p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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支持透传模式

master
zhaohe 2 years ago
parent
851dafeb8d
commit
a177265e3c
12 changed files with 232 additions and 89 deletions
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  1. 4
      .settings/language.settings.xml
  2. 2
      sdk
  3. 1
      usrc/board.h
  4. 87
      usrc/cmdline_version.cpp
  5. 3
      usrc/cmdline_version.hpp
  6. 9
      usrc/global.cpp
  7. 10
      usrc/global.hpp
  8. 95
      usrc/main.cpp
  9. 16
      usrc/project_configs.h
  10. 89
      usrc/transparent_version.cpp
  11. 3
      usrc/transparent_version.hpp
  12. 2
      zcancmder_debug_board.ioc

4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="1070140549022839972" 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="-993492445089992739" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <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.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" 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="1008121162799773262" 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="-1055511831313059449" 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.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

2
sdk

@ -1 +1 @@
Subproject commit 14aa923a01977e661bf9fab86cbb30aeb575f162
Subproject commit 7a54e6e7ad92b17f22a1287a2d8f0cb269bceaf6

1
usrc/board.h
View File

@ -0,0 +1 @@
#pragma once

87
usrc/cmdline_version.cpp
View File

@ -0,0 +1,87 @@
#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 "global.hpp"
// #include "M3078CodeScanner"
#define TAG "main"
using namespace iflytop;
using namespace std;
static ZModuleDeviceManager g_zModuleDeviceManager;
static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;
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();
}
};

3
usrc/cmdline_version.hpp
View File

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

9
usrc/global.cpp
View File

@ -0,0 +1,9 @@
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
namespace iflytop {
ZGPIO g_Key0;
ZGPIO g_Key1;
ZGPIO g_Key2;
ZGPIO g_StateLight1;
ZCanCommnaderMaster g_zcanCommnaderMaster;
} // namespace iflytop

10
usrc/global.hpp
View File

@ -0,0 +1,10 @@
#pragma once
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
namespace iflytop {
extern ZGPIO g_Key0;
extern ZGPIO g_Key1;
extern ZGPIO g_Key2;
extern ZGPIO g_StateLight1;
extern ZCanCommnaderMaster g_zcanCommnaderMaster;
} // namespace iflytop

95
usrc/main.cpp
View File

@ -1,98 +1,31 @@
#include <stddef.h> #include <stddef.h>
#include <stdio.h> #include <stdio.h>
#include "cmdline_version.hpp"
#include "global.hpp"
#include "project_configs.h"
#include "sdk/os/zos.hpp" #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\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"
#include "transparent_version.hpp"
#define TAG "main" #define TAG "main"
using namespace iflytop;
using namespace std; using namespace std;
using namespace iflytop;
extern void umain(); extern void umain();
extern "C" { extern "C" {
void StartDefaultTask(void const* argument) { umain(); } void StartDefaultTask(void const* argument) { umain(); }
} }
static ZModuleDeviceManager g_zModuleDeviceManager;
static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;
static ZCanCommnaderMaster m_zcanCommnaderMaster;
static ZIProtocolProxy proxy[255];
void initcfg() {
}
void initmodule() {}
void umain() { void umain() {
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 = m_zcanCommnaderMaster.createCFG(); // can×ÜÏßÅäÖÃ
m_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg); // can×ÜÏß
g_zModuleDeviceManager.initialize(&m_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(nullptr);
g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager);
for (size_t i = 1; i < 255; i++) {
proxy[i].initialize(i, &m_zcanCommnaderMaster);
g_zModuleDeviceManager.registerModule(&proxy[i]);
}
ZLOGI(TAG, "board init ok...");
while (true) {
OSDefaultSchduler::getInstance()->loop();
cmder.schedule();
g_Key0.initAsInput(KEY0, ZGPIO::kMode_pullup, ZGPIO::kIRQ_noIrq, false);
g_StateLight1.initAsOutput(STATE_LIGHT_GPIO, ZGPIO::kMode_pullup, false, false);
if (g_Key0.getState()) {
g_StateLight1.setState(true);
cmdline_version_main();
} else {
g_StateLight1.setState(false);
transparent_version_main();
} }
}; };

16
usrc/project_configs.h
View File

@ -1,9 +1,9 @@
#pragma once #pragma once
#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "zcancmder_debug_board"
#define PC_IFLYTOP_ENABLE_OS 1
#define PC_VERSION "v1.0.0"
#define PC_MANUFACTURER "http://www.iflytop.com/"
#define PC_PROJECT_NAME "zcancmder_debug_board"
#define PC_IFLYTOP_ENABLE_OS 1
#define PC_DEBUG_UART huart1 #define PC_DEBUG_UART huart1
#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx #define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
@ -18,3 +18,11 @@
#define PC_NVS_ENABLE 1 #define PC_NVS_ENABLE 1
#define PC_NVS_CONFIG_FLASH_SECTOR 8 #define PC_NVS_CONFIG_FLASH_SECTOR 8
// ----------------------------------------------------------------------
#define STATE_LIGHT_GPIO PF10
#define KEY0 PE4
#define KEY1 PE3
#define KEY2 PE2

89
usrc/transparent_version.cpp
View File

@ -0,0 +1,89 @@
#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 "string.h"
// #include "M3078CodeScanner"
#include "global.hpp"
#define TAG "main"
using namespace iflytop;
using namespace std;
uint32_t m_rxbufsize;
bool m_dataisready = false;
char m_cmdcache[1024] = {0};
void transparent_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 = NULL;
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
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 = 3,
};
ZLOGI(TAG, "init cmder");
dmaUartReceiver.initialize(&cfg);
dmaUartReceiver.startRx([](uint8_t* data, size_t len) {
if (!m_dataisready) {
memcpy(m_cmdcache, data, len);
m_rxbufsize = len;
m_dataisready = true;
}
});
g_zcanCommnaderMaster.regRawPacketListener([](uint8_t* packet, size_t len) { //
HAL_UART_Transmit(&PC_DEBUG_UART, packet, len, 1000);
osDelay(5);
});
while (true) {
OSDefaultSchduler::getInstance()->loop();
if (m_dataisready) {
g_zcanCommnaderMaster.sendRawPacket((uint8_t*)m_cmdcache, m_rxbufsize);
m_dataisready = false;
}
}
};

3
usrc/transparent_version.hpp
View File

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

2
zcancmder_debug_board.ioc
View File

@ -95,7 +95,7 @@ Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
FREERTOS.FootprintOK=true FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=30000
FREERTOS.configTOTAL_HEAP_SIZE=20000
FREERTOS.configUSE_NEWLIB_REENTRANT=1 FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1 FREERTOS.configUSE_RECURSIVE_MUTEXES=1
File.Version=6 File.Version=6

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