调整config_service依赖关系

uappbase/base.hpp

@@ -3,7 +3,6 @@
 #include "bean/bean.hpp"
 #include "appcfg/appcfg.hpp"
 //
-#include "service/app_core.hpp"
 #include "service/app_event_bus.hpp"
 #include "service/gstate_mgr.hpp"
 //

usrc/apphardware/apphardware.cpp

@@ -31,8 +31,6 @@ void AppHardware::initialize() {
 
   BLE_CONNECTED_STATE_IO_PE6.initAsInput(PE6, kxs_gpio_nopull, kxs_gpio_no_irq, false);
 
-
-
   osDelay(10);
   MOTO_POWER_EN.setState(false);
 
@@ -41,10 +39,10 @@ void AppHardware::initialize() {
   TMC51X0Cfg tmc5130cfg3 = {&MOTOR_SPI_INS, MOTO3_CSN_IO, MOTO3_DRV_ENN_IO};
   TMC51X0Cfg tmc5130cfg4 = {&MOTOR_SPI_INS, MOTO4_CSN_IO, MOTO4_DRV_ENN_IO};
 
-  MOTO1.initialize(0,tmc5130cfg1);
-  MOTO2.initialize(1,tmc5130cfg2);
-  MOTO3.initialize(2,tmc5130cfg3);
-  MOTO4.initialize(3,tmc5130cfg4);
+  MOTO1.initialize(0, tmc5130cfg1);
+  MOTO2.initialize(1, tmc5130cfg2);
+  MOTO3.initialize(2, tmc5130cfg3);
+  MOTO4.initialize(3, tmc5130cfg4);
 
   ZLOGI(TAG, "motor1 initialize TMC51X0:%x", MOTO1.readICVersion());
   ZLOGI(TAG, "motor2 initialize TMC51X0:%x", MOTO2.readICVersion());
@@ -74,6 +72,14 @@ void AppHardware::initialize() {
   IO_OUT1.setState(false);
   IO_OUT2.setState(false);
 
-//   ZCAN1::ins()->init();
- 
-}
+  eeprom.initialize(&hi2c1);
+  if (!eeprom.isOnline()) {
+    ZLOGE(TAG, "eeprom is not online");
+    return;
+  }
+
+  hardwareInitedOK = true;
+  ZLOGI(TAG, "hardware initialize ok");
+}
+
+bool AppHardware::isHardInitOk() { return hardwareInitedOK; }

usrc/apphardware/apphardware.hpp

@@ -1,14 +1,16 @@
 #pragma once
 #include "uappbase/base.hpp"
+#include "ucomponents/eeprom/m24m02_i2c_eeprom.hpp"
+
 namespace iflytop {
 class AppHardware {
  private:
   /* data */
  public:
-  TMC51X0           MOTO1;
-  TMC51X0           MOTO2;
-  TMC51X0           MOTO3;
-  TMC51X0           MOTO4;
+  TMC51X0 MOTO1;
+  TMC51X0 MOTO2;
+  TMC51X0 MOTO3;
+  TMC51X0 MOTO4;
 
   ZGPIO MOTO_POWER_EN;
   ZGPIO MOTO1_CSN;
@@ -32,6 +34,10 @@ class AppHardware {
   UART_HandleTypeDef* tjcUart;
   UART_HandleTypeDef* remoteContolerUart;
 
+  M24M02_I2C_EEPROM eeprom;
+
+  bool hardwareInitedOK = false;;
+
   static AppHardware* ins() {
     static AppHardware instance;
     return &instance;
@@ -46,6 +52,8 @@ class AppHardware {
     ZASSERT(false);
     return nullptr;
   }
+
+  bool isHardInitOk();
 };
 
