You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
89 lines
3.2 KiB
89 lines
3.2 KiB
#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×ÜÏßÅäÖÃ
|
|
g_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg); // can×ÜÏß
|
|
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;
|
|
}
|
|
}
|
|
};
|