From ec55452478483d0fea01c376937971ed013af74e Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 14 Oct 2023 21:14:33 +0800
Subject: [PATCH] update

---
 sdk           |  2 +-
 usrc/main.cpp | 49 ++++++++++++++++++++++++++++++++-----------------
 2 files changed, 33 insertions(+), 18 deletions(-)

diff --git a/sdk b/sdk
index e355909..18d70a8 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit e3559098645e997ea385ef61f9da037193a2c432
+Subproject commit 18d70a8b2ed213738162a5631519ca1e3b8e94e8
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 694c098..b362e08 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -19,6 +19,7 @@
 #include "sdk\components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_module.hpp"
 #include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
 #include "sdk\components/xy_robot_ctrl_module/zcan_xy_robot_master_module.hpp"
+#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
 // #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
 // #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
 // #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
@@ -126,26 +127,35 @@ static StepMotor45::cfg_t cfg6 = {
     .driverPinMirror = true,
 };
 
+namespace iflytop {
 /*******************************************************************************
- *                                    代码                                     *
+ *                                  基础组件                                   *
  *******************************************************************************/
-namespace iflytop {
-StepMotor45                    g_step_motor45[7];
-StepMotor                      g_step_motor[10];
-ZCanCommnaderMaster            m_zcanCommnaderMaster;
-CmdScheduler                   cmdScheduler;
-XYRobotScriptCmderModule       xyRobotScriptCmderModule;
-StepMotorCtrlScriptCmderModule stepMotorCtrlScriptCmderModule;
+ZCanCommnaderMaster m_zcanCommnaderMaster;
+CmdScheduler        g_cmdScheduler;
+ModbusBlockHost     g_modbusblockhost;
+FeiTeServoMotor     g_feiteservomotor_bus;
 
-I_XYRobotCtrlModule*   g_xyrobotctrlmodule   = nullptr;
-I_StepMotorCtrlModule* g_stepmotorctrlmodule = nullptr;
+/*******************************************************************************
+ *                                  本地设备                                   *
+ *******************************************************************************/
+StepMotor45         g_step_motor45[7];
+Eq20ServoMotor      g_main_servo_motor;
+MiniRobotCtrlModule g_mini_servo[5];
+/*******************************************************************************
+ *                                   CAN设备                                   *
+ *******************************************************************************/
+I_XYRobotCtrlModule*   g_xyrobotctrlmodule = nullptr;
+I_StepMotorCtrlModule* g_z_step_motor      = nullptr;
 
-ModbusBlockHost g_modbusblockhost;
-Eq20ServoMotor  g_eq20servomotor;
-FeiTeServoMotor g_feiteservomotor;
+/*******************************************************************************
+ *                                  串口指令                                   *
+ *******************************************************************************/
+StepMotorCtrlScriptCmderModule g_script_zmotor;
+XYRobotScriptCmderModule       g_script_xyrobot;
 
 }  // namespace iflytop
-
+#if 0
 void regfn() {
   // setzero
   // set4095
@@ -205,6 +215,7 @@ void regfn() {
   });
 #endif
 }
+#endif
 
 extern "C" {
 extern DMA_HandleTypeDef hdma_usart3_rx;
@@ -225,13 +236,18 @@ void        Main::run() {
 
   auto* cfg = m_zcanCommnaderMaster.createCFG();
   m_zcanCommnaderMaster.init(cfg);
+  g_cmdScheduler.initialize(&DEBUG_UART, 1000);
+  g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
+
+#if 0
+
   g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
   // g_xyrobotctrlmodule->enable(false);
 
   g_stepmotorctrlmodule = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
   // g_stepmotorctrlmodule->rotate(300000, 0, [this](int32_t end) {});
 
-  cmdScheduler.initialize(&DEBUG_UART, 1000);
+  cmdScheduler
   xyRobotScriptCmderModule.initialize(&cmdScheduler);
   xyRobotScriptCmderModule.regXYRobot(1, g_xyrobotctrlmodule);
 
@@ -240,7 +256,6 @@ void        Main::run() {
 
   regfn();
 
-#if 0
   int i = 1;
   g_step_motor[i++].initialize(11, 10000, &m_IflytopCanMaster);
   g_step_motor[i++].initialize(12, 10000, &m_IflytopCanMaster);
@@ -280,7 +295,7 @@ void        Main::run() {
 #endif
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
-    cmdScheduler.schedule();
+    g_cmdScheduler.schedule();
     osDelay(1);
   }
 }