 }  // namespace iflytop

usrc/config/config.hpp

@@ -1,4 +1,5 @@
 #pragma once
 #include "config_index.hpp"
 #include "config_service.hpp"
+//
 #include "config_service_utils.hpp"

usrc/config/config_service.cpp

@@ -55,12 +55,7 @@ static int32_t checksum(uint8_t *data, int32_t n) {
 
 bool ConfigService::initialize() {
   mutex.init();
-
   AppHal::MX_I2C1_Init();
-  eeprom.initialize(&hi2c1);
-  if (!eeprom.isOnline()) {
-    return false;
-  }
 
   static_assert(kcfg_max == CFG_MAX_INDEX, "");
   if (!checkcfg()) {
@@ -74,7 +69,7 @@ bool ConfigService::initialize() {
     }
 
     cfgcache.checksum = CHECKSUM();
-    eeprom.write(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache));
+    AppHardware::ins()->eeprom.write(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache));
     flashall();
   }
   bool suc = checkcfg();
@@ -182,7 +177,7 @@ const char *ConfigService::_getcfg(config_index_t index, CfgItermCache *cache) {
 }
 
 bool ConfigService::checkcfg() {
-  eeprom.read(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache));
+  AppHardware::ins()->eeprom.read(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache));
 
   int32_t checksumval = CHECKSUM();
 
@@ -195,10 +190,10 @@ bool ConfigService::checkcfg() {
 bool ConfigService::flashIndex(int32_t index) {
   // for (int i = 0; i < sizeof(cfg_content_t); i += 4) {
   //   uint32_t wdata = cfgcache.cfg[index].u32s[i / 4];
-  //   eeprom.write32(TO_EEPROM_ADD(index) + i, wdata);
+  //   AppHardware::ins()->eeprom.write32(TO_EEPROM_ADD(index) + i, wdata);
   // }
-  eeprom.write(TO_EEPROM_ADD(index), (uint8_t *)&cfgcache.cfg[index], sizeof(cfg_content_t));
-  eeprom.write32(CONFIG_EEPROM_ADD + 4 * 1, (uint32_t)cfgcache.checksum);
+  AppHardware::ins()->eeprom.write(TO_EEPROM_ADD(index), (uint8_t *)&cfgcache.cfg[index], sizeof(cfg_content_t));
+  AppHardware::ins()->eeprom.write32(CONFIG_EEPROM_ADD + 4 * 1, (uint32_t)cfgcache.checksum);
   return true;
 }
-bool ConfigService::flashall() { eeprom.write(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache)); }
+bool ConfigService::flashall() { AppHardware::ins()->eeprom.write(CONFIG_EEPROM_ADD, (uint8_t *)&cfgcache, sizeof(cfgcache)); }

usrc/config/config_service.hpp

@@ -1,8 +1,10 @@
 #pragma once
+//
+#include "apphardware/apphardware.hpp"
+//
 #include "uappbase/base.hpp"
-
+//
 #include "config_index.hpp"
-#include "ucomponents/eeprom/m24m02_i2c_eeprom.hpp"
 
 namespace iflytop {
 using namespace std;
@@ -18,8 +20,7 @@ struct CfgItermCache {
 class ConfigService {
  private:
   /* data */
-  zmutex            mutex = {"ConfigServiceMutex"};
-  M24M02_I2C_EEPROM eeprom;
+  zmutex mutex = {"ConfigServiceMutex"};
 
  public:
   static ConfigService* ins() {

usrc/service/app_core.cpp

@@ -55,11 +55,18 @@ void AppCore::appsetup() {
   /***********************************************************************************************************************
    *                                                        INIT                                                         *
    ***********************************************************************************************************************/
+  // 硬件无关组件初始化
   GStateMgr::ins()->initialize();
   AppEventBus::ins()->initialize();
-  bool suc = ConfigService::ins()->initialize();
-  if (!suc) {
-    AppHardware::ins()->initialize();        // 基础硬件初始化
+
+  // 硬件初始化
+  ZCAN1::ins()->init();
+  AppHardware::ins()->initialize();  // 基础硬件初始化
+
+  // 配置初始化
+  ConfigService::ins()->initialize();
+
+  if (!AppHardware::ins()->isHardInitOk()) {
     FrontEndControler::ins()->initialize();  // 前端控制器，对屏幕的消息进行解析，发送消息给屏幕
     FrontEndControler::ins()->startSchedule();
     FrontEndControler::ins()->alertNoConfirm("设备异常:\r\n   存储异常,请尝试重新上电");
@@ -67,7 +74,6 @@ void AppCore::appsetup() {
       osDelay(1);
     }
   }
-  ZCAN1::ins()->init();
 
   // hardInit
   AppHardware::ins()->initialize();           // 基础硬件初始化