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@ -9,12 +9,17 @@ |
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//
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#include "sdk\components\flash\znvs.hpp"
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//
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\sensors\tmp117\tmp117.hpp"
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#include "sdk\components\ti\drv8710.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
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// #include "M3078CodeScanner"
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#define TAG "main"
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using namespace iflytop; |
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@ -24,27 +29,78 @@ extern void umain(); |
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extern "C" { |
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void StartDefaultTask(void const* argument) { umain(); } |
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} |
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extern "C" { |
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extern DMA_HandleTypeDef hdma_usart2_rx; |
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extern DMA_HandleTypeDef hdma_usart2_tx; |
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} |
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static ZCanCmder g_zcanCmder; |
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static ZIProtocolParser g_ziProtocolParser; |
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//
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static TMC5130 g_motor; |
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static StepMotorCtrlModule g_stepMotorCtrlModule; |
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//
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static PipetteModule g_pipetteModule; |
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// USART4_TX
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uint8_t getId() { |
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static bool init = false; |
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static ZGPIO ID0; |
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static ZGPIO ID1; |
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static ZGPIO ID2; |
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static ZGPIO ID3; |
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static ZGPIO ID4; |
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if (!init) { |
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ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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init = true; |
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void init_and_reg_motor() { |
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osDelay(1000); |
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{ |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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}; |
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g_motor.initialize(&cfg); |
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g_motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
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} |
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uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16; |
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return id; |
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g_motor.setAcceleration(100); |
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g_motor.setDeceleration(100); |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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static ZGPIO input[10]; |
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input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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g_stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &g_motor, input, ZARRAY_SIZE(input), MOTOR_CFG_FLASH_MARK); |
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g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule); |
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} |
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void init_and_reg_cliptip_module() { |
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// # RS232输出压力流
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// /1U2!0R\r
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// # 设置移液枪最大行程100,防止设备误操作导致吸入液体到设备中
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// /1u1,100R\r
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PipetteModule::config_t cfg = { |
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.limit_ul = 100, |
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}; |
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PipetteModule::hardward_config_t hardwarecfg = { |
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.uart = &huart2, |
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.hdma_rx = &hdma_usart2_rx, |
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.hdma_tx = &hdma_usart2_tx, |
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}; |
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g_pipetteModule.initialize(BOARD_ID * 10 + 2, &cfg, &hardwarecfg); |
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g_ziProtocolParser.registerModule(&g_pipetteModule); |
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} |
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void init_and_reg_m3078() { //
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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.uart = &huart2, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PD15, |
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}; |
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codescanner.initialize(BOARD_ID * 10 + 3, &cfg); |
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g_ziProtocolParser.registerModule(&codescanner); |
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} |
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void umain() { |
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@ -59,17 +115,8 @@ void umain() { |
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zos_cfg_t zoscfg; |
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zos_init(&zoscfg); |
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uint8_t deviceId = getId(); |
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ZLOGI(TAG, "motorId:%d", deviceId); |
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if (deviceId == 0) { |
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ZLOGE(TAG, "motorId can't be 0"); |
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chip_set_error(); |
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while (true) { |
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} |
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} |
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ZLOGI(TAG, "boardId:%d", BOARD_ID); |
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#if 0
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/*******************************************************************************
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* NVSINIT * |
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*******************************************************************************/ |
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@ -80,124 +127,13 @@ void umain() { |
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ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg)); |
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} |
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ZNVS::ins().init_config(); |
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#endif
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/*******************************************************************************
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* 风扇配置 * |
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*******************************************************************************/ |
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PWMSpeedCtrlModule::config_t fan0cfg = { |
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.fanCtrlTim = &htim2, |
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.nfan = 2, |
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.fan0Channel = {3, 0, 0, 0}, |
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.fanFBGpioCfg = |
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{ |
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{.pin = PC10}, |
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{.pin = PC11}, |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC4, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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}, |
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}; |
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PWMSpeedCtrlModule::config_t fan1cfg = { |
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.fanCtrlTim = &htim2, |
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.nfan = 2, |
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.fan0Channel = {4, 0, 0, 0}, |
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.fanFBGpioCfg = |
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{ |
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{.pin = PC12}, |
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{.pin = PC13}, |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC5, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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}, |
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}; |
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/*******************************************************************************
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* 水泵配置 * |
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*******************************************************************************/ |
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PWMSpeedCtrlModule::config_t pumpcfg = { |
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.fanCtrlTim = &htim2, |
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.nfan = 1, |
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.fan0Channel = {2, 0, 0, 0}, |
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.fanFBGpioCfg = |
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{ |
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{.pin = PC3}, |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC2, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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}, |
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}; |
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DRV8710::config_t peltier_config0 = { |
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.tim = &htim1, |
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.in1_chnannel_index = 1, |
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.in2 = PE10, |
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.nsleep = PB2, |
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.nfault = PB3, |
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.shaft = false, |
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}; |
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DRV8710::config_t peltier_config1 = { |
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.tim = &htim1, |
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.in1_chnannel_index = 3, |
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.in2 = PE14, |
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.nsleep = PB13, |
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.nfault = PB14, |
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.shaft = false, |
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}; |
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static TMP117 temp[4]; |
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static PWMSpeedCtrlModule fan0; |
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static PWMSpeedCtrlModule fan1; |
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static PWMSpeedCtrlModule pump; |
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static DRV8710 peltier0; |
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static DRV8710 peltier1; |
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static WaterCoolingTemperatureControlModule waterCoolingTemperatureControlModule; |
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fan0.initialize(&fan0cfg, true); |
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fan1.initialize(&fan1cfg, true); |
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pump.initialize(&pumpcfg, false); |
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peltier0.initialize(&peltier_config0); |
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peltier1.initialize(&peltier_config1); |
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temp[0].initializate(&hi2c1, TMP117::ID0); |
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temp[1].initializate(&hi2c1, TMP117::ID1); |
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temp[2].initializate(&hi2c1, TMP117::ID2); |
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temp[3].initializate(&hi2c1, TMP117::ID3); |
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WaterCoolingTemperatureControlModule::config_t temp_ctrl_config; |
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waterCoolingTemperatureControlModule.createDefaultConfig(&temp_ctrl_config); |
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WaterCoolingTemperatureControlModule::hardwared_config_t hardwared_config = //
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{ |
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.temperature_sensor = {&temp[0], &temp[1], &temp[2], &temp[3]}, |
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.fanTable = {&fan0, &fan1}, |
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.pump = &pump, |
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.peltier_ctrl = {&peltier0, &peltier1}, |
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.ext_input = |
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{ |
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{PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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{PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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}, |
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.ext_output = |
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{ |
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{PD0, ZGPIO::kMode_nopull, false, false}, |
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} //
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}; |
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waterCoolingTemperatureControlModule.initialize(deviceId, &temp_ctrl_config, &hardwared_config); |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId); |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID); |
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g_zcanCmder.init(zcanCmder_cfg); |
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g_ziProtocolParser.initialize(&g_zcanCmder); |
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g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule); |
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init_and_reg_motor(); |
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init_and_reg_cliptip_module(); |
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init_and_reg_m3078(); |
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while (true) { |
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OSDefaultSchduler::getInstance()->loop(); |
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