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174 lines
8.0 KiB
174 lines
8.0 KiB
#include <stddef.h>
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#include <stdio.h>
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#include "board.h"
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#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
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/*******************************************************************************
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* PROJECT_INCLUDE *
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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\mini_servo_motor\feite_servo_motor.hpp"
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#include "sdk\components\mini_servo_motor\mini_servo_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\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#define TAG "main"
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using namespace iflytop;
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using namespace std;
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static ZCancmderSubboardIniter initer;
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extern void umain();
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extern "C" {
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void StartDefaultTask(void const* argument) { umain(); }
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extern DMA_HandleTypeDef hdma_usart3_rx;
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extern DMA_HandleTypeDef hdma_usart3_tx;
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}
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/*******************************************************************************
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* GET_DEVICE_ID *
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*******************************************************************************/
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static int32_t getDeviceId() {
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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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}
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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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}
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/*******************************************************************************
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* INIT_SUBMODULE *
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*******************************************************************************/
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class PWMCtrler : public ZIPWMCtrl {
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ZPWMGenerator pwm;
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int32_t m_freq = 50000;
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int32_t m_duty = 30;
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int32_t m_state = 0;
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public:
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void initialize() {
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pwm.initialize(&htim2, TIM_CHANNEL_2, m_freq, 0);
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pwm.stopPWM();
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}
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virtual int32_t pwm_set_state(int32_t state) {
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if (state) {
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pwm.startPWM(m_freq, m_duty);
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} else {
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pwm.stopPWM();
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}
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m_state = state;
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return 0;
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}
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virtual int32_t pwm_get_state(int32_t& state) {
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state = m_state;
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return 0;
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}
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virtual int32_t set_pwm_duty(int32_t duty) {
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m_duty = duty;
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if (m_state) {
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pwm.startPWM(m_freq, m_duty);
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}
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return 0;
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}
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virtual int32_t get_pwm_duty(int32_t& duty) {
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duty = m_duty;
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return 0;
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}
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virtual int32_t set_pwm_freq(int32_t freq) {
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m_freq = freq;
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if (m_state) {
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pwm.startPWM(m_freq, m_duty);
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}
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return 0;
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}
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virtual int32_t get_pwm_freq(int32_t& duty) {
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duty = m_freq;
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return 0;
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}
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};
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PWMCtrler pwmCtrler;
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void nvs_init_cb() {}
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static void initsubmodule() {
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// osDelay(1000);
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{
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pwmCtrler.initialize();
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pwmCtrler.pwm_set_state(0);
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}
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}
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/*******************************************************************************
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* MAIN *
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*******************************************************************************/
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void umain() {
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ZCancmderSubboardIniter::cfg_t cfg = //
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{
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.deviceId = getDeviceId(),
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.input_gpio =
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{
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{.pin = PD0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD5, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD6, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD7, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD8, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD9, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD10, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD11, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD12, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD13, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD14, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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{.pin = PD15, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = false},
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},
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.output_gpio =
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{
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{.pin = PE7, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE8, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE9, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE10, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE11, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE12, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE13, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE14, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PE15, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB0, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB1, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB2, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB3, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB4, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB5, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PB6, .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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//
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{.pin = PC6, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
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{.pin = PC7, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
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{.pin = PC8, .mode = ZGPIO::kMode_pulldown, .mirror = false, .initLevel = false, .log_when_setstate = false},
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},
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.pwmctrl =
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{
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// &pwmCtrler,
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},
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};
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initer.init(&cfg);
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initsubmodule();
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initer.loop();
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}
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