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136 lines
3.3 KiB
136 lines
3.3 KiB
#include "main.hpp"
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#include <stddef.h>
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#include <stdio.h>
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#include "main.h"
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#include "project.hpp"
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//
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// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
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#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
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#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
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#include "sdk/hal/zhal.hpp"
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#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
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#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
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#include "sdk\components\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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//
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#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
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#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
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#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
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#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
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//
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#include "sdk\components\zcan_module\zcan_high_power_electrical_ctl_module.hpp"
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#define TAG "main"
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namespace iflytop {
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Main gmain;
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};
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using namespace iflytop;
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IflytopCanProtocolStackProcesser m_protocolStack;
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// TMC5130 m_motor1;
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// TMC5130 m_motor2;
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ZGPIO debuglight;
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ZGPIO AirCompressorCtrl1;
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ZGPIO AirCompressorCtrl2;
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ZGPIO AirBlowerCtrl1;
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ZGPIO AirBlowerCtrl2;
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ZGPIO HeatingStripCtrl1;
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ZGPIO HeatingStripCtrl2;
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ZCanReceiver m_canReceiver;
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ZCanBasicOrderModule m_basicOrderModule;
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ZCanHighPowerElectricalCtlModule m_highPowerElectricalCtlModule;
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void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
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ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
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for (size_t i = 0; i < len; i++) {
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printf("%02X ", packet[i]);
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}
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printf("\n");
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}
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void Main::run() {
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ZHALCORE::cfg_t oscfg = {
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.delayhtim = &DELAY_US_TIMER,
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.debuguart = &DEBUG_UART,
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};
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ZHALCORE::getInstance()->initialize(oscfg);
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ZLOGI(TAG, "zapp:%s", VERSION);
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debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
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ZHAL_CORE_REG(200, { debuglight.toggleState(); });
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ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID);
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m_canReceiver.init(cfg);
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m_canReceiver.registerListener(this);
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/**
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* @brief 基础模块
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*/
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m_basicOrderModule.initialize(&m_canReceiver);
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m_basicOrderModule.regInputCtl([this](uint8_t id, bool &val) { return false; });
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m_basicOrderModule.regOutCtl([this](uint8_t id, bool val) {
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if (id == 0) {
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AirCompressorCtrl1.setState(val);
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return true;
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}
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if (id == 1) {
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AirCompressorCtrl2.setState(val);
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return true;
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}
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if (id == 2) {
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AirBlowerCtrl1.setState(val);
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return true;
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}
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if (id == 3) {
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AirBlowerCtrl2.setState(val);
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return true;
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}
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if (id == 4) {
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HeatingStripCtrl1.setState(val);
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return true;
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}
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if (id == 5) {
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HeatingStripCtrl2.setState(val);
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return true;
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}
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return false;
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});
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m_basicOrderModule.regReadAdcVal([this](uint8_t id, int32_t &val) {
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if (id == 0) {
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val = 0;
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return true;
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}
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if (id == 1) {
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val = 0;
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return true;
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}
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if (id == 2) {
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val = 0;
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return true;
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}
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return false;
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});
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ZLOGI(TAG, "init done");
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while (1) {
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ZHALCORE::getInstance()->loop();
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}
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}
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