p_transmit_disinfection
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liquid_path_control
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zhaohe 2 years ago
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1 changed files with 70 additions and 49 deletions
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  1. 119
      usrc/main.cpp

119
usrc/main.cpp
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@ -21,31 +21,51 @@ IflytopCanProtocolStackProcesser m_protocolStack;
TMC4361A m_motora;
TMC4361A m_motorb;
ZGPIO arm_sensor1_gpio;
ZGPIO arm_sensor2_gpio;
ZGPIO arm_sensor3_gpio;
ZGPIO arm_sensor4_gpio;
ZGPIO arm_sensor5_gpio;
ZGPIO arm_sensor6_gpio;
ZGPIO arm_sensor7_gpio;
ZGPIO arm_sensor8_gpio;
ZGPIO debuglight;
ZGPIO tmc_motor1_spi_select1_io;
ZGPIO tmc_motor1_nfreeze_io;
ZGPIO tmc_motor1_nreset_io;
ZGPIO tmc_motor1_sub_ic_enn_io;
ZGPIO tmc_motor2_spi_select1_io;
ZGPIO tmc_motor2_nfreeze_io;
ZGPIO tmc_motor2_nreset_io;
ZGPIO tmc_motor2_sub_ic_enn_io;
void input_sensors_init() {
ARM_SENSOR1_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR2_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR3_GPIO.initAsInput();
ARM_SENSOR4_GPIO.initAsInput();
ARM_SENSOR5_GPIO.initAsInput();
ARM_SENSOR6_GPIO.initAsInput();
ARM_SENSOR7_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
ARM_SENSOR8_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
arm_sensor1_gpio.initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
arm_sensor2_gpio.initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
arm_sensor3_gpio.initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
arm_sensor4_gpio.initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
arm_sensor5_gpio.initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
arm_sensor6_gpio.initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
arm_sensor7_gpio.initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
arm_sensor8_gpio.initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
}
uint32_t intput_sensors_get_table0() {
uint32_t val = 0;
val |= ARM_SENSOR1_GPIO.getStateUint32() << 1;
val |= ARM_SENSOR2_GPIO.getStateUint32() << 2;
val |= ARM_SENSOR3_GPIO.getStateUint32() << 3;
val |= ARM_SENSOR4_GPIO.getStateUint32() << 4;
val |= ARM_SENSOR5_GPIO.getStateUint32() << 5;
val |= ARM_SENSOR6_GPIO.getStateUint32() << 6;
val |= ARM_SENSOR7_GPIO.getStateUint32() << 7;
val |= ARM_SENSOR8_GPIO.getStateUint32() << 8;
val |= arm_sensor1_gpio.getStateUint32() << 1;
val |= arm_sensor2_gpio.getStateUint32() << 2;
val |= arm_sensor3_gpio.getStateUint32() << 3;
val |= arm_sensor4_gpio.getStateUint32() << 4;
val |= arm_sensor5_gpio.getStateUint32() << 5;
val |= arm_sensor6_gpio.getStateUint32() << 6;
val |= arm_sensor7_gpio.getStateUint32() << 7;
val |= arm_sensor8_gpio.getStateUint32() << 8;
return val;
}
STM32_GPIO *input_sensors_get_arm1_homegpio() { return &ARM_SENSOR8_GPIO; }
STM32_GPIO *input_sensors_get_arm2_homegpio() { return &ARM_SENSOR7_GPIO; }
ZGPIO *input_sensors_get_arm1_homegpio() { return &arm_sensor8_gpio; }
ZGPIO *input_sensors_get_arm2_homegpio() { return &arm_sensor7_gpio; }
icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) {}
icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) {}
@ -60,8 +80,8 @@ void Main::run() {
ZLOGI(TAG, "robotic_core_xy:%s", VERSION);
DEBUG_LIGHT_GPIO.initAsOutput(true);
ZHAL_CORE_REG(200, { DEBUG_LIGHT_GPIO.toggleState(); });
debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
ZHAL_CORE_REG(200, { debuglight.toggleState(); });
