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103 lines
3.7 KiB
103 lines
3.7 KiB
#include <stddef.h>
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#include <stdio.h>
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#include "sdk/os/zos.hpp"
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#include "sdk\components\flash\zsimple_flash.hpp"
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#include "sdk\components\zcancmder\zcanreceiver.hpp"
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#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
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//
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#include "sdk\components\flash\znvs.hpp"
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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\cmdscheduler\cmd_scheduler_v2.hpp"
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#include "sdk\components\hardware\uart\zuart_dma_receiver.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\sensors\tmp117\tmp117.hpp"
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#include "sdk\components\ti\drv8710.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
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#include "sdk\components\zcancmder\zcan_board_module.hpp"
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#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
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#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
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// #include "M3078CodeScanner"
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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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extern void umain();
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extern "C" {
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void StartDefaultTask(void const* argument) { umain(); }
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}
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static ZModuleDeviceManager g_zModuleDeviceManager;
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static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;
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static ZCanCommnaderMaster m_zcanCommnaderMaster;
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static ZIProtocolProxy proxy[255];
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void initcfg() {
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/**
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* @brief 初始化配置，系统中需要配置都需要在这里进行初始化
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*/
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static I_StepMotorCtrlModule::flash_config_t cfg;
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StepMotorCtrlModule::create_default_cfg(cfg);
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// ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
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}
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void initmodule() {}
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void umain() {
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chip_cfg_t chipcfg;
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chipcfg.us_dleay_tim = &PC_SYS_DELAY_US_TIMER;
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chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
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chipcfg.huart = &PC_DEBUG_UART;
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chipcfg.debuglight = PC_DEBUG_LIGHT_GPIO;
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chip_init(&chipcfg);
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zos_cfg_t zoscfg;
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zos_init(&zoscfg);
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ZLOGI(TAG, "boardId:%d", 0);
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ZLOGI(TAG, "init can bus");
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auto* m_zcanCommnaderMaster_cfg = m_zcanCommnaderMaster.createCFG(); // can总线配置
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m_zcanCommnaderMaster.init(m_zcanCommnaderMaster_cfg); // can总线
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g_zModuleDeviceManager.initialize(&m_zcanCommnaderMaster);
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ZLOGI(TAG, "init can bus end...");
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static ZUARTDmaReceiver dmaUartReceiver;
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static CmdSchedulerV2 cmder;
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ZUARTDmaReceiver::hardware_config_t cfg = {
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.huart = &PC_DEBUG_UART,
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.dma_rx = &PC_DEBUG_UART_DMA_HANDLER,
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.rxbuffersize = PC_DEBUG_UART_RX_BUF_SIZE,
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.rxovertime_ms = 10,
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};
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ZLOGI(TAG, "init cmder");
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dmaUartReceiver.initialize(&cfg);
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cmder.initialize(&dmaUartReceiver);
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ZLOGI(TAG, "init cmder end...");
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ZLOGI(TAG, "init module");
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g_zModuleDeviceManager.initialize(nullptr);
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g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager);
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for (size_t i = 1; i < 255; i++) {
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proxy[i].initialize(i, &m_zcanCommnaderMaster);
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g_zModuleDeviceManager.registerModule(&proxy[i]);
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}
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ZLOGI(TAG, "board init ok...");
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while (true) {
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OSDefaultSchduler::getInstance()->loop();
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cmder.schedule();
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}
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};
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