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@ -1,137 +1,138 @@ |
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#include <stddef.h>
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#include <stdio.h>
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#include "sdk/os/zos.hpp"
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#include "sdk\components\flash\zsimple_flash.hpp"
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#include "sdk\components\zcancmder\zcanreceiver.hpp"
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#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
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//
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#include "sdk\components\flash\znvs.hpp"
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//
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#include "board.h"
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#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
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/*******************************************************************************
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* PROJECT_INCLUDE * |
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*******************************************************************************/ |
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#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
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#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
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#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
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#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
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#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\sensors\tmp117\tmp117.hpp"
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#include "sdk\components\ti\drv8710.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
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#include "sdk\components\zcancmder\zcan_board_module.hpp"
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// #include "M3078CodeScanner"
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#define TAG "main"
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using namespace iflytop; |
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using namespace std; |
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static ZCancmderSubboardIniter initer; |
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extern void umain(); |
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extern "C" { |
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void StartDefaultTask(void const* argument) { umain(); } |
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} |
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extern "C" { |
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extern DMA_HandleTypeDef hdma_usart2_rx; |
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extern DMA_HandleTypeDef hdma_usart2_tx; |
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} |
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static ZCanCmder g_zcanCmder; |
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static ZIProtocolParser g_ziProtocolParser; |
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//
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static TMC5130 g_motor[3]; |
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//
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static PipetteModule g_pipetteModule; |
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// USART4_TX
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void initmodule() { |
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osDelay(1000); |
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{ |
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static ZCanBoardModule::hardware_config_t cfg = { |
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.input = |
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{ |
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{PD0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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{PD8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false}, |
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}, |
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}; |
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static ZCanBoardModule boardmodule; |
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boardmodule.initialize(BOARD_ID * 10 + 0, &cfg); |
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g_ziProtocolParser.registerModule(&boardmodule); |
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} |
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/*******************************************************************************
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* GET_DEVICE_ID * |
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*******************************************************************************/ |
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static int32_t getDeviceId() { return BOARD_ID; } |
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/*******************************************************************************
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* INIT_SUBMODULE * |
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*******************************************************************************/ |
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void nvs_init_cb() {} |
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static void initsubmodule() { |
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/**
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* @brief 入料 |
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*/ |
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{ |
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static TMC5130 motor; |
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static StepMotorCtrlModule stepMotorCtrlModule; |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR0_CSN, //
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.ennPin = MOTOR0_ENN, //
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.spi_mode_select = MOTOR0_SPI_MODE_SELECT, //
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.csgpio = MOTOR1_CSN, //
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.ennPin = MOTOR1_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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}; |
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motor.initialize(&cfg); |
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motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion()); |
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ZLOGI(TAG, "motor1 initialize 5160:%x ", motor.readICVersion()); |
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static ZGPIO input[2]; |
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input[0].initAsInput(MOTOR0_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR0_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &motor, input, ZARRAY_SIZE(input), nullptr); |
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g_ziProtocolParser.registerModule(&stepMotorCtrlModule); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.distance_scale = 200; |
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smcm_cfg.base_param.distance_scale_denominator = 1; |
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smcm_cfg.base_param.irun = 24; |
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smcm_cfg.base_param.ihold = 1; |
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smcm_cfg.base_param.x_shaft = false; |
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smcm_cfg.base_param.maxspeed = 150; |
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stepMotorCtrlModule.initialize(initer.get_module_id(1), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); |
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initer.register_module(&stepMotorCtrlModule); |
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} |
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/**
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* @brief 平移 |
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*/ |
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{ |
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static TMC5130 motor; |
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static StepMotorCtrlModule stepMotorCtrlModule; |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR1_CSN, //
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.ennPin = MOTOR1_ENN, //
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.spi_mode_select = MOTOR1_SPI_MODE_SELECT, //
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.csgpio = MOTOR2_CSN, //
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.ennPin = MOTOR2_ENN, //
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.spi_mode_select = MOTOR2_SPI_MODE_SELECT, //
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}; |
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motor.initialize(&cfg); |
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motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion()); |
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ZLOGI(TAG, "motor2 initialize 5160:%x ", motor.readICVersion()); |
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static ZGPIO input[2]; |
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input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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stepMotorCtrlModule.initialize(BOARD_ID * 10 + 2, &motor, input, ZARRAY_SIZE(input), nullptr); |
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g_ziProtocolParser.registerModule(&stepMotorCtrlModule); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.distance_scale = 100; |
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smcm_cfg.base_param.distance_scale_denominator = 1; |
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smcm_cfg.base_param.irun = 24; |