/*******************************************************************************
* GPIO输入初始化 *
@ -72,21 +92,22 @@ void Main::run() {
/*******************************************************************************
* 电机初始化 *
*******************************************************************************/
TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true);
TMC_MOTOR1_nFREEZE_IO.initAsOutput(true);
TMC_MOTOR1_nRESET_IO.initAsOutput(true);
TMC_MOTOR1_SUB_IC_ENN_IO.initAsOutput(true);
TMC_MOTOR2_SPI_SELECT1_IO.initAsOutput(true);
TMC_MOTOR2_nFREEZE_IO.initAsOutput(true);
TMC_MOTOR2_nRESET_IO.initAsOutput(true);
TMC_MOTOR2_SUB_IC_ENN_IO.initAsOutput(true);
tmc_motor1_spi_select1_io.initAsOutput(TMC_MOTOR1_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor1_nfreeze_io.initAsOutput(TMC_MOTOR1_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor1_nreset_io.initAsOutput(TMC_MOTOR1_nRESET_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor1_sub_ic_enn_io.initAsOutput(TMC_MOTOR1_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor2_spi_select1_io.initAsOutput(TMC_MOTOR2_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor2_nfreeze_io.initAsOutput(TMC_MOTOR2_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor2_nreset_io.initAsOutput(TMC_MOTOR2_nRESET_IO, ZGPIO::kMode_nopull, false, true);
tmc_motor2_sub_ic_enn_io.initAsOutput(TMC_MOTOR2_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
{
TMC4361A::cfg_t motora_cfg = {.spi = &TMC_MOTOR_SPI,
.csgpio = &TMC_MOTOR1_SPI_SELECT1_IO,
.resetPin = &TMC_MOTOR1_nRESET_IO,
.fREEZEPin = &TMC_MOTOR1_nFREEZE_IO,
.csgpio = &tmc_motor1_spi_select1_io,
.resetPin = &tmc_motor1_nreset_io,
.fREEZEPin = &tmc_motor1_nfreeze_io,
.ennPin = NULL,
.driverIC_ennPin = &TMC_MOTOR1_SUB_IC_ENN_IO,
.driverIC_ennPin = &tmc_motor1_sub_ic_enn_io,
.driverIC_resetPin = NULL};
m_motora.initialize(&motora_cfg);
@ -97,11 +118,11 @@ void Main::run() {
{
TMC4361A::cfg_t motorb_cfg = {.spi = &TMC_MOTOR_SPI,
.csgpio = &TMC_MOTOR2_SPI_SELECT1_IO,
.resetPin = &TMC_MOTOR2_nRESET_IO,
.fREEZEPin = &TMC_MOTOR2_nFREEZE_IO,
.csgpio = &tmc_motor2_spi_select1_io,
.resetPin = &tmc_motor2_nreset_io,
.fREEZEPin = &tmc_motor2_nfreeze_io,
.ennPin = NULL,
.driverIC_ennPin = &TMC_MOTOR2_SUB_IC_ENN_IO,
.driverIC_ennPin = &tmc_motor2_sub_ic_enn_io,
.driverIC_resetPin = NULL};
m_motorb.initialize(&motorb_cfg);
@ -114,19 +135,19 @@ void Main::run() {
* 扫码枪初始化 *
*******************************************************************************/
{
// static ZUART uart;
// PB6.initAsOutput(STM32_GPIO::kOutput_nopull, true, false);
// ZUART::cfg_t cfg = {
// .name = "CODE_SCANER_UART",
// .huart = &CODE_SCANER_UART,
// .rxbuffersize = 300,
// .rxovertime_ms = 10,
// };
// uart.initialize(&cfg,[](){})
// uart.initialize_basic("CODE_SCANER_UART", &m_hardware, &CODE_SCANER_UART);
// uart.initialize_setRxBuffer(300);
// uart.initialize_setRxOvertime(33);
// uart.initialize_finished();
// static ZUART uart;
// PB6.initAsOutput(STM32_GPIO::kOutput_nopull, true, false);
// ZUART::cfg_t cfg = {
// .name = "CODE_SCANER_UART",
// .huart = &CODE_SCANER_UART,
// .rxbuffersize = 300,
// .rxovertime_ms = 10,
// };
// uart.initialize(&cfg,[](){})
// uart.initialize_basic("CODE_SCANER_UART", &m_hardware, &CODE_SCANER_UART);
// uart.initialize_setRxBuffer(300);
// uart.initialize_setRxOvertime(33);
// uart.initialize_finished();
}
/*******************************************************************************

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