Browse Source

update

master
zhaohe 2 years ago
parent
commit
697147dabe
  1. 187
      usrc/main.cpp
  2. 1
      usrc/temperature_sensor.cpp

187
usrc/main.cpp

@ -9,11 +9,13 @@
#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\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\sub_modbus_module\sub_modbus_board_initer.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
#include "temperature_sensor.hpp"
#define TAG "main"
@ -26,23 +28,27 @@ 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;
}
static SubModbusBoardIniter modbusIniter;
/*******************************************************************************
* 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;
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);
@ -51,51 +57,132 @@ static int32_t getDeviceId() {
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);
}
{
/*******************************************************************************
* MODBUS CLIEN *
*******************************************************************************/
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 == 0) {
m_temperature_sensor[0].getTemperature(sendval);
val = sendval;
} else if (regadd == 1) {
m_temperature_sensor[1].getTemperature(sendval);
val = sendval;
} else if (regadd == 2) {
m_temperature_sensor[2].getTemperature(sendval);
val = sendval;
} else if (regadd == 3) {
m_temperature_sensor[3].getTemperature(sendval);
val = sendval;
} else if (regadd == 4) {
m_temperature_sensor[4].getTemperature(sendval);
val = sendval;
}
}, //
[](uint16_t regadd, uint16_t val) {});
}
{
// 115200
/*******************************************************************************
* *
*******************************************************************************/
static FeiTeServoMotor feiteservomotor_bus; // 飞特舵机总线
// 飞特舵机总线
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 = 330;
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 = 330;
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 = 330;
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 = 330;
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 = 330;
mini_servo.initialize(initer.get_module_id(5), &feiteservomotor_bus, 5, &cfg);
initer.register_module(&mini_servo);
}
}
}
/*******************************************************************************
* MAIN *
*******************************************************************************/
void umain() {
modbusIniter.init(
getDeviceId(), //
// subModuleIniter
[]() {
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);
},
// on_reg_read_t
[](uint16_t regadd, uint16_t& val) {
int32_t sensval = 0;
if (regadd == 11) {
m_temperature_sensor[0].getTemperature(sensval);
// ZLOGI(TAG, "temperature1: %d", sensval);
val = (int16_t)sensval;
} else if (regadd == 12) {
m_temperature_sensor[1].getTemperature(sensval);
// ZLOGI(TAG, "temperature2: %d", sensval);
val = (int16_t)sensval;
} else if (regadd == 13) {
m_temperature_sensor[2].getTemperature(sensval);
// ZLOGI(TAG, "temperature3: %d", sensval);
val = (int16_t)sensval;
} else if (regadd == 14) {
m_temperature_sensor[3].getTemperature(sensval);
// ZLOGI(TAG, "temperature4: %d", sensval);
val = (int16_t)sensval;
} else if (regadd == 15) {
m_temperature_sensor[4].getTemperature(sensval);
// ZLOGI(TAG, "temperature5: %d", sensval);
val = (int16_t)sensval;
}
},
// on_reg_write_t
[](uint16_t regadd, uint16_t val) {});
modbusIniter.loop();
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();
}

1
usrc/temperature_sensor.cpp

@ -45,4 +45,5 @@ int32_t TemperatureSensor::getTemperature(int32_t& sensorval) { //
sum += adcval[i];
}
sensorval = sum / 8.0;
return 0;
}
Loading…
Cancel
Save