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smcm_cfg.base_param.ihold = 1; |
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smcm_cfg.base_param.x_shaft = true; |
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smcm_cfg.base_param.maxspeed = 50; |
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smcm_cfg.base_param.run_to_zero_speed = 50; |
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stepMotorCtrlModule.initialize(initer.get_module_id(2), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); |
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initer.register_module(&stepMotorCtrlModule); |
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} |
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/**
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* @brief 出料 |
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*/ |
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{ |
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static TMC5130 motor; |
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static StepMotorCtrlModule stepMotorCtrlModule; |
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TMC5130::cfg_t cfg = { |
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.spi = &TMC_MOTOR_SPI, //
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.csgpio = MOTOR2_CSN, //
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.ennPin = MOTOR2_ENN, //
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.spi_mode_select = MOTOR2_SPI_MODE_SELECT, //
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.csgpio = MOTOR3_CSN, //
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.ennPin = MOTOR3_ENN, //
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.spi_mode_select = MOTOR3_SPI_MODE_SELECT, //
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}; |
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motor.initialize(&cfg); |
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motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", motor.readICVersion()); |
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ZLOGI(TAG, "motor3 initialize 5160:%x ", motor.readICVersion()); |
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static ZGPIO input[2]; |
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input[0].initAsInput(MOTOR2_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR2_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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stepMotorCtrlModule.initialize(BOARD_ID * 10 + 3, &motor, input, ZARRAY_SIZE(input), nullptr); |
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g_ziProtocolParser.registerModule(&stepMotorCtrlModule); |
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input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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I_StepMotorCtrlModule::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.distance_scale = 100; |
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smcm_cfg.base_param.distance_scale_denominator = 1; |
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smcm_cfg.base_param.irun = 24; |
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smcm_cfg.base_param.ihold = 1; |
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smcm_cfg.base_param.x_shaft = true; |
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smcm_cfg.base_param.maxspeed = 50; |
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smcm_cfg.base_param.run_to_zero_speed = 50; |
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stepMotorCtrlModule.initialize(initer.get_module_id(3), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg); |
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initer.register_module(&stepMotorCtrlModule); |
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} |
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#if 0
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{ |
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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@ -146,58 +147,27 @@ void initmodule() { |
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codescanner.initialize(BOARD_ID * 10 + 4, &cfg); |
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g_ziProtocolParser.registerModule(&codescanner); |
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} |
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{ |
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// 115200
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static FeiTeServoMotor feiteservomotor_bus; // 飞特舵机总线
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static MiniRobotCtrlModule mini_servo[4]; |
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ZASSERT(huart2.Init.BaudRate == 115200); // 飞特舵机总线
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feiteservomotor_bus.initialize(&huart2, &hdma_usart2_rx, &hdma_usart2_tx); // 飞特舵机总线
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mini_servo[0].initialize(BOARD_ID * 10 + 5, &feiteservomotor_bus, 1); |
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mini_servo[1].initialize(BOARD_ID * 10 + 6, &feiteservomotor_bus, 2); |
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mini_servo[2].initialize(BOARD_ID * 10 + 7, &feiteservomotor_bus, 3); |
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mini_servo[3].initialize(BOARD_ID * 10 + 8, &feiteservomotor_bus, 4); |
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g_ziProtocolParser.registerModule(&mini_servo[0]); |
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g_ziProtocolParser.registerModule(&mini_servo[1]); |
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g_ziProtocolParser.registerModule(&mini_servo[2]); |
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g_ziProtocolParser.registerModule(&mini_servo[3]); |
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} |
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#endif
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} |
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/*******************************************************************************
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* MAIN * |
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*******************************************************************************/ |
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void umain() { |
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chip_cfg_t chipcfg; |
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chipcfg.us_dleay_tim = &DELAY_US_TIMER; |
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chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER; |
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chipcfg.huart = &DEBUG_UART; |
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chipcfg.debuglight = DEBUG_LIGHT_GPIO; |
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chip_init(&chipcfg); |
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zos_cfg_t zoscfg; |
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zos_init(&zoscfg); |
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ZLOGI(TAG, "boardId:%d", BOARD_ID); |
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/*******************************************************************************
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* NVSINIT * |
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*******************************************************************************/ |
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ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR); |
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{ |
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static I_StepMotorCtrlModule::flash_config_t cfg; |
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StepMotorCtrlModule::create_default_cfg(cfg); |
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ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg)); |
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} |
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ZNVS::ins().init_config(); |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(BOARD_ID); |
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g_zcanCmder.init(zcanCmder_cfg); |
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g_ziProtocolParser.initialize(&g_zcanCmder); |
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initmodule(); |
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while (true) { |
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OSDefaultSchduler::getInstance()->loop(); |
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g_zcanCmder.loop(); |
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} |
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}; |
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ZCancmderSubboardIniter::cfg_t cfg = //
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{ |
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.deviceId = getDeviceId(), |
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.input_gpio = |
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{ |
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{.pin = PD0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true}, |
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{.pin = PD1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true}, |
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{.pin = PD2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true}, |
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{.pin = PD3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true}, |
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{.pin = PD4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true}, |
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}, |
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.output_gpio = {}, |
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}; |
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initer.init(&cfg); |
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initsubmodule(); |
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initer.loop(); |
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} |
