p_transmit_disinfection
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dbdb_ext_valve_board_pv1
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update

master
zhaohe 2 years ago
parent
a9e74a1657
commit
fe2b0cc997
4 changed files with 15 additions and 13 deletions
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  1. 1
      .cproject
  2. 2
      sdk
  3. 23
      usrc/main.cpp
  4. 2
      usrc/project_configs.h

1
.cproject
View File

@ -90,6 +90,7 @@
<listOptionValue builtIn="false" value="-Wno-sign-compare"/> <listOptionValue builtIn="false" value="-Wno-sign-compare"/>
<listOptionValue builtIn="false" value="-Wno-unused-variable"/> <listOptionValue builtIn="false" value="-Wno-unused-variable"/>
</option> </option>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/> <inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
</tool> </tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/> <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>

2
sdk

@ -1 +1 @@
Subproject commit 76ef997ee4eea38d58ce29a67581e4318ca6f798
Subproject commit 0f5a291b031589e0f435b7f9faafd514ee032940

23
usrc/main.cpp
View File

@ -7,9 +7,9 @@
#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp" #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp" #include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp" #include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
#include "sdk\components\xy_robot_ctrl_module\zcan_xy_robot_module.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp" #include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.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\flash\znvs.hpp"
// //
@ -24,14 +24,13 @@ void StartDefaultTask(void const* argument) { umain(); }
} }
#define TMC_MOTOR_SPI hspi1 #define TMC_MOTOR_SPI hspi1
static TMC4361A motora;
static TMC4361A motorb;
static ZCanCmder zcanCmder;
static ZCanBasicOrderModule zcanBasicOrderModule;
static TMC4361A motora;
static TMC4361A motorb;
static ZCanCmder zcanCmder;
static StepMotorCtrlModule stepMotorCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
static StepMotorCtrlModule stepMotorCtrlModule;
static XYRobotCtrlModule xyRobotCtrlModule;
static ZIProtocolParser g_ziProtocolParser;
#define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1" #define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
@ -107,7 +106,6 @@ void umain() {
/******************************************************************************* /*******************************************************************************
* zcanBasicOrderModule * * zcanBasicOrderModule *
*******************************************************************************/ *******************************************************************************/
zcanBasicOrderModule.initialize(&zcanCmder);
#if 0 #if 0
zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); }); zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
zcanBasicOrderModule.reg_read_io(1, []() { zcanBasicOrderModule.reg_read_io(1, []() {
@ -133,9 +131,12 @@ void umain() {
input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
xyRobotCtrlModule.initialize(&motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
xyRobotCtrlModule.initialize(BOARD_ID, &motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
xyRobotCtrlModule.dumpcfg(); xyRobotCtrlModule.dumpcfg();
zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
// zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
g_ziProtocolParser.initialize(&zcanCmder);
g_ziProtocolParser.registerModule(&xyRobotCtrlModule);
while (true) { while (true) {
OSDefaultSchduler::getInstance()->loop(); OSDefaultSchduler::getInstance()->loop();

2
usrc/project_configs.h
View File

@ -14,7 +14,7 @@
#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
#define MODULE_ID (1) #define MODULE_ID (1)
#define BOARD_ID (1 + ZCAN_CMD_PUBLIC_DEVICE_ID_XY_ROBOT_BOARD_OFFEST)
#define BOARD_ID (1 + XY_MOTOR_ID_OFF)
/****************************************FLASH***************************************/ /****************************************FLASH***************************************/
#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8 #define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8

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