p_graphite_digester_v2
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graphite_digester_subboard
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update

master
zhaohe 1 year ago
parent
1246fa6027
commit
1edb9c9d3c
4 changed files with 97 additions and 152 deletions
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  1. 1
      sdk/sdk.cpp
  2. 79
      usrc/components/zcancmder/zcan_protocol_parser.cpp
  3. 4
      usrc/configs/device_id_mgr.hpp
  4. 165
      usrc/main.cpp

1
sdk/sdk.cpp
View File

@ -2,7 +2,6 @@
#include "project_configs.h"
static iflytop::ZGPIO g_debuglight;
void sdkinit() {
zlog_init(&PC_DEBUG_UART);

79
usrc/components/zcancmder/zcan_protocol_parser.cpp
View File

@ -22,44 +22,44 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(module_clear_error);
REGFN(module_stop);
REGFN(step_motor_enable);
REGFN(step_motor_read_pos);
REGFN(step_motor_easy_rotate);
REGFN(step_motor_easy_move_by);
REGFN(step_motor_easy_move_to);
REGFN(step_motor_easy_move_to_zero);
REGFN(step_motor_easy_set_current_pos);
REGFN(step_motor_easy_move_to_io);
REGFN(step_motor_active_cfg);
REGFN(step_motor_stop);
REGFN(step_motor_read_io_state);
REGFN(step_motor_easy_move_to_end_point);
REGFN(step_motor_read_tmc5130_status);
REGFN(step_motor_read_tmc5130_state);
REGFN(step_motor_read_tmc4361a_status);
REGFN(step_motor_read_tmc4361a_state);
REGFN(step_motor_read_tmc2160_status);
REGFN(step_motor_read_tmc2160_state);
REGFN(step_motor_read_io_index_in_stm32);
REGFN(mini_servo_enable);
REGFN(mini_servo_read_pos);
REGFN(mini_servo_active_cfg);
REGFN(mini_servo_stop);
REGFN(mini_servo_set_mid_point);
REGFN(mini_servo_read_io_state);
REGFN(mini_servo_move_to);
REGFN(mini_servo_rotate);
REGFN(mini_servo_rotate_with_torque);
REGFN(extboard_read_inio);
REGFN(extboard_write_outio);
REGFN(extboard_read_muti_inio);
REGFN(extboard_read_inio_index_in_stm32);
REGFN(extboard_read_outio_index_in_stm32);
REGFN(extboard_read_outio);
// REGFN(step_motor_enable);
// REGFN(step_motor_read_pos);
// REGFN(step_motor_easy_rotate);
// REGFN(step_motor_easy_move_by);
// REGFN(step_motor_easy_move_to);
// REGFN(step_motor_easy_move_to_zero);
// REGFN(step_motor_easy_set_current_pos);
// REGFN(step_motor_easy_move_to_io);
// REGFN(step_motor_active_cfg);
// REGFN(step_motor_stop);
// REGFN(step_motor_read_io_state);
// REGFN(step_motor_easy_move_to_end_point);
// REGFN(step_motor_read_tmc5130_status);
// REGFN(step_motor_read_tmc5130_state);
// REGFN(step_motor_read_tmc4361a_status);
// REGFN(step_motor_read_tmc4361a_state);
// REGFN(step_motor_read_tmc2160_status);
// REGFN(step_motor_read_tmc2160_state);
// REGFN(step_motor_read_io_index_in_stm32);
// REGFN(mini_servo_enable);
// REGFN(mini_servo_read_pos);
// REGFN(mini_servo_active_cfg);
// REGFN(mini_servo_stop);
// REGFN(mini_servo_set_mid_point);
// REGFN(mini_servo_read_io_state);
// REGFN(mini_servo_move_to);
// REGFN(mini_servo_rotate);
// REGFN(mini_servo_rotate_with_torque);
// REGFN(extboard_read_inio);
// REGFN(extboard_write_outio);
// REGFN(extboard_read_muti_inio);
// REGFN(extboard_read_inio_index_in_stm32);
// REGFN(extboard_read_outio_index_in_stm32);
// REGFN(extboard_read_outio);
}
@ -184,7 +184,7 @@ int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
/***********************************************************************************************************************
* ZIStepMotor *
***********************************************************************************************************************/
#if 0
#define MODULE_CLASS ZIStepMotor
int32_t ZCanProtocolParser::step_motor_enable(cmdcontxt_t* cxt) {
@ -385,6 +385,7 @@ int32_t ZCanProtocolParser::extboard_read_outio(cmdcontxt_t* cxt) {
}
#undef MODULE_CLASS
#endif
/***********************************************************************************************************************
* ZIPipetteCtrlModule *

4
usrc/configs/device_id_mgr.hpp
View File

@ -26,4 +26,6 @@
void zdevice_id_mgr_init();
void zdevice_id_mgr_recfg_device_id(int32_t id);
int32_t zdevice_id_mgr_get_device_id();
int32_t zdevice_id_mgr_get_device_id();
static inline int32_t device_id() { return zdevice_id_mgr_get_device_id(); }

