graphite_digester_zancmder_debug_board/usrc/transparent_version.cpp

#include <stddef.h>
#include <stdio.h>

#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
#include "sdk\components\zcancmder\zcan_board_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
#include "string.h"
// #include "M3078CodeScanner"
#include "global.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

uint32_t m_rxbufsize;
bool     m_dataisready    = false;
char     m_cmdcache[1024] = {0};

void transparent_version_main() {
  chip_cfg_t chipcfg;
  chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
  chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
  chipcfg.huart                 = NULL;
  chipcfg.debuglight            = PC_DEBUG_LIGHT_GPIO;

  chip_init(&chipcfg);

  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  ZLOGI(TAG, "boardId:%d", 0);

  ZLOGI(TAG, "init can bus");
  auto* m_zcanCommnaderMaster_cfg = g_zcanCommnaderMaster.createCFG();  // can��������
  g_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg);                // can����
  ZLOGI(TAG, "init can bus end...");

  static ZUARTDmaReceiver             dmaUartReceiver;
  static CmdSchedulerV2               cmder;
  ZUARTDmaReceiver::hardware_config_t cfg = {
      .huart         = &PC_DEBUG_UART,
      .dma_rx        = &PC_DEBUG_UART_DMA_HANDLER,
      .rxbuffersize  = PC_DEBUG_UART_RX_BUF_SIZE,
      .rxovertime_ms = 3,
  };
  ZLOGI(TAG, "init cmder");
  dmaUartReceiver.initialize(&cfg);
  dmaUartReceiver.startRx([](uint8_t* data, size_t len) {
    if (!m_dataisready) {
      memcpy(m_cmdcache, data, len);
      m_rxbufsize   = len;
      m_dataisready = true;
    }
  });

  g_zcanCommnaderMaster.regRawPacketListener([](uint8_t* packet, size_t len) {  //
    HAL_UART_Transmit(&PC_DEBUG_UART, packet, len, 1000);
    osDelay(5);
  });

  while (true) {
    OSDefaultSchduler::getInstance()->loop();
    if (m_dataisready) {
      g_zcanCommnaderMaster.sendRawPacket((uint8_t*)m_cmdcache, m_rxbufsize);
      m_dataisready = false;
    }
  }
};