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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\modbus\modbus_client.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "iwdg.h"
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
#include "serial485_to_analog.hpp"
#include "temperature_sensor.hpp"
#define TAG "main"
using namespace iflytop;using namespace std;
static ZCancmderSubboardIniter initer;static Serial485ToAnalog serial485_to_analog;static ZThread temperature_capture_thread;
extern DMA_HandleTypeDef hdma_usart2_rx;extern DMA_HandleTypeDef hdma_usart2_tx;
extern void umain();extern "C" {void StartDefaultTask(void const* argument) { umain(); }
class UARTSender : public ZIUartSender { UART_HandleTypeDef* m_huart;
public: void init(UART_HandleTypeDef* huart) { m_huart = huart; } virtual void send(const uint8_t* data, size_t len) { HAL_UART_Transmit(m_huart, (uint8_t*)data, len, 1000); }};
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_12); m_temperature_sensor[1].initialize(&hadc1, ADC_CHANNEL_13); m_temperature_sensor[2].initialize(&hadc1, ADC_CHANNEL_11); m_temperature_sensor[3].initialize(&hadc1, ADC_CHANNEL_10); m_temperature_sensor[4].initialize(&hadc1, ADC_CHANNEL_14);
temperature_capture_thread.init("temperature_capture_thread", 1024, osPriorityAboveNormal); for (int i = 0; i < 5; i++) { m_temperature_sensor[i].loop(); } temperature_capture_thread.start([]() { while (1) { for (int i = 0; i < 5; i++) { m_temperature_sensor[i].loop(); osDelay(10); } osDelay(100); ZLOGI(TAG, "%d %d %d %d %d", m_temperature_sensor[0].readAdcVal(), //
m_temperature_sensor[1].readAdcVal(), //
m_temperature_sensor[2].readAdcVal(), //
m_temperature_sensor[3].readAdcVal(), //
m_temperature_sensor[4].readAdcVal() //
); } }); } { /*******************************************************************************
* �¶�4->20MAת485 * *******************************************************************************/ /**
* @brief * ���ڲ���: * 115200 * ��żУ��λ:��У�� * ֹͣλ:һ��ֹͣλ */ ZASSERT(PC_MODBUS_UART.Init.BaudRate == 115200); ZASSERT(PC_MODBUS_UART.Init.Parity == UART_PARITY_NONE); ZASSERT(PC_MODBUS_UART.Init.StopBits == UART_STOPBITS_1); serial485_to_analog.initialize(&PC_MODBUS_UART, NULL, NULL); serial485_to_analog.reg(&m_temperature_sensor[0]); serial485_to_analog.reg(&m_temperature_sensor[1]); serial485_to_analog.reg(&m_temperature_sensor[2]); serial485_to_analog.reg(&m_temperature_sensor[3]); serial485_to_analog.reg(&m_temperature_sensor[4]); serial485_to_analog.start();
// static ZUARTDmaReceiver dmaUartReceiver;
// static ZUARTDmaReceiver::hardware_config_t cfg = {
// .huart = &PC_MODBUS_UART,
// .dma_rx = &PC_MODBUS_UART_DMA_HANDLER,
// .rxbuffersize = PC_MODBUS_UART_RX_BUF_SIZE,
// .rxovertime_ms = 1,
// };
// dmaUartReceiver.initialize(&cfg);
// static UARTSender uartSender;
// uartSender.init(&PC_MODBUS_UART);
// ModulebusClient::Inst()->init(
// &dmaUartReceiver, &uartSender, 1, //
// [](uint16_t regadd, uint16_t& val) {
// int32_t sendval = 0;
// if (regadd == 11) {
// m_temperature_sensor[0].getTemperature(sendval);
// val = sendval;
// } else if (regadd == 12) {
// m_temperature_sensor[1].getTemperature(sendval);
// val = sendval;
// } else if (regadd == 13) {
// m_temperature_sensor[2].getTemperature(sendval);
// val = sendval;
// } else if (regadd == 14) {
// m_temperature_sensor[3].getTemperature(sendval);
// val = sendval;
// } else if (regadd == 15) {
// m_temperature_sensor[4].getTemperature(sendval);
// val = sendval;
// }
// }, //
// [](uint16_t regadd, uint16_t val) {});
// OSDefaultSchduler::getInstance()->regPeriodJob([](OSDefaultSchduler::Context& context) { ModulebusClient::Inst()->loop(); }, 1);
} { // 115200
/*******************************************************************************
* �Թ�ñ�ж��� * *******************************************************************************/ static FeiTeServoMotor feiteservomotor_bus; // ���ض�������
// ���ض�������
ZASSERT(huart3.Init.BaudRate == 115200); feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx);
{ static MiniRobotCtrlModule mini_servo; static MiniRobotCtrlModule::flash_config_t cfg = {0}; cfg.default_torque = 300; cfg.default_velocity = 200; mini_servo.initialize(initer.get_module_id(1), &feiteservomotor_bus, 1, &cfg); initer.register_module(&mini_servo); } { static MiniRobotCtrlModule mini_servo; static MiniRobotCtrlModule::flash_config_t cfg = {0}; cfg.default_torque = 300; cfg.default_velocity = 200; mini_servo.initialize(initer.get_module_id(2), &feiteservomotor_bus, 2, &cfg); initer.register_module(&mini_servo); } { static MiniRobotCtrlModule mini_servo; static MiniRobotCtrlModule::flash_config_t cfg = {0}; cfg.default_torque = 300; cfg.default_velocity = 200; mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 3, &cfg); initer.register_module(&mini_servo); } { static MiniRobotCtrlModule mini_servo; static MiniRobotCtrlModule::flash_config_t cfg = {0}; cfg.default_torque = 300; cfg.default_velocity = 200; mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 4, &cfg); initer.register_module(&mini_servo); } { static MiniRobotCtrlModule mini_servo; static MiniRobotCtrlModule::flash_config_t cfg = {0}; cfg.default_torque = 300; cfg.default_velocity = 200; mini_servo.initialize(initer.get_module_id(5), &feiteservomotor_bus, 5, &cfg); initer.register_module(&mini_servo); } }}
/*******************************************************************************
* 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], }, }; OSDefaultSchduler::getInstance()->regPeriodJob([](OSDefaultSchduler::Context&) { HAL_IWDG_Refresh(&hiwdg); }, 1000); initer.init(&cfg); initsubmodule(); initer.loop();}
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