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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/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
#include "sdk/hal/zhal.hpp"
#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
//
#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
//
#include <stdint.h>
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\hal\zuart.hpp"
#define TAG "main"
namespace iflytop {Main gmain;};
using namespace iflytop;
IflytopCanProtocolStackProcesser m_protocolStack;
TMC5130 m_motor1;TMC5130 m_motor2;
ZGPIO debuglight;
ZGPIO triLight_R;ZGPIO triLight_G;ZGPIO triLight_B;ZGPIO triLight_BEEP;
ZGPIO m_input1;ZGPIO m_input2;ZGPIO m_input3;ZGPIO m_input4;ZGPIO m_input5;
ZGPIO output0;ZGPIO output1;
ZCanReceiver m_canReceiver;ZCanBasicOrderModule m_basicOrderModule;ZCanPumpCtrlModule m_pumpCtrlModule;ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;HuachengPressureSensor m_huachengPressureSensor;
void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { int32_t ppm = rpm / 60.0 * 51200; int32_t acc = acc_rpm2 / 60.0 * 51200;
int16_t _idlepower = 1; int16_t _power = 31;
if (idlepower > 0 && idlepower < 31) { _idlepower = idlepower; } if (power > 0 && power < 31) { _power = power; }
motor->setIHOLD_IRUN(_idlepower, _power, 10); // 5W
motor->setAcceleration(acc); motor->setDeceleration(acc); motor->rotate(ppm);}
void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len); for (size_t i = 0; i < len; i++) { printf("%02X ", packet[i]); } printf("\n");}
void Main::run() { ZHALCORE::cfg_t oscfg = { .delayhtim = &DELAY_US_TIMER, .debuguart = &DEBUG_UART, }; ZHALCORE::getInstance()->initialize(oscfg);
ZLOGI(TAG, "pipeline_disinfection_liquid_path_control:%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(); });
ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID); m_canReceiver.init(cfg); m_canReceiver.registerListener(this);
/**
* @brief 基础模块 */ m_input1.initAsInput(PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); m_input2.initAsInput(PC5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); m_input3.initAsInput(PD12, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); m_input4.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); m_input5.initAsInput(PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
m_basicOrderModule.initialize(&m_canReceiver); m_basicOrderModule.regInputCtl([this](uint8_t id, bool &val) { if (id == 1) { val = m_input1.getState(); return true; } if (id == 2) { val = m_input2.getState(); return true; } if (id == 3) { val = m_input3.getState(); return true; } if (id == 4) { val = m_input4.getState(); return true; } if (id == 5) { val = m_input5.getState(); return true; } return false; });
output0.initAsOutput(PD14, ZGPIO::kMode_nopull, false, false); output1.initAsOutput(PD15, ZGPIO::kMode_nopull, false, false);
m_basicOrderModule.regOutCtl([this](uint8_t id, bool val) { if (id == 20) { output0.setState(val); return true; } if (id == 21) { output1.setState(val); return true; }
// output0
// output1
return false; }); ZHAL_CORE_REG(3000, { // ZLOGI(TAG, "IO1:%d IO2:%d", m_input1.getState(), m_input2.getState());
// ZLOGI(TAG, "IO1:%d IO2:%d IO3:%d IO4:%d IO5:%d", m_input1.getState(), m_input2.getState(), m_input3.getState(),
// m_input4.getState(), m_input5.getState());
});
/*******************************************************************************
* 蠕动泵驱动 * *******************************************************************************/
{ TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};
m_motor1.initialize(&cfg); int32_t chipv = m_motor1.readChipVERSION(); ZLOGI(TAG, "m_motor1:%lx", chipv); m_motor1.setIHOLD_IRUN(1, 20, 0); m_motor1.setMotorShaft(true);
m_motor1.setAcceleration(300000); m_motor1.setDeceleration(300000); // m_motor1.rotate(1000000);
}
{ TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR2_ENN, .csn_pin = MOTOR2_CSN};
m_motor2.initialize(&cfg); int32_t chipv = m_motor2.readChipVERSION(); ZLOGI(TAG, "m_motor2:%lx", chipv); m_motor2.setIHOLD_IRUN(1, 20, 0); // 5W
m_motor2.setMotorShaft(true);
m_motor2.setAcceleration(300000); m_motor2.setDeceleration(300000); // m_motor1.rotate(1000000);
}
m_pumpCtrlModule.initialize(&m_canReceiver); m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm); setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power); }); m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc_rpm2, rpm); setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power); });
