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@ -9,11 +9,13 @@ |
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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\modbus\modbus_client.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\sub_modbus_module\sub_modbus_board_initer.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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//
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#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
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#include "temperature_sensor.hpp"
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#define TAG "main"
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@ -26,23 +28,27 @@ extern void umain(); |
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extern "C" { |
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void StartDefaultTask(void const* argument) { umain(); } |
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class UARTSender : public ZIUartSender { |
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UART_HandleTypeDef* m_huart; |
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public: |
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void init(UART_HandleTypeDef* huart) { m_huart = huart; } |
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virtual void send(const uint8_t* data, size_t len) { HAL_UART_Transmit(m_huart, (uint8_t*)data, len, 1000); } |
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}; |
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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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static SubModbusBoardIniter modbusIniter; |
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/*******************************************************************************
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* GET_DEVICE_ID * |
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*******************************************************************************/ |
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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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static int32_t getDeviceId() { |
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static bool init = false; |
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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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@ -51,51 +57,132 @@ static int32_t getDeviceId() { |
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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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void nvs_init_cb() {} |
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TemperatureSensor m_temperature_sensor[8]; |
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static void initsubmodule() { |
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osDelay(1000); |
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{ |
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m_temperature_sensor[0].initialize(&hadc1, ADC_CHANNEL_10); |
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m_temperature_sensor[1].initialize(&hadc1, ADC_CHANNEL_11); |
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m_temperature_sensor[2].initialize(&hadc1, ADC_CHANNEL_12); |
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m_temperature_sensor[3].initialize(&hadc1, ADC_CHANNEL_13); |
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m_temperature_sensor[4].initialize(&hadc1, ADC_CHANNEL_14); |
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} |
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{ |
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/*******************************************************************************
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* 温度传感器MODBUS CLIEN 初始化 * |
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*******************************************************************************/ |
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static ZUARTDmaReceiver dmaUartReceiver; |
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static ZUARTDmaReceiver::hardware_config_t cfg = { |
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.huart = &PC_MODBUS_UART, |
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.dma_rx = &PC_MODBUS_UART_DMA_HANDLER, |
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.rxbuffersize = PC_MODBUS_UART_RX_BUF_SIZE, |
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.rxovertime_ms = 1, |
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}; |
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dmaUartReceiver.initialize(&cfg); |
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static UARTSender uartSender; |
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uartSender.init(&PC_MODBUS_UART); |
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ModulebusClient::Inst()->init( |
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&dmaUartReceiver, &uartSender, 1, //
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[](uint16_t regadd, uint16_t& val) { |
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int32_t sendval = 0; |
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if (regadd == 0) { |
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m_temperature_sensor[0].getTemperature(sendval); |
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val = sendval; |
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} else if (regadd == 1) { |
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m_temperature_sensor[1].getTemperature(sendval); |
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val = sendval; |
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} else if (regadd == 2) { |
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m_temperature_sensor[2].getTemperature(sendval); |
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val = sendval; |
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} else if (regadd == 3) { |
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m_temperature_sensor[3].getTemperature(sendval); |
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val = sendval; |
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} else if (regadd == 4) { |
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m_temperature_sensor[4].getTemperature(sendval); |
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val = sendval; |
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} |
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}, //
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[](uint16_t regadd, uint16_t val) {}); |
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} |
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{ |
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// 115200
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/*******************************************************************************
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* 试管帽夹舵机 * |
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*******************************************************************************/ |
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static FeiTeServoMotor feiteservomotor_bus; // 飞特舵机总线
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// 飞特舵机总线
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ZASSERT(huart3.Init.BaudRate == 115200); |
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feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx); |
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{ |
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static MiniRobotCtrlModule mini_servo; |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 330; |
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mini_servo.initialize(initer.get_module_id(1), &feiteservomotor_bus, 1, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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{ |
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static MiniRobotCtrlModule mini_servo; |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 330; |
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mini_servo.initialize(initer.get_module_id(2), &feiteservomotor_bus, 2, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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{ |
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static MiniRobotCtrlModule mini_servo; |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 330; |
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mini_servo.initialize(initer.get_module_id(3), &feiteservomotor_bus, 3, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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{ |
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static MiniRobotCtrlModule mini_servo; |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 330; |
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mini_servo.initialize(initer.get_module_id(4), &feiteservomotor_bus, 4, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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{ |
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static MiniRobotCtrlModule mini_servo; |
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static MiniRobotCtrlModule::flash_config_t cfg = {0}; |
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cfg.default_torque = 330; |
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mini_servo.initialize(initer.get_module_id(5), &feiteservomotor_bus, 5, &cfg); |
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initer.register_module(&mini_servo); |
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} |
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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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modbusIniter.init( |
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getDeviceId(), //
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// subModuleIniter
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[]() { |
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m_temperature_sensor[0].initialize(&hadc1, ADC_CHANNEL_10); |
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m_temperature_sensor[1].initialize(&hadc1, ADC_CHANNEL_11); |
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m_temperature_sensor[2].initialize(&hadc1, ADC_CHANNEL_12); |
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m_temperature_sensor[3].initialize(&hadc1, ADC_CHANNEL_13); |
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m_temperature_sensor[4].initialize(&hadc1, ADC_CHANNEL_14); |
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}, |
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// on_reg_read_t
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[](uint16_t regadd, uint16_t& val) { |
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int32_t sensval = 0; |
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if (regadd == 11) { |
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m_temperature_sensor[0].getTemperature(sensval); |
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// ZLOGI(TAG, "temperature1: %d", sensval);
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val = (int16_t)sensval; |
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} else if (regadd == 12) { |
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m_temperature_sensor[1].getTemperature(sensval); |
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// ZLOGI(TAG, "temperature2: %d", sensval);
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val = (int16_t)sensval; |
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} else if (regadd == 13) { |
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m_temperature_sensor[2].getTemperature(sensval); |
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// ZLOGI(TAG, "temperature3: %d", sensval);
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val = (int16_t)sensval; |
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} else if (regadd == 14) { |
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m_temperature_sensor[3].getTemperature(sensval); |
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// ZLOGI(TAG, "temperature4: %d", sensval);
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val = (int16_t)sensval; |
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} else if (regadd == 15) { |
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m_temperature_sensor[4].getTemperature(sensval); |
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// ZLOGI(TAG, "temperature5: %d", sensval);
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val = (int16_t)sensval; |
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} |
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}, |
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// on_reg_write_t
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[](uint16_t regadd, uint16_t val) {}); |
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modbusIniter.loop(); |
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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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.output_gpio = {}, |
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.temperature_sensor = |
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{ |
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&m_temperature_sensor[0], |
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&m_temperature_sensor[1], |
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&m_temperature_sensor[2], |
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&m_temperature_sensor[3], |
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&m_temperature_sensor[4], |
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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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} |