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95 lines
5.5 KiB
95 lines
5.5 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() { osDelay(1000); }
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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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{
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{.pin = SENSOR_INT0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT5, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT6, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT7, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT8, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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{.pin = SENSOR_INT9, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
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},
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.output_gpio = {
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{.pin = PD7, /*SOLENOID_VALVE00*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD6, /*SOLENOID_VALVE01*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD5, /*SOLENOID_VALVE02*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD4, /*SOLENOID_VALVE03*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD3, /*SOLENOID_VALVE04*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD2, /*SOLENOID_VALVE05*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD1, /*SOLENOID_VALVE06*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD0, /*SOLENOID_VALVE07*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD11, /*SOLENOID_VALVE08*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD10, /*SOLENOID_VALVE09*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD9, /*SOLENOID_VALVE10*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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{.pin = PD8, /*SOLENOID_VALVE11*/ .mode = ZGPIO::kMode_nopull, .mirror = true, .initLevel = false, .log_when_setstate = false},
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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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