/*******************************************************************************
* 三色指示灯 * *******************************************************************************/
{ triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, false, false); triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, false, false); triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, false, false); triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, false, false);
m_warningLightCtlModule.initialize(&m_canReceiver); m_warningLightCtlModule.regSubmodule(1, [&](uint8_t r, uint8_t g, uint8_t b, uint8_t beep) { ZLOGI(TAG, "warningLightCtlModule r:%d g:%d b:%d beep:%d", r, g, b, beep); triLight_R.setState(r != 0); triLight_G.setState(g != 0); triLight_B.setState(b != 0); triLight_BEEP.setState(beep != 0); }); }
/*******************************************************************************
* 压力传感器 * *******************************************************************************/
// while (true) {
// static ModbusBlockHost modbusBlockHost;
// modbusBlockHost.initialize(&huart3);
// int16_t val[1] = {0};
// bool suc = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50);
// printf("suc:%d val:%d\n", suc, val[0]);
// chip_delay_ms(1000);
// }
{ m_huachengPressureSensor.initialize(&m_canReceiver); m_huachengPressureSensor.regSubmodule(1, [this](DP600PressureSensor::sensor_data_t *data) { //
static ModbusBlockHost modbusBlockHost; modbusBlockHost.initialize(&huart3); int16_t val[1] = {0}; bool suc = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50); if (!suc) { return false; } data->precision = 3; data->pressure_unit = 1; data->value = val[0]; data->zero_point = 0; data->range_full_point = 0;
return true; }); m_huachengPressureSensor.regSubmodule(2, &huart3, 2); m_huachengPressureSensor.regSubmodule(3, &huart3, 3); m_huachengPressureSensor.regSubmodule(4, &huart3, 4); }
/*******************************************************************************
* 调试方法初始化 * *******************************************************************************/ static ZUART uartreceiver; static CmdSchedulerV2 cmdScheduler; static ZUART::cfg_t uartreceiver_cfg = { .name = "uartreceiver", .huart = &DEBUG_UART, .rxbuffersize = 512, .rxovertime_ms = 30, }; uartreceiver.initialize(&uartreceiver_cfg); cmdScheduler.initialize(&uartreceiver);
cmdScheduler.regCMD("setmotor1", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4, //
[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { int16_t acc_rpm2 = atoi(paraV[0]); int16_t rpm = atoi(paraV[1]); int16_t idlepower = atoi(paraV[2]); int16_t power = atoi(paraV[3]); setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power); ack->setNoneAck(0); }); cmdScheduler.regCMD("setmotor2", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4, //
[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { int16_t acc_rpm2 = atoi(paraV[0]); int16_t rpm = atoi(paraV[1]); int16_t idlepower = atoi(paraV[2]); int16_t power = atoi(paraV[3]); setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power); ack->setNoneAck(0); }); cmdScheduler.regCMD("setlight", "(uint8_t r, uint8_t g, uint8_t b, uint8_t beep)", 4, //
[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { uint8_t r = atoi(paraV[0]); uint8_t g = atoi(paraV[1]); uint8_t b = atoi(paraV[2]); uint8_t beep = atoi(paraV[3]); triLight_R.setState(r != 0); triLight_G.setState(g != 0); triLight_B.setState(b != 0); triLight_BEEP.setState(beep != 0); ack->setNoneAck(0); });
cmdScheduler.regCMD("readio", "()", 0, //
[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { uint8_t sensorid = atoi(paraV[0]); ZLOGI(TAG, "IO1:%d IO2:%d IO3:%d IO4:%d IO5:%d", //
m_input1.getState(), m_input2.getState(), m_input3.getState(), m_input4.getState(), m_input5.getState()); ack->setNoneAck(0); }); cmdScheduler.regCMD("pressure_sensor_read", "(uint8_t sensorid)", 1, //
[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { uint8_t sensorid = atoi(paraV[0]); DP600PressureSensor::sensor_data_t data = m_huachengPressureSensor.readsensordata(sensorid); ZLOGI(TAG, "precision:%d", data.precision); ZLOGI(TAG, "pressure_unit:%d", data.pressure_unit); ZLOGI(TAG, "value:%d", data.value); ZLOGI(TAG, "zero_point:%d", data.zero_point); ZLOGI(TAG, "range_full_point:%d", data.range_full_point); ack->setNoneAck(0); }); ZLOGI(TAG, "init done"); while (1) { cmdScheduler.schedule(); ZHALCORE::getInstance()->loop(); }}
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