@ TIM6.IPParameters=Prescaler
TIM6.Prescaler=71
TIM7.IPParameters=Prescaler
TIM7.Prescaler=81
-USART1.BaudRate=1000000
+USART1.BaudRate=961200
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART2.IPParameters=VirtualMode
diff --git a/sdk b/sdk
index af685a1..fbe10ee 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit af685a17a8fd229ca4773a9c62949db89369c55f
+Subproject commit fbe10eeb6c72a4419f1e05c745bca2b7518e54e8
diff --git a/usrc/board.h b/usrc/board.h
new file mode 100644
index 0000000..ae0d35b
--- /dev/null
+++ b/usrc/board.h
@@ -0,0 +1,12 @@
+#pragma once
+
+// MOTOR1
+#define TMC_MOTOR_SPI hspi1
+#define TMC5130_MOTOR_NUM 1
+#define MOTOR0_CSN PA4
+#define MOTOR0_ENN PD0
+#define MOTOR1_SPI_MODE_SELECT PinNull
+
+#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
+
+#define BOARD_ID 2
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 33dca7b..a11a563 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -1,142 +1,121 @@
#include
#include
-#include "sdk/os/zos.hpp"
-#include "sdk\components\flash\zsimple_flash.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
-#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
-#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
-//
-#include "sdk\components\flash\znvs.hpp"
-//
+#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\sensors\tmp117\tmp117.hpp"
-#include "sdk\components\ti\drv8710.hpp"
+#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
-#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
-#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
-#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
-#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
-// #include "M3078CodeScanner"
#define TAG "main"
using namespace iflytop;
using namespace std;
+static ZCancmderSubboardIniter initer;
+
extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
-extern "C" {
-extern DMA_HandleTypeDef hdma_usart2_rx;
-extern DMA_HandleTypeDef hdma_usart2_tx;
-}
-static ZCanCmder g_zcanCmder;
-static ZIProtocolParser g_ziProtocolParser;
-//
-static TMC5130 g_motor;
-static StepMotorCtrlModule g_stepMotorCtrlModule;
-//
-static PipetteModule g_pipetteModule;
-// USART4_TX
-
-void init_and_reg_motor() {
+/*******************************************************************************
+ * GET_DEVICE_ID *
+ *******************************************************************************/
+static int32_t getDeviceId() { return BOARD_ID; }
+/*******************************************************************************
+ * INIT_SUBMODULE *
+ *******************************************************************************/
+void nvs_init_cb() {}
+static void initsubmodule() {
osDelay(1000);
{
- TMC5130::cfg_t cfg = {
- .spi = &TMC_MOTOR_SPI, //
- .csgpio = MOTOR0_CSN, //
- .ennPin = MOTOR0_ENN, //
- .spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
+ 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);
- g_motor.setMotorShaft(false);
ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
- }
-
- 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);
-
- g_stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &g_motor, input, ZARRAY_SIZE(input), MOTOR_CFG_FLASH_MARK);
- g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule);
-}
-
-void init_and_reg_cliptip_module() {
- // # RS232输出压力流
- // /1U2!0R\r
- // # 设置移液枪最大行程100,防止设备误操作导致吸入液体到设备中
- // /1u1,100R\r
- 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(BOARD_ID * 10 + 2, &cfg, &hardwarecfg);
- g_ziProtocolParser.registerModule(&g_pipetteModule);
-}
-
-void init_and_reg_m3078() { //
- 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(BOARD_ID * 10 + 3, &cfg);
- g_ziProtocolParser.registerModule(&codescanner);
-}
-
-void umain() {
- chip_cfg_t chipcfg;
- chipcfg.us_dleay_tim = &DELAY_US_TIMER;
- chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
- chipcfg.huart = &DEBUG_UART;
- chipcfg.debuglight = DEBUG_LIGHT_GPIO;
- chip_init(&chipcfg);
+ 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);
+ }
- zos_cfg_t zoscfg;
- zos_init(&zoscfg);
+ {
+ static PipetteModule g_pipetteModule;
+ PipetteModule::config_t cfg = {
+ .limit_ul = 100,
+ };
- ZLOGI(TAG, "boardId:%d", BOARD_ID);
+ 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);
+ }
- /*******************************************************************************
- * NVSINIT *
- *******************************************************************************/
- ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
{
- static I_StepMotorCtrlModule::flash_config_t cfg;
- StepMotorCtrlModule::create_default_cfg(cfg);
- ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
+ //
+ 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);
}
- ZNVS::ins().init_config();
- auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID);
- g_zcanCmder.init(zcanCmder_cfg);
- g_ziProtocolParser.initialize(&g_zcanCmder);
-
- init_and_reg_motor();
- init_and_reg_cliptip_module();
- init_and_reg_m3078();
+}
- while (true) {
- OSDefaultSchduler::getInstance()->loop();
- g_zcanCmder.loop();
- }
-};
+/*******************************************************************************
+ * MAIN *
+ *******************************************************************************/
+void umain() {
+ ZCancmderSubboardIniter::cfg_t cfg = //
+ {
+ .deviceId = getDeviceId(),
+ .input_gpio = {},
+ .output_gpio = {},
+ };
+ initer.init(&cfg);
+ initsubmodule();
+ initer.loop();
+}
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index ade27e7..1808110 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,43 +1,21 @@
#pragma once
+#define PC_VERSION "v1.0.1"
+#define PC_MANUFACTURER "http://www.iflytop.com/"
+#define PC_PROJECT_NAME "a8000_cliptip_module"
+#define PC_IFLYTOP_ENABLE_OS 1
-#define VERSION "v1.0.0"
-#define MANUFACTURER "http://www.iflytop.com/"
-#define PROJECT_NAME "a8000_cliptip_module"
-#define DEBUG_UART huart1
-#define DEBUG_LIGHT_GPIO PE2
+#define PC_DEBUG_UART huart1
+#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
+#define PC_DEBUG_UART_RX_BUF_SIZE 1024
+#define PC_DEBUG_LIGHT_GPIO PE2
-#define DELAY_US_TIMER htim6 // US延时定时器
-#define TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
-#define IFLTYOP_ZTICKET_TIMER TIM11 // 系统ticket定时器
+#define PC_SYS_DELAY_US_TIMER htim6 // US延时定时器
+#define PC_SYS_ZTICKET_TIMER TIM11 // 系统ticket定时器
+#define PC_SYS_TIM_IRQ_SCHEDULER_TIMER htim7 // 中断定时器中断调度器
-#define IFLYTOP_ENABLE_OS 1
-#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
+#define PC_IRQ_PREEMPTPRIORITY_DEFAULT 5
+#define PC_NVS_ENABLE 1
+#define PC_NVS_CONFIG_FLASH_SECTOR 8
-/****************************************FLASH***************************************/
-#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
-/*********************************************************************************/
-
-// MOTOR1
-#define TMC_MOTOR_SPI hspi1
-#define TMC5130_MOTOR_NUM 1
-#define MOTOR0_CSN PA4
-#define MOTOR0_ENN PD0
-#define MOTOR1_SPI_MODE_SELECT PinNull
-
-#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
-
-#define BOARD_ID 2
-
-#if 0
-#define STEPPER_MOTOR_ZERO_SENSOR SENSOR_INT0
-#define STEPPER_MOTOR_FORWARD_SENSOR SENSOR_INT8
-#define STEPPER_MOTOR_BACKWARD_SENSOR SENSOR_INT9
-#endif
-
-#define ID0_IO PD11
-#define ID1_IO PD12
-#define ID2_IO PD13
-#define ID3_IO PD14
-#define ID4_IO PD15
-
+#define BOARD_ID 8