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70 lines
2.3 KiB
70 lines
2.3 KiB
#include <stddef.h>
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#include <stdint.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 "driver/preportional_valve_ctrl.hpp"
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#include "iwdg.h"
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#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
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#include "sdk\hal\zuart.hpp"
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namespace iflytop {
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extern IflytopCanProtocolStackProcesser m_protocolStack;
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extern TMC5130 m_motor1;
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extern TMC5130 m_motor2;
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extern ZGPIO debuglight;
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extern ZGPIO triLight_R;
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extern ZGPIO triLight_G;
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extern ZGPIO triLight_B;
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extern ZGPIO triLight_BEEP;
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extern ZGPIO m_input1;
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extern ZGPIO m_input2;
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extern ZGPIO m_input3;
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extern ZGPIO m_input4;
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extern ZGPIO m_input5;
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extern ZGPIO OUT_PD14;
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extern ZGPIO OUT_PD15;
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extern ZCanReceiver m_canReceiver;
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extern ZCanBasicOrderModule m_basicOrderModule;
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extern ZCanPumpCtrlModule m_pumpCtrlModule;
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extern HuachengPressureSensor m_huachengPressureSensor;
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extern CmdSchedulerV2 cmdScheduler;
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// 比例阀
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extern PreportionalValveCtrl m_PreportionalValveHost;
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void device_init();
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void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power);
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void air_compressor_ch_select(int32_t val);
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void air_compressor_valve1_set(int32_t val);
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void air_compressor_valve2_set(int32_t val);
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void air_compressor_read_pressure(int32_t *ack);
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void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning);
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int32_t preportional_valve_is_busy(int32_t *busy);
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}; // namespace iflytop
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