init

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="768666354458696857" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-590189052051766916" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="762701500052258223" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

usrc/cmdline_support.cpp

@@ -0,0 +1,24 @@
+#include "cmdline_support.hpp"
+using namespace iflytop;
+
+void CmdlineSupport::init(Device* device) {
+  //
+  m_device = device;
+
+  //   void line_locking_solenoid_valve(bool on);
+  //   void blower_set_val(bool on);
+
+  auto* cmdlineparser = &m_device->m_uart_cmdline_parser;
+  cmdlineparser->registerCmd("line_locking_solenoid_valve", "(bool on)", 1,  //
+                             [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+                               int val = atoi(paraV[0]);
+                               m_device->line_locking_solenoid_valve(val);
+                               return 0;
+                             });
+  cmdlineparser->registerCmd("blower_set_val", "(bool on)", 1,  //
+                             [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+                               int val = atoi(paraV[0]);
+                               m_device->blower_set_val(val);
+                               return 0;
+                             });
+}

usrc/cmdline_support.hpp

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "device.hpp"
+#include "sdk/os/zos.hpp"
+namespace iflytop {
+using namespace std;
+class CmdlineSupport {
+  Device* m_device = nullptr;
+
+ public:
+  void init(Device* device);
+};
+}  // namespace iflytop

usrc/cmdline_version.cpp

@@ -1,87 +0,0 @@
-#include <stddef.h>
-#include <stdio.h>
-
-#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 "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
-#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
-#include "sdk\components\hardware\uart\zuart_dma_receiver.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\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\zcancmder\zcan_board_module.hpp"
-#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
-#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
-#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
-#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
-// #include "M3078CodeScanner"
-
-#define TAG "main"
-using namespace iflytop;
-using namespace std;
-static ZModuleDeviceManager                      g_zModuleDeviceManager;
-static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;
-static ZCanCommnaderMaster                       g_zcanCommnaderMaster;
-static ZIProtocolProxy                           proxy[255];
-
-void cmdline_version_main() {
-  chip_cfg_t chipcfg;
-  chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
-  chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
-  chipcfg.huart                 = &PC_DEBUG_UART;
-  chipcfg.debuglight            = PC_DEBUG_LIGHT_GPIO;
-
-  chip_init(&chipcfg);
-
-  zos_cfg_t zoscfg;
-  zos_init(&zoscfg);
-
-  ZLOGI(TAG, "boardId:%d", 0);
-
-  ZLOGI(TAG, "init can bus");
-  auto* m_zcanCommnaderMaster_cfg = g_zcanCommnaderMaster.createCFG();  // can×ÜÏßÅäÖÃ
-  g_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg);                // can×ÜÏß
-  g_zModuleDeviceManager.initialize(&g_zcanCommnaderMaster);
-  ZLOGI(TAG, "init can bus end...");
-
-  static ZUARTDmaReceiver             dmaUartReceiver;
-  static CmdSchedulerV2               cmder;
-  ZUARTDmaReceiver::hardware_config_t cfg = {
-      .huart         = &PC_DEBUG_UART,
-      .dma_rx        = &PC_DEBUG_UART_DMA_HANDLER,
-      .rxbuffersize  = PC_DEBUG_UART_RX_BUF_SIZE,
-      .rxovertime_ms = 10,
-  };
-  ZLOGI(TAG, "init cmder");
-  dmaUartReceiver.initialize(&cfg);
-  cmder.initialize(&dmaUartReceiver);
-  ZLOGI(TAG, "init cmder end...");
-
-  ZLOGI(TAG, "init module");
-  g_zModuleDeviceManager.initialize(&g_zcanCommnaderMaster);
-  g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager);
-  ZLOGI(TAG, "reg modules");
-
-  for (size_t i = 1; i < 255; i++) {
-    proxy[i].initialize(i, &g_zcanCommnaderMaster);
-    g_zModuleDeviceManager.registerModule(&proxy[i]);
-  }
-
-  ZLOGI(TAG, "board init ok...");
-
-  while (true) {
-    OSDefaultSchduler::getInstance()->loop();
-    cmder.schedule();
-  }
-};

usrc/cmdline_version.hpp

@@ -1,3 +0,0 @@
-#pragma once
-void cmdline_version_main();
-

usrc/device.cpp

@@ -35,7 +35,9 @@ void Device::init() {
   init_bus();
   sub_module_init();
   ZLOGI(TAG, "init end...");
+}
 
+void Device::loop() {
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
     m_uart_cmdline_parser.schedule();
@@ -160,5 +162,12 @@ void Device::sub_module_init() {
   m_device_manager.module_active_cfg(42);
 }
 
-void Device::line_locking_solenoid_valve_init() {}
-void Device::line_locking_solenoid_valve(bool on) {}
+static ZGPIO line_locking_solenoid_valve_gpio;
+void         Device::line_locking_solenoid_valve_init() {  //
+  line_locking_solenoid_valve_gpio.initAsOutput(PC3, ZGPIO::kMode_nopull, false, false);
+}
+void Device::line_locking_solenoid_valve(bool on) { line_locking_solenoid_valve_gpio.setState(on); }
+
+static ZGPIO blower_gpio;
+void         Device::blower_init() { blower_gpio.initAsOutput(PC2, ZGPIO::kMode_nopull, true, false); }
+void         Device::blower_set_val(bool on) { blower_gpio.setState(on); }

usrc/device.hpp

@@ -61,6 +61,7 @@ typedef enum {
 } sub_device_list_t;
 
 class Device {
+ public:
   ZModuleDeviceManager m_device_manager;
   CmdSchedulerV2       m_uart_cmdline_parser;
 
@@ -85,6 +86,11 @@ class Device {
   void line_locking_solenoid_valve_init();
   void line_locking_solenoid_valve(bool on);
 
+  void blower_init();
+  void blower_set_val(bool on);
+
+  void loop();
+
  private:
   void init_uart_cmder();
   void init_dm();

usrc/main.cpp

@@ -9,6 +9,7 @@
 //
 #include "sdk\components\flash\znvs.hpp"
 //
+#include "cmdline_support.hpp"
 #include "device.hpp"
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
 #include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
@@ -37,6 +38,11 @@ extern "C" {
 void StartDefaultTask(void const* argument) { umain(); }
 }
 
-Device gdevice;
+Device         gdevice;
+CmdlineSupport cmdlineSupport;
 
-void umain() { gdevice.init(); };
+void umain() {
+  gdevice.init();
+  cmdlineSupport.init(&gdevice);
+  gdevice.loop();
+};

usrc/width_detecter.cpp

@@ -0,0 +1,2 @@
+#include "width_detecter.hpp"
+

usrc/width_detecter.hpp

@@ -0,0 +1,17 @@
+#pragma once
+
+#include "sdk/os/zos.hpp"
+
+namespace iflytop {
+class WindthDetecter {
+ public:
+  void init(int32_t resetpos, int32_t zeropos, int32_t direction);
+  void start_direct();
+  void stop();
+
+  int32_t get_width();
+
+ private:
+  void loop();
+};
+}  // namespace iflytop