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127 lines
5.3 KiB
127 lines
5.3 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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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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static TMC5130 g_motor;
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static StepMotorCtrlModule g_stepMotorCtrlModule;
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TMC5130::cfg_t cfg = {
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR0_SPI_MODE_SELECT, //
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};
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g_motor.initialize(&cfg);
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion());
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g_motor.enable(true);
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g_motor.setMotorShaft(false);
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// g_motor.setAcceleration(100);
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// g_motor.setDeceleration(100);
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// g_motor.setIHOLD_IRUN(1,8, 10);
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// g_motor.rotate(1000);
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static ZGPIO input[10];
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input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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StepMotorCtrlModule::flash_config_t smcm_cfg = {0};
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StepMotorCtrlModule::create_default_cfg(smcm_cfg);
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smcm_cfg.base_param.motor_one_circle_pulse = 100;
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smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
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smcm_cfg.base_param.stepmotor_ihold = 1;
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smcm_cfg.base_param.stepmotor_irun = 15;
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smcm_cfg.base_param.motor_shaft = false;
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smcm_cfg.base_param.motor_default_velocity = 200;
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smcm_cfg.base_param.motor_run_to_zero_speed = 100;
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smcm_cfg.base_param.max_d = 0;
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smcm_cfg.base_param.min_d = 0;
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g_stepMotorCtrlModule.initialize(initer.get_module_id(1), &g_motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
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initer.register_module(&g_stepMotorCtrlModule);
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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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static MiniRobotCtrlModule mini_servo;
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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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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, 1, &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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* 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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.output_gpio = {},
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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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