a8000_subboard/usrc/main.cpp

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

#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
#include "sdk\components\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
#include "sdk\components\zcancmder\zcan_board_module.hpp"
// #include "M3078CodeScanner"

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

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
extern "C" {
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
}
static ZCanCmder        g_zcanCmder;
static ZIProtocolParser g_ziProtocolParser;
//
static TMC5130 g_motor[3];
//
static PipetteModule g_pipetteModule;
// USART4_TX

void initmodule() {
  osDelay(1000);

  {
    static ZCanBoardModule::hardware_config_t cfg = {
        .input =
            {
                {PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
                {PD8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false},
            },
    };
    static ZCanBoardModule boardmodule;
    boardmodule.initialize(BOARD_ID * 10 + 0, &cfg);
    g_ziProtocolParser.registerModule(&boardmodule);
  }

  {
    static TMC5130             motor;
    static StepMotorCtrlModule stepMotorCtrlModule;

    TMC5130::cfg_t cfg = {
        .spi             = &TMC_MOTOR_SPI,          //
        .csgpio          = MOTOR0_CSN,              //
        .ennPin          = MOTOR0_ENN,              //
        .spi_mode_select = MOTOR0_SPI_MODE_SELECT,  //
    };
    motor.initialize(&cfg);
    motor.setMotorShaft(false);
    ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion());

    static ZGPIO input[2];
    input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

    stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &motor, input, ZARRAY_SIZE(input), nullptr);
    g_ziProtocolParser.registerModule(&stepMotorCtrlModule);
  }

  {
    static TMC5130             motor;
    static StepMotorCtrlModule stepMotorCtrlModule;

    TMC5130::cfg_t cfg = {
        .spi             = &TMC_MOTOR_SPI,          //
        .csgpio          = MOTOR1_CSN,              //
        .ennPin          = MOTOR1_ENN,              //
        .spi_mode_select = MOTOR1_SPI_MODE_SELECT,  //
    };
    motor.initialize(&cfg);
    motor.setMotorShaft(false);
    ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion());

    static ZGPIO input[2];
    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

    stepMotorCtrlModule.initialize(BOARD_ID * 10 + 2, &motor, input, ZARRAY_SIZE(input), nullptr);
    g_ziProtocolParser.registerModule(&stepMotorCtrlModule);
  }

  {
    static TMC5130             motor;
    static StepMotorCtrlModule stepMotorCtrlModule;

    TMC5130::cfg_t cfg = {
        .spi             = &TMC_MOTOR_SPI,          //
        .csgpio          = MOTOR2_CSN,              //
        .ennPin          = MOTOR2_ENN,              //
        .spi_mode_select = MOTOR2_SPI_MODE_SELECT,  //
    };
    motor.initialize(&cfg);
    motor.setMotorShaft(false);
    ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion());

    static ZGPIO input[2];
    input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);

    stepMotorCtrlModule.initialize(BOARD_ID * 10 + 3, &motor, input, ZARRAY_SIZE(input), nullptr);
    g_ziProtocolParser.registerModule(&stepMotorCtrlModule);
  }

  {
    static M3078CodeScanner                    codescanner;
    static M3078CodeScanner::hardware_config_t cfg = {
        .uart    = &huart3,
        .hdma_rx = nullptr,
        .hdma_tx = nullptr,

        .codeReadOkPin = PinNull,
        .rstPin        = PinNull,
        .triggerPin    = PE15,
    };
    codescanner.initialize(BOARD_ID * 10 + 4, &cfg);
    g_ziProtocolParser.registerModule(&codescanner);
  }

  {
    // 115200
    static FeiTeServoMotor     feiteservomotor_bus;  // ���ض�������
    static MiniRobotCtrlModule mini_servo[4];

    ZASSERT(huart2.Init.BaudRate == 115200);                                    // ���ض�������
    feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx);  // ���ض�������

    mini_servo[0].initialize(BOARD_ID * 10 + 5, &feiteservomotor_bus, 1);
    mini_servo[1].initialize(BOARD_ID * 10 + 6, &feiteservomotor_bus, 2);
    mini_servo[2].initialize(BOARD_ID * 10 + 7, &feiteservomotor_bus, 3);
    mini_servo[3].initialize(BOARD_ID * 10 + 8, &feiteservomotor_bus, 4);

    g_ziProtocolParser.registerModule(&mini_servo[0]);
    g_ziProtocolParser.registerModule(&mini_servo[1]);
    g_ziProtocolParser.registerModule(&mini_servo[2]);
    g_ziProtocolParser.registerModule(&mini_servo[3]);
  }
}

void umain() {
  chip_cfg_t chipcfg;
  chipcfg.us_dleay_tim          = &DELAY_US_TIMER;
  chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
  chipcfg.huart                 = &DEBUG_UART;
  chipcfg.debuglight            = DEBUG_LIGHT_GPIO;

  chip_init(&chipcfg);

  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  ZLOGI(TAG, "boardId:%d", BOARD_ID);

  /*******************************************************************************
   *                                   NVSINIT                                   *
   *******************************************************************************/
  ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR);
  {
    static I_StepMotorCtrlModule::flash_config_t cfg;
    StepMotorCtrlModule::create_default_cfg(cfg);
    ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));
  }
  ZNVS::ins().init_config();
  auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID);
  g_zcanCmder.init(zcanCmder_cfg);
  g_ziProtocolParser.initialize(&g_zcanCmder);

  initmodule();
  while (true) {
    OSDefaultSchduler::getInstance()->loop();
    g_zcanCmder.loop();
  }
};