a8000_subboard/usrc/main.cpp

#include <stddef.h>
#include <stdio.h>

#include "configs/device_id_mgr.hpp"
#include "public_service/public_service.hpp"
#include "sdk/chip/chip.hpp"
#include "sdk/os/zos.hpp"
#include "sysmgr/sys_mgr.hpp"
//
#include "subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp"
#include "subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160_board.h"
#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.hpp"
#include "subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.h"
#include "subboards/subboard30_shake_module/subboard30_shake_module.hpp"
#include "subboards/subboard30_shake_module/subboard30_shake_module_board.h"
#include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module.hpp"
#include "subboards/subboard60_inlet_and_outlet_module/subboard60_inlet_and_outlet_module_board.h"
#include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable.hpp"
#include "subboards/subboard70_incubation_turntable/subboard70_incubation_turntable_board.h"
#include "subboards/subboard80_cliptip/subboard80_cliptip.hpp"
#include "subboards/subboard80_cliptip/subboard80_cliptip_board.h"
#include "subboards/subboard90_optical_module/subboard90_optical_module.hpp"
#include "subboards/subboard90_optical_module/subboard90_optical_module_board.h"

//

#define TAG "main"
using namespace std;
using namespace iflytop;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}

int32_t deviceId = 0;

static void board_init() {
  switch (deviceId) {
    case 20:  // 板夹仓
      subboard20_plate_clamp_case_board_init();
      break;
    case 30:  // 摇匀模组
      subboard30_shake_module_board_init();
      break;
    case 60:  // 进出料模组
      subboard60_inlet_and_outlet_module_board_init();
      break;
    case 70:  // 孵化转盘
      subboard70_incubation_turntable_board_init();
      break;
    case 80:
      subboard80_cliptip_board_init();
      break;
    case 90:
      subboard90_optical_module_board_init();
      break;
    case 200:
      subboard200_ext_tmc5160_board_init();
      break;
    default:
      common_hardware_init();
      break;
  }
}

static void board_post_init() {
  GService::inst()->initialize();
  switch (deviceId) {
    case 20:
      Subboard20PlateClampCase::ins()->initialize();
      break;
    case 30:  // 摇匀模组
      Subboard30ShakeModule::ins()->initialize();
      break;
    case 60:  // 进出料模组
      Subboard60InjectAndOutletModule::ins()->initialize();
      break;
    case 70:  // 孵化转盘
      Subboard70IncubationTurntable::ins()->initialize();
      break;
    case 80:
      Subboard80Cliptip::ins()->initialize();
      break;
    case 200:
      Subboard200ExtTmc5160::ins()->initialize();
      break;
    // case 90:
    //   Subboard90OpticalModule::ins()->initialize();
    //   break;
    default:
      break;
  }
}

void umain() {
  deviceId = zdevice_id_mgr_get_device_id();

  board_init();

  Pin_t debugLight = PC_DEBUG_LIGHT_GPIO;
  if (deviceId == 20 || deviceId == 70) {
    debugLight = PC_SUBBOARD_20_70_LIGHT_GPIO;
  }

  zos_cfg_t  zoscfg             = {0};
  chip_cfg_t chipcfg            = {};
  chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
  chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
  chipcfg.huart                 = &PC_DEBUG_UART;
  chipcfg.debuglight            = debugLight;

  chip_init(&chipcfg);
  zos_init(&zoscfg);
  zdevice_id_mgr_init();

  ZEARLY_LOGI("SYS", "chip init ok");
  ZEARLY_LOGI("SYS", "= manufacturer  : %s", PC_MANUFACTURER);
  ZEARLY_LOGI("SYS", "= project name  : %s", PC_PROJECT_NAME);
  ZEARLY_LOGI("SYS", "= version       : %d", PC_VERSION);
  ZEARLY_LOGI("SYS", "= freq          : %d", HAL_RCC_GetSysClockFreq());
  ZEARLY_LOGI("SYS", "= build time    : %s", __DATE__ " " __TIME__);
  ZEARLY_LOGI("SYS", "= device id     : %d", deviceId);

  if (deviceId <= 0) {
    chip_set_error();
    ZEARLY_LOGE("SYS", "device id is not set");
    while (true) {
      zos_delay(1);
    }
  }

  board_post_init();

  ZLOGI(TAG, "======================= sysinfo ======================= ");
  SysMgr::ins()->initedFinished();
  SysMgr::ins()->dumpSysInfo();
  ZLOGI(TAG, "=");

  while (true) {
    GService::inst()->getZCanReceiver()->loop();
    zos_delay(1);
  }
}