#include #include #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(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); 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(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 = 30, }; 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 = &huart4, .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(); }