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144 lines
5.5 KiB
144 lines
5.5 KiB
#include <stddef.h>
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#include <stdio.h>
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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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\mini_servo_motor\feite_servo_motor.hpp"
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
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#include "sdk\components\xy_robot_ctrl_module\zcan_xy_robot_module.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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//
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#include "sdk\components\flash\znvs.hpp"
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//
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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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#define TMC_MOTOR_SPI hspi1
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static TMC4361A motora;
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static TMC4361A motorb;
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static ZCanCmder zcanCmder;
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static ZCanBasicOrderModule zcanBasicOrderModule;
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static StepMotorCtrlModule stepMotorCtrlModule;
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static XYRobotCtrlModule xyRobotCtrlModule;
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static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
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#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
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void umain() {
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chip_cfg_t chipcfg;
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chipcfg.us_dleay_tim = &DELAY_US_TIMER;
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chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
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chipcfg.huart = &DEBUG_UART;
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chipcfg.debuglight = 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 moduleid:%d", BOARD_ID, MODULE_ID);
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/*******************************************************************************
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* NVSINIT *
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*******************************************************************************/
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ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
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{
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static I_XYRobotCtrlModule::flash_config_t cfg;
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XYRobotCtrlModule::create_default_cfg(cfg);
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ZNVS::ins().alloc_config(XYRobotCtrlModule_1_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
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}
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ZNVS::ins().init_config();
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osDelay(1000);
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{
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TMC4361A::cfg_t cfg = {
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = TMC_MOTOR1_SPI_SELECT1_IO, //
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.resetPin = TMC_MOTOR1_nRESET_IO, //
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.fREEZEPin = TMC_MOTOR1_nFREEZE_IO, //
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.ennPin = PinNull, //
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.driverIC_ennPin = TMC_MOTOR1_SUB_IC_ENN_IO, //
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.driverIC_resetPin = PinNull, //
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};
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motora.initialize(&cfg);
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motora.setMotorShaft(false);
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ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.readSubICVersion());
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}
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{
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TMC4361A::cfg_t cfg = {
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = TMC_MOTOR2_SPI_SELECT1_IO, //
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.resetPin = TMC_MOTOR2_nRESET_IO, //
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.fREEZEPin = TMC_MOTOR2_nFREEZE_IO, //
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.ennPin = PinNull, //
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.driverIC_ennPin = TMC_MOTOR2_SUB_IC_ENN_IO, //
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.driverIC_resetPin = PinNull, //
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};
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motorb.initialize(&cfg);
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motorb.setMotorShaft(false);
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ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
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}
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motora.setAcceleration(300);
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motora.setDeceleration(300);
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motora.setIHOLD_IRUN(0, 2, 10);
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motorb.setAcceleration(300);
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motorb.setDeceleration(300);
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motorb.setIHOLD_IRUN(0, 2, 10);
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motora.rotate(0);
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motorb.rotate(0);
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auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
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zcanCmder.init(zcanCmder_cfg);
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/*******************************************************************************
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* zcanBasicOrderModule *
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*******************************************************************************/
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zcanBasicOrderModule.initialize(&zcanCmder);
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#if 0
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zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
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zcanBasicOrderModule.reg_read_io(1, []() {
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ZLOGI(TAG, "read io 1");
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return 1;
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});
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zcanBasicOrderModule.reg_read_adc(1, []() {
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ZLOGI(TAG, "read adc 1");
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return 123;
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});
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#endif
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/*******************************************************************************
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* zcanXYRobotCtrlModule *
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*******************************************************************************/
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ZGPIO input[8];
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input[0].initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
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xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], XYRobotCtrlModule_1_FLASH_MARK);
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xyRobotCtrlModule.dumpcfg();
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zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
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while (true) {
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OSDefaultSchduler::getInstance()->loop();
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zcanCmder.loop();
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}
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}
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