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  1. #include <stddef.h>
  2. #include <stdint.h>
  3. #include <stdio.h>
  4. #include "main.h"
  5. #include "project.hpp"
  6. //
  7. // #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
  8. #include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
  9. #include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
  10. #include "sdk/hal/zhal.hpp"
  11. #include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
  12. #include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
  13. #include "sdk\components\m3078\m3078_code_scaner.hpp"
  14. #include "sdk\components\tmc\ic\ztmc4361A.hpp"
  15. #include "sdk\components\tmc\ic\ztmc5130.hpp"
  16. //
  17. #include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
  18. #include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
  19. #include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
  20. #include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
  21. #include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
  22. //
  23. #include "driver/preportional_valve_ctrl.hpp"
  24. #include "iwdg.h"
  25. #include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
  26. #include "sdk\hal\zuart.hpp"
  27. namespace iflytop {
  28. extern IflytopCanProtocolStackProcesser m_protocolStack;
  29. extern TMC5130 m_motor1;
  30. extern TMC5130 m_motor2;
  31. extern ZGPIO debuglight;
  32. extern ZGPIO triLight_R;
  33. extern ZGPIO triLight_G;
  34. extern ZGPIO triLight_B;
  35. extern ZGPIO triLight_BEEP;
  36. extern ZGPIO m_input1;
  37. extern ZGPIO m_input2;
  38. extern ZGPIO m_input3;
  39. extern ZGPIO m_input4;
  40. extern ZGPIO m_input5;
  41. extern ZGPIO OUT_PD14;
  42. extern ZGPIO OUT_PD15;
  43. extern ZCanReceiver m_canReceiver;
  44. extern ZCanBasicOrderModule m_basicOrderModule;
  45. extern ZCanPumpCtrlModule m_pumpCtrlModule;
  46. extern HuachengPressureSensor m_huachengPressureSensor;
  47. extern CmdSchedulerV2 cmdScheduler;
  48. // 比例阀
  49. extern PreportionalValveCtrl m_PreportionalValveHost;
  50. void device_init();
  51. void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power);
  52. void air_compressor_ch_select(int32_t val);
  53. void air_compressor_valve1_set(int32_t val);
  54. void air_compressor_valve2_set(int32_t val);
  55. void air_compressor_read_pressure(int32_t *ack);
  56. void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning);
  57. int32_t preportional_valve_is_busy(int32_t *busy);
  58. }; // namespace iflytop