From e854a146c4562b568a6ac39e6a49bf45394d5117 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 2 Jun 2024 12:50:59 +0800
Subject: [PATCH] update

---
 .cproject                                          |  36 ++++++-
 .gitmodules                                        |   3 +
 a8000_protocol                                     |   1 +
 sdk                                                |   2 +-
 usrc/gservice.cpp                                  |  17 ++++
 usrc/gservice.hpp                                  |  23 +++++
 usrc/main.cpp                                      |  18 +++-
 usrc/main.cpp.bak                                  | 105 ---------------------
 .../subboard30_shake_module.cpp                    |   2 +-
 .../subboard30_shake_module.hpp                    |   2 +-
 10 files changed, 94 insertions(+), 115 deletions(-)
 create mode 160000 a8000_protocol
 create mode 100644 usrc/gservice.cpp
 create mode 100644 usrc/gservice.hpp
 delete mode 100644 usrc/main.cpp.bak

diff --git a/.cproject b/.cproject
index aaee702..9e66595 100644
--- a/.cproject
+++ b/.cproject
@@ -94,7 +94,7 @@
 									<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
 									<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
 								</option>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.782400078" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" useByScannerDiscovery="false" value="false" valueType="boolean"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.782400078" name="Disable generation of information about every class with virtual functions (-fno-rtti)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
@@ -115,12 +115,42 @@
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.319958895" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec"/>
 						</toolChain>
 					</folderInfo>
+					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771.1733063440" name="/" resourcePath="a8000_protocol">
+						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.1522938955" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug" unusedChildren="">
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.801178797.289123640" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.801178797"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.777915677.1938086245" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.777915677"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1126839807.781441276" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1126839807"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.2045742466.1952089323" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.2045742466"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2108401733.2083482733" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.2108401733"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1574925555.838290146" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1574925555"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.244221814.999468600" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.244221814"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.764397174.289665198" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock.764397174"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.992660821.1846725434" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.992660821"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.494792904.969110292" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.494792904"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214.1485477960" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344.1381153610" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.251233951" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1693323679" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.782799112"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.1932890195" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.344817877"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.1525477650" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.1681158383" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.13625971"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.1442014696" name="MCU GCC Archiver" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.archiver.251758949"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.98099690" name="MCU Size" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.size.1663377731"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.65438341" name="MCU Output Converter list file" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objdump.listfile.1054983767"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.1601161187" name="MCU Output Converter Hex" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.hex.959331179"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.678347209" name="MCU Output Converter Binary" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.binary.673967072"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.1861284771" name="MCU Output Converter Verilog" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.verilog.468761296"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.1787657605" name="MCU Output Converter Motorola S-rec" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.srec.1968696221"/>
+							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.1090219750" name="MCU Output Converter Motorola S-rec with symbols" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.objcopy.symbolsrec.319958895"/>
+						</toolChain>
+					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="a8000_protocol"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/.gitmodules b/.gitmodules
index 2f0d391..b8f0f8b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule ".vscode"]
 	path = .vscode
 	url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8000_subboard_vscode_cfg.git
+[submodule "a8000_protocol"]
+	path = a8000_protocol
+	url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8000_protocol.git
diff --git a/a8000_protocol b/a8000_protocol
new file mode 160000
index 0000000..1743a4b
--- /dev/null
+++ b/a8000_protocol
@@ -0,0 +1 @@
+Subproject commit 1743a4bfa958a6c9ea286edd4c82a129891a5aea
diff --git a/sdk b/sdk
index fd424ae..4fbd2bd 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit fd424aeed7fd56ee83369b2e1a92ef7f913914f0
+Subproject commit 4fbd2bdf3a29557a93e7d1ae8d9ce6d14c5b970b
diff --git a/usrc/gservice.cpp b/usrc/gservice.cpp
new file mode 100644
index 0000000..b7d4ba9
--- /dev/null
+++ b/usrc/gservice.cpp
@@ -0,0 +1,17 @@
+#include "gservice.hpp"
+
+#include "configs/device_id_mgr.hpp"
+
+using namespace iflytop;
+
+void GService::initialize() {  //
+
+  ZCanReceiver::CFG* zcanreceiver_cfg = zcanreceiver.createCFG(zdevice_id_mgr_get_device_id());
+  zcanreceiver.initialize(zcanreceiver_cfg);
+  zcan_protocol_parser.initialize(&zcanreceiver);
+}
+
+GService* GService::inst() {
+  static GService gservice;
+  return &gservice;
+}
diff --git a/usrc/gservice.hpp b/usrc/gservice.hpp
new file mode 100644
index 0000000..36e3d13
--- /dev/null
+++ b/usrc/gservice.hpp
@@ -0,0 +1,23 @@
+#include <stddef.h>
+#include <stdio.h>
+
+#include "a8000_protocol\zcan_protocol_parser.hpp"
+#include "sdk/chip/chip.hpp"
+#include "sdk/components/zcancmder/zcanreceiver.hpp"
+#include "sdk/os/zos.hpp"
+
+namespace iflytop {
+
+class GService {
+  ZCanReceiver       zcanreceiver;
+  ZCanProtocolParser zcan_protocol_parser;
+
+ public:
+  void initialize();
+
+  static GService* inst();
+
+  ZCanReceiver* getZCanReceiver() { return &zcanreceiver; }
+};
+
+}  // namespace iflytop
diff --git a/usrc/main.cpp b/usrc/main.cpp
index d7ce88a..27e963a 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -4,10 +4,10 @@
 #include "board.h"
 //
 #include "configs/device_id_mgr.hpp"
+#include "gservice.hpp"
 #include "sdk/chip/chip.hpp"
 #include "sdk/os/zos.hpp"
 #include "subboards/subboard30_shake_module/subboard30_shake_module.hpp"
-
 #define TAG "main"
 using namespace std;
 using namespace iflytop;
@@ -41,13 +41,23 @@ void umain() {
   if (id <= 0) {
     chip_set_error();
     ZEARLY_LOGE("SYS", "device id is not set");
-  } else {
-    if (id == 30) {
-      Subboard30ShakeModule::ins()->initializeAndRun();
+    while (true) {
+      zos_delay(1);
     }
   }
 
