10 changed files with 94 additions and 115 deletions
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36.cproject
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3.gitmodules
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1a8000_protocol
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2sdk
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17usrc/gservice.cpp
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23usrc/gservice.hpp
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18usrc/main.cpp
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105usrc/main.cpp.bak
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2usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp
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2usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp
@ -1 +1 @@ |
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Subproject commit fd424aeed7fd56ee83369b2e1a92ef7f913914f0 |
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Subproject commit 4fbd2bdf3a29557a93e7d1ae8d9ce6d14c5b970b |
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#include "gservice.hpp"
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#include "configs/device_id_mgr.hpp"
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using namespace iflytop; |
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void GService::initialize() { //
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ZCanReceiver::CFG* zcanreceiver_cfg = zcanreceiver.createCFG(zdevice_id_mgr_get_device_id()); |
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zcanreceiver.initialize(zcanreceiver_cfg); |
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zcan_protocol_parser.initialize(&zcanreceiver); |
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} |
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GService* GService::inst() { |
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static GService gservice; |
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return &gservice; |
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} |
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#include <stddef.h>
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#include <stdio.h>
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#include "a8000_protocol\zcan_protocol_parser.hpp"
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#include "sdk/chip/chip.hpp"
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#include "sdk/components/zcancmder/zcanreceiver.hpp"
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#include "sdk/os/zos.hpp"
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namespace iflytop { |
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class GService { |
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ZCanReceiver zcanreceiver; |
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ZCanProtocolParser zcan_protocol_parser; |
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public: |
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void initialize(); |
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static GService* inst(); |
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ZCanReceiver* getZCanReceiver() { return &zcanreceiver; } |
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}; |
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} // namespace iflytop
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@ -1,105 +0,0 @@ |
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#include <stddef.h> |
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#include <stdio.h> |
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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\sensors\m3078\m3078_code_scaner.hpp" |
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#include "sdk\components\tmc\ic\ztmc5130.hpp" |
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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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/******************************************************************************* |
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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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#if 0 |
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#define INLET_SPEED 300 |
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#define OUTET_SPEED 300 |
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#define TANSLATE_SPEED 500 |
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/** |
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* @brief ÈëÁÏ |
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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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}; |
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motor.initialize(&cfg); |
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motor.setMotorShaft(false); |
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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(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::flash_config_t smcm_cfg = {0}; |
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StepMotorCtrlModule::create_default_cfg(smcm_cfg); |
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smcm_cfg.base_param.motor_shift = 0; |
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smcm_cfg.base_param.motor_shaft = 0; |
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smcm_cfg.base_param.motor_one_circle_pulse = 100; |
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smcm_cfg.base_param.motor_one_circle_pulse_denominator = 1; |
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smcm_cfg.base_param.motor_default_velocity = INLET_SPEED; |
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smcm_cfg.base_param.motor_default_acc = 300; |
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smcm_cfg.base_param.motor_default_dec = 300; |
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smcm_cfg.base_param.motor_run_to_zero_max_d = 5000; |
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smcm_cfg.base_param.motor_look_zero_edge_max_d = 100; |
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smcm_cfg.base_param.motor_run_to_zero_speed = 50; |
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smcm_cfg.base_param.motor_run_to_zero_dec = 600; |
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smcm_cfg.base_param.motor_look_zero_edge_speed = 100; |
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smcm_cfg.base_param.motor_look_zero_edge_dec = 900; |
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smcm_cfg.base_param.stepmotor_ihold = 1; |
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smcm_cfg.base_param.stepmotor_irun = 24; |
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smcm_cfg.base_param.stepmotor_iholddelay = 1000; |
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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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#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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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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} |
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