165
usrc/main.cpp
View File

@ -3,6 +3,7 @@
#include "configs/device_id_mgr.hpp"
#include "public_service/public_service.hpp"
#include "sdk/sdk.hpp"
#include "sysmgr/sys_mgr.hpp"
//
//
@ -16,42 +17,9 @@ extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
int32_t deviceId = 0;
static void board_init() {
int32_t deviceId = zdevice_id_mgr_get_device_id();
switch (deviceId) {
// case 10:
// subboard10_hbot_board_init();
// break;
// case 20: // 板夹仓
// subboard20_plate_clamp_case_board_init();
// break;
// case 30: // 摇匀模组
// subboard30_shake_module_board_init();
// break;
// case 40: // 温度控制板40
// case 50: // 温度控制板50
// subboard40_and_50_temperature_ctrl_board_init();
// break;
// case 60: // 进出料模组
// subboard60_inlet_and_outlet_module_board_init();
// break;
// case 70: // 孵化转盘
// subboard70_incubation_turntable_board_init();
// break;
// case 80:
// subboard80_cliptip_board_init();
// break;
// case 90:
// subboard90_optical_module_board_init();
// break;
// case 100:
// subboard100_id_card_reader_board_init();
// break;
// case 200:
// subboard200_ext_tmc5160_board_init();
// break;
default:
common_hardware_init();
break;
@ -59,90 +27,65 @@ static void board_init() {
}
static void board_post_init() {
int32_t deviceId = zdevice_id_mgr_get_device_id();
GService::inst()->initialize();
switch (deviceId) {
// case 10:
// Subboard10Hbot::ins()->initialize();
// break;
// case 20:
// Subboard20PlateClampCase::ins()->initialize();
// break;
// case 30: // 摇匀模组
// Subboard30ShakeModule::ins()->initialize();
// break;
// case 40: // 温度控制板40
// case 50: // 温度控制板50
// Subboard40And50TemperatureCtrl::ins()->initialize();
// break;
// case 60: // 进出料模组
// Subboard60InjectAndOutletModule::ins()->initialize();
// break;
// case 70: // 孵化转盘
// Subboard70IncubationTurntable::ins()->initialize();
// break;
// case 80:
// Subboard80Cliptip::ins()->initialize();
// break;
// case 100:
// Subboard100IdCardReader::ins()->initialize();
// break;
// case 200:
// Subboard200ExtTmc5160::ins()->initialize();
// break;
// case 90:
// Subboard90OpticalModule::ins()->initialize();
break;
default:
break;
}
}
void umain() {
// deviceId = zdevice_id_mgr_get_device_id();
// board_init();
// Pin_t debugLight = PC_DEBUG_LIGHT_GPIO;
// if (deviceId == 20) {
// debugLight = PC_SUBBOARD_20_70_LIGHT_GPIO;
// }
// zos_cfg_t zoscfg = {0};
// 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 = &PC_DEBUG_UART;
// chipcfg.debuglight = debugLight;
// chip_init(&chipcfg);
// zos_init(&zoscfg);
// zdevice_id_mgr_init();
// ZEARLY_LOGI("SYS", "chip init ok");
// ZEARLY_LOGI("SYS", "= manufacturer : %s", PC_MANUFACTURER);
// ZEARLY_LOGI("SYS", "= project name : %s", PC_PROJECT_NAME);
// ZEARLY_LOGI("SYS", "= version : %d", PC_VERSION);
// ZEARLY_LOGI("SYS", "= freq : %d", HAL_RCC_GetSysClockFreq());
// ZEARLY_LOGI("SYS", "= build time : %s", __DATE__ " " __TIME__);
// ZEARLY_LOGI("SYS", "= device id : %d", deviceId);
// if (deviceId <= 0) {
// chip_set_error();
// ZEARLY_LOGE("SYS", "device id is not set");
// while (true) {
// zos_delay(1);
// }
// }
// board_post_init();
static iflytop::ZGPIO debuglight;
static bool errorFlag;
static inline void debugLightLoop() {
static bool light = false;
static uint32_t lastcall = 0;
if (errorFlag) {
if (zos_haspassedms(lastcall) > 30) {
light = !light;
debuglight.setState(light);
lastcall = zos_get_tick();
}
} else {
if (zos_haspassedms(lastcall) > 300) {
light = !light;
debuglight.setState(light);
lastcall = zos_get_tick();
}
}
}
// ZLOGI(TAG, "======================= sysinfo ======================= ");
// SysMgr::ins()->initedFinished();
// SysMgr::ins()->dumpSysInfo();
// ZLOGI(TAG, "=");
void umain() {
//
board_init();
sdkinit();
debuglight.initAsOutput(PC_DEBUG_LIGHT_GPIO, iflytop::ZGPIO::kMode_nopull, false, false);
ZLOGI("SYS", "chip init ok");
ZLOGI("SYS", "= manufacturer : %s", PC_MANUFACTURER);
ZLOGI("SYS", "= project name : %s", PC_PROJECT_NAME);
ZLOGI("SYS", "= version : %d", PC_VERSION);
ZLOGI("SYS", "= freq : %d", HAL_RCC_GetSysClockFreq());
ZLOGI("SYS", "= build time : %s", __DATE__ " " __TIME__);
ZLOGI("SYS", "= device id : %d", zdevice_id_mgr_get_device_id());
if (zdevice_id_mgr_get_device_id() <= 0) {
ZLOGE("SYS", "device id is not set");
errorFlag = true;
} else {
board_post_init();
ZLOGI(TAG, "======================= sysinfo ======================= ");
SysMgr::ins()->initedFinished();
SysMgr::ins()->dumpSysInfo();
ZLOGI(TAG, "=");
}
// while (true) {
// GService::inst()->getZCanReceiver()->loop();
// zos_delay(1);
// }
while (true) {
GService::inst()->getZCanReceiver()->loop();
osDelay(1);
debugLightLoop();
}
}
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