+  GService::inst()->initialize();
+  switch (id) {
+    case 30:  // Ò¡ÔÈÄ£×é
+      Subboard30ShakeModule::ins()->initialize();
+      break;
+
+    default:
+      break;
+  }
+
   while (true) {
+    GService::inst()->getZCanReceiver()->loop();
     zos_delay(1);
   }
 }
diff --git a/usrc/main.cpp.bak b/usrc/main.cpp.bak
deleted file mode 100644
index 3f072ea..0000000
--- a/usrc/main.cpp.bak
+++ /dev/null
@@ -1,105 +0,0 @@
-#include <stddef.h>
-#include <stdio.h>
-
-#include "board.h"
-#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
-/*******************************************************************************
- *                               PROJECT_INCLUDE                               *
- *******************************************************************************/
-#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
-#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
-#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
-#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
-#include "sdk\components\tmc\ic\ztmc5130.hpp"
-
-#define TAG "main"
-using namespace iflytop;
-using namespace std;
-
-static ZCancmderSubboardIniter initer;
-
-extern void umain();
-extern "C" {
-void StartDefaultTask(void const* argument) { umain(); }
-}
-/*******************************************************************************
- *                                GET_DEVICE_ID                                *
- *******************************************************************************/
-static int32_t getDeviceId() { return BOARD_ID; }
-/*******************************************************************************
- *                               INIT_SUBMODULE                                *
- *******************************************************************************/
-void        nvs_init_cb() {}
-static void initsubmodule() {
-#if 0
-#define INLET_SPEED    300
-#define OUTET_SPEED    300
-#define TANSLATE_SPEED 500
-  /**
-   * @brief ÈëÁÏ
-   */
-  {
-    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, "motor1 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::flash_config_t smcm_cfg = {0};
-    StepMotorCtrlModule::create_default_cfg(smcm_cfg);
-
-    smcm_cfg.base_param.motor_shift                        = 0;
-    smcm_cfg.base_param.motor_shaft                        = 0;
-    smcm_cfg.base_param.motor_one_circle_pulse             = 100;
-    smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1;
-    smcm_cfg.base_param.motor_default_velocity             = INLET_SPEED;
-    smcm_cfg.base_param.motor_default_acc                  = 300;
-    smcm_cfg.base_param.motor_default_dec                  = 300;
-    smcm_cfg.base_param.motor_run_to_zero_max_d            = 5000;
-    smcm_cfg.base_param.motor_look_zero_edge_max_d         = 100;
-    smcm_cfg.base_param.motor_run_to_zero_speed            = 50;
-    smcm_cfg.base_param.motor_run_to_zero_dec              = 600;
-    smcm_cfg.base_param.motor_look_zero_edge_speed         = 100;
-    smcm_cfg.base_param.motor_look_zero_edge_dec           = 900;
-    smcm_cfg.base_param.stepmotor_ihold                    = 1;
-    smcm_cfg.base_param.stepmotor_irun                     = 24;
-    smcm_cfg.base_param.stepmotor_iholddelay               = 1000;
-
-    stepMotorCtrlModule.initialize(initer.get_module_id(1), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
-    initer.register_module(&stepMotorCtrlModule);
-  }
-#endif
-}
-
-/*******************************************************************************
- *                                    MAIN                                     *
- *******************************************************************************/
-void umain() {
-  ZCancmderSubboardIniter::cfg_t cfg =  //
-      {
-          .deviceId = getDeviceId(),
-          .input_gpio =
-              {
-                  {.pin = PD0, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
-                  {.pin = PD1, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
-                  {.pin = PD2, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
-                  {.pin = PD3, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
-                  {.pin = PD4, .mode = ZGPIO::kMode_nopull, .irqtype = ZGPIO::kIRQ_noIrq, .mirror = true},
-              },
-          .output_gpio = {},
-      };
-  initer.init(&cfg);
-  initsubmodule();
-  initer.loop();
-}
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
index 9cecb9f..03b08bb 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
+++ b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
@@ -5,7 +5,7 @@ using namespace iflytop;
 Subboard30ShakeModule::Subboard30ShakeModule(/* args */) {}
 Subboard30ShakeModule::~Subboard30ShakeModule() {}
 
-void Subboard30ShakeModule::initializeAndRun() {}
+void Subboard30ShakeModule::initialize() {}
 
 Subboard30ShakeModule* Subboard30ShakeModule::ins() {
   static Subboard30ShakeModule instance;
diff --git a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
index 3582841..5074d89 100644
--- a/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
+++ b/usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
@@ -17,7 +17,7 @@ class Subboard30ShakeModule {
 
   static Subboard30ShakeModule* ins();
 
-  void initializeAndRun();
+  void initialize();
 };
 
 }  // namespace iflytop