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123 lines
4.5 KiB
123 lines
4.5 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\zcancmder\zcan_board_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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#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
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//
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#include "board.h"
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#include "sdk\components\flash\znvs.hpp"
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#include "sdk\components\subcanmodule\zcancmder_subboard_initer.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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static ZCancmderSubboardIniter initer;
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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 FLASH_MASK_XYRobotCtrlModule1 "XYRobotCtrlModule_1"
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void initmodule() {}
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static int32_t getDeviceId() { return BOARD_ID; }
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void nvs_init_cb() {
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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_XYRobotCtrlModule::flash_config_t cfg;
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XYRobotCtrlModule::create_default_cfg(cfg);
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ZNVS::ins().alloc_config(FLASH_MASK_XYRobotCtrlModule1, (uint8_t*)&cfg, sizeof(cfg));
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}
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static void initsubmodule() {
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static XYRobotCtrlModule xyRobotCtrlModule;
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static TMC4361A motora;
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static TMC4361A motorb;
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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, 4, 10);
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motorb.setAcceleration(300);
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motorb.setDeceleration(300);
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motorb.setIHOLD_IRUN(0, 4, 10);
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motora.rotate(0);
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motorb.rotate(0);
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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, true);
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input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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xyRobotCtrlModule.initialize(initer.get_module_id(1), &motora, &motorb, &input[0], 8, FLASH_MASK_XYRobotCtrlModule1);
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xyRobotCtrlModule.dumpcfg();
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initer.register_module(&xyRobotCtrlModule);
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}
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void umain() {
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ZCancmderSubboardIniter::cfg_t cfg = //
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{
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.deviceId = getDeviceId(),
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.input_gpio =
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{
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// {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
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},
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.output_gpio =
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{
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// {PD0, ZGPIO::kMode_nopull, false, false},
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},
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};
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initer.init(&cfg);
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initer.loop();
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}
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