graphite_digester_io_board_v2/usrc/main.cpp

#include <stddef.h>
#include <stdio.h>

#include "board.h"
#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
/*******************************************************************************
 *                               PROJECT_INCLUDE                               *
 *******************************************************************************/
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\feite_servo_motor.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\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "temperature_sensor.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }

extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  static ZGPIO ID4;
  if (!init) {
    ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    init = true;
  }
  uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
  return id;
}
/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
void              nvs_init_cb() {}
TemperatureSensor m_temperature_sensor[8];
static void       initsubmodule() {
  osDelay(1000);
  {
    m_temperature_sensor[0].initialize(&hadc1, ADC_CHANNEL_10);
    m_temperature_sensor[1].initialize(&hadc1, ADC_CHANNEL_11);
    m_temperature_sensor[2].initialize(&hadc1, ADC_CHANNEL_12);
    m_temperature_sensor[3].initialize(&hadc1, ADC_CHANNEL_13);
    m_temperature_sensor[4].initialize(&hadc1, ADC_CHANNEL_14);
  }

  {}
}

/*******************************************************************************
 *                                    MAIN                                     *
 *******************************************************************************/
void umain() {
  ZCancmderSubboardIniter::cfg_t cfg =  //
      {
          .deviceId    = getDeviceId(),
          .input_gpio  = {},
          .output_gpio = {},
          .temperature_sensor =
              {
                  &m_temperature_sensor[0],
                  &m_temperature_sensor[1],
                  &m_temperature_sensor[2],
                  &m_temperature_sensor[3],
                  &m_temperature_sensor[4],
              },
      };
  initer.init(&cfg);
  initsubmodule();
  initer.loop();
}