You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
121 lines
4.7 KiB
121 lines
4.7 KiB
#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(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();
|
|
}
|