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#include "main.hpp"
#include <stddef.h>
#include <stdio.h>
#include "main.h"
#include "project.hpp"
//
#include "one_dimensional_code_laser_scanner.hpp"
#include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
#include "sdk/hal/zhal.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#define TAG "main"
namespace iflytop {Main gmain;};
using namespace iflytop;
IflytopCanProtocolStackProcesser m_protocolStack;
TMC5130 m_tj_motor;TMC5130 m_py_motor;
ZGPIO debuglight;
ZGPIO io_fybh_read1;ZGPIO io_fybh_read2;ZGPIO io_fybh_read3;ZGPIO io_fybh_read4;ZGPIO io_fybh_read5;ZGPIO io_fybh_read6;
// input_sensor_get_bwm_gpio() { return &FYBJL_SENSOR0; }
// input_sensor_get_py_home_gpio() { return &FYBJL_SENSOR1; }
// input_sensor_get_py_limit_gpio() { return &FYBJL_SENSOR2; }
// input_sensor_get_tj_home_gpio() { return &FYBJL_SENSOR4; }
// input_sensor_get_tj_limit_gpio() { return &FYBJL_SENSOR5; }
// input_sensor_get_card_block_detect_gpio() { return &FYBJL_SENSOR7; }
ZGPIO io_fybjl_sensor8;ZGPIO io_fybjl_sensor7;ZGPIO io_fybjl_sensor6;ZGPIO io_fybjl_sensor5;ZGPIO io_fybjl_sensor4;ZGPIO io_fybjl_sensor3;ZGPIO io_fybjl_sensor2;ZGPIO io_fybjl_sensor1;ZGPIO io_fybjl_sensor0;
SingleAxisMotorControlerV2 m_pyMotorControlService; // 平移电机
SingleAxisMotorControlerV2 m_tjMotorControlService; // 推进电机
OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
void input_sensors_init() { io_fybh_read1.initAsInput(FYBH_READ1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/); io_fybh_read2.initAsInput(FYBH_READ2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/); io_fybh_read3.initAsInput(FYBH_READ3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/); io_fybh_read4.initAsInput(FYBH_READ4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/); io_fybh_read5.initAsInput(FYBH_READ5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/); io_fybh_read6.initAsInput(FYBH_READ6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
io_fybjl_sensor8.initAsInput(FYBJL_SENSOR8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); io_fybjl_sensor7.initAsInput(FYBJL_SENSOR7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); io_fybjl_sensor6.initAsInput(FYBJL_SENSOR6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); io_fybjl_sensor5.initAsInput(FYBJL_SENSOR5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/); io_fybjl_sensor4.initAsInput(FYBJL_SENSOR4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/); io_fybjl_sensor3.initAsInput(FYBJL_SENSOR3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); io_fybjl_sensor2.initAsInput(FYBJL_SENSOR2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/); io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/); io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);}uint32_t intput_sensors_get_table0() { uint32_t val = 0;
val |= io_fybjl_sensor0.getStateUint32() << 0; val |= io_fybjl_sensor1.getStateUint32() << 1; val |= io_fybjl_sensor2.getStateUint32() << 2; val |= io_fybjl_sensor3.getStateUint32() << 3; val |= io_fybjl_sensor4.getStateUint32() << 4; val |= io_fybjl_sensor5.getStateUint32() << 5; val |= io_fybjl_sensor6.getStateUint32() << 6; val |= io_fybjl_sensor7.getStateUint32() << 7; val |= io_fybjl_sensor8.getStateUint32() << 8;
val |= io_fybh_read1.getStateUint32() << 9; val |= io_fybh_read2.getStateUint32() << 10; val |= io_fybh_read3.getStateUint32() << 11; val |= io_fybh_read4.getStateUint32() << 12; val |= io_fybh_read5.getStateUint32() << 13; val |= io_fybh_read6.getStateUint32() << 14; return val;}
icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) { return icps::kSuccess; }icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) { return icps::kSuccess; }void Main::onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event) {}
void Main::run() { ZHALCORE::cfg_t oscfg = { .delayhtim = &DELAY_US_TIMER, .debuguart = &DEBUG_UART, }; ZHALCORE::getInstance()->initialize(oscfg);
