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#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"
#define TAG "main"
using namespace iflytop;using namespace std;
static ZCancmderSubboardIniter initer;extern IWDG_HandleTypeDef hiwdg;
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 ZGPIO ID0;static ZGPIO ID1;static ZGPIO ID2;static ZGPIO ID3;static ZGPIO ID4;static int32_t getDeviceId() { static bool init = false;
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 * *******************************************************************************/#define GLOBAL_SCALE 32
#define DEFAULT_ENABLE true
void nvs_init_cb() {}static void initsubmodule() { osDelay(1000);
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO1_CSN, //
.ennPin = MOTO1_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); // g_motor.rotate(1*1000);
static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO2_CSN, //
.ennPin = MOTO2_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(2), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO3_CSN, //
.ennPin = MOTO3_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(3), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO4_CSN, //
.ennPin = MOTO4_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(4), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO5_CSN, //
.ennPin = MOTO5_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(5), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO6_CSN, //
.ennPin = MOTO6_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(6), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO7_CSN, //
.ennPin = MOTO7_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(7), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }
{ static TMC5130 g_motor; static StepMotorCtrlModule g_stepMotorCtrlModule; TMC5130::cfg_t cfg = { .spi = &TMC_MOTOR_SPI, //
.csgpio = MOTO8_CSN, //
.ennPin = MOTO8_DRV_ENN, //
}; g_motor.initialize(&cfg); ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); g_motor.enable(true); g_motor.setMotorShaft(false); g_motor.setGlobalScale(GLOBAL_SCALE); static ZGPIO input[10]; // input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
// input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; StepMotorCtrlModule::create_default_cfg(smcm_cfg); smcm_cfg.base_param.motor_one_circle_pulse = 1000; smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; smcm_cfg.base_param.stepmotor_ihold = 1; smcm_cfg.base_param.stepmotor_irun = 20; smcm_cfg.base_param.motor_shaft = 0; smcm_cfg.base_param.motor_default_velocity = 800; smcm_cfg.base_param.motor_run_to_zero_speed = 0; smcm_cfg.base_param.max_d = 0; smcm_cfg.base_param.min_d = 0; smcm_cfg.base_param.motor_run_to_zero_max_d = 0; smcm_cfg.base_param.motor_run_to_zero_speed = 1; smcm_cfg.base_param.motor_run_to_zero_dec = 0; smcm_cfg.base_param.motor_look_zero_edge_max_d = 0; smcm_cfg.base_param.motor_look_zero_edge_speed = 1; smcm_cfg.base_param.motor_look_zero_edge_dec = 0;
g_stepMotorCtrlModule.initialize(initer.get_module_id(8), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); g_stepMotorCtrlModule.enable(DEFAULT_ENABLE); initer.register_module(&g_stepMotorCtrlModule); }}
/*******************************************************************************
* MAIN * *******************************************************************************/void umain() { ZCancmderSubboardIniter::cfg_t cfg = //
{ .deviceId = getDeviceId(), .input_gpio = {}, .output_gpio = {}, }; initer.init(&cfg); initsubmodule(); OSDefaultSchduler::getInstance()->regPeriodJob([](OSDefaultSchduler::Context&) { HAL_IWDG_Refresh(&hiwdg); }, 1000); initer.loop();}
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