ZLOGI(TAG, "zapp:%s", VERSION); printf("int32_t %d int %d longint %d\n", sizeof(int32_t), sizeof(int), sizeof(long int));
debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false); ZHAL_CORE_REG(200, { debuglight.toggleState(); });
/*******************************************************************************
* GPIO输入初始化 * *******************************************************************************/ input_sensors_init(); intput_sensors_get_table0();
/*******************************************************************************
* 电机初始化 * *******************************************************************************/ { TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR0_ENN, .csn_pin = MOTOR0_CSN};
m_py_motor.initialize(&cfg); int32_t chipv = m_py_motor.readChipVERSION(); ZLOGI(TAG, "m_py_motor:%lx", chipv); m_py_motor.setIHOLD_IRUN(1, 31, 0); // m_py_motor.rotate(500000);
}
{ TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};
m_tj_motor.initialize(&cfg); int32_t chipv = m_tj_motor.readChipVERSION(); ZLOGI(TAG, "m_tj_motor:%lx", chipv); m_tj_motor.setIHOLD_IRUN(1, 31, 0); // m_tj_motor.rotate(500000);
}
/*******************************************************************************
* 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();
}
/*******************************************************************************
* 协议栈初始化 * *******************************************************************************/ { auto *cfg = IflytopCanProtocolStackProcesser::createDefaultConfig(DEVICE_ID, 128); m_protocolStack.initialize(cfg); m_protocolStack.setDumpPacketFlag(false); m_protocolStack.registerListener(this); m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0); }
/*******************************************************************************
* 横移电机 * *******************************************************************************/ m_py_motor.setIHOLD_IRUN(2, 12, 0); m_py_motor.setMotorShaft(false);
m_pyMotorControlService.initialize( //
"infeedMotor", &m_protocolStack, REG_PY_MOTOR_CTRL_ADD_BASE, &io_fybjl_sensor1, // ZERO_GPIO
NULL, // LGPIO
NULL, // RGPIO
&m_py_motor // motor
);
m_pyMotorControlService.cfg_acc->setVal(30000); m_pyMotorControlService.cfg_dec->setVal(30000); m_pyMotorControlService.cfg_velocity->setVal(1000000); m_pyMotorControlService.cfg_zero_shift->setVal(0); m_pyMotorControlService.cfg_runhome_velocity->setVal(50000); m_pyMotorControlService.cfg_runtohome_dec->setVal(100000); m_pyMotorControlService.cfg_min_pos->setVal(-1000); m_pyMotorControlService.cfg_max_pos->setVal(1144028); m_pyMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX); m_pyMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
/*******************************************************************************
* 推杆电机 * *******************************************************************************/
m_tj_motor.setIHOLD_IRUN(2, 12, 0); m_tj_motor.setMotorShaft(true);
m_tjMotorControlService.initialize( //
"outfeedMotor", &m_protocolStack, REG_TJ_MOTOR_CTRL_ADD_BASE, &io_fybjl_sensor4, // ZERO_GPIO
NULL, // LGPIO
NULL, // RGPIO
&m_tj_motor // motor
); m_tjMotorControlService.cfg_acc->setVal(30000); m_tjMotorControlService.cfg_dec->setVal(30000); m_tjMotorControlService.cfg_velocity->setVal(1000000); m_tjMotorControlService.cfg_zero_shift->setVal(0); m_tjMotorControlService.cfg_runhome_velocity->setVal(50000); m_tjMotorControlService.cfg_runtohome_dec->setVal(100000); m_tjMotorControlService.cfg_min_pos->setVal(-1000); m_tjMotorControlService.cfg_max_pos->setVal(1130108); m_tjMotorControlService.cfg_runtohome_max_distance->setVal(INT32_MAX); m_tjMotorControlService.cfg_runtohome_leave_zero_point_distance->setVal(256 * 200 * 1);
// bwm_gpio
m_oneDimensionalCodeLaserScanner.initialize(&m_protocolStack, REG_LARSER_SCANNER_CTRL_ADD_BASE, FYBJL_SENSOR0, [this]() { return m_tj_motor.getXACTUAL(); });
while (1) { ZHALCORE::getInstance()->loop(); }}
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