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@ -10,6 +10,7 @@ |
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#include "sdk\components\flash\znvs.hpp"
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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\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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@ -19,6 +20,7 @@ |
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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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@ -36,71 +38,133 @@ extern DMA_HandleTypeDef hdma_usart2_tx; |
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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; |
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static StepMotorCtrlModule g_stepMotorCtrlModule; |
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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 init_and_reg_motor() { |
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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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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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}; |
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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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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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stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &motor, input, ZARRAY_SIZE(input), nullptr); |
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g_ziProtocolParser.registerModule(&stepMotorCtrlModule); |
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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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g_motor.initialize(&cfg); |
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g_motor.setMotorShaft(false); |
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ZLOGI(TAG, "motora initialize 5160:%x ", g_motor.readICVersion()); |
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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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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.initialize(BOARD_ID * 10 + 2, &motor, input, ZARRAY_SIZE(input), nullptr); |
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g_ziProtocolParser.registerModule(&stepMotorCtrlModule); |
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} |
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g_motor.setAcceleration(100); |
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g_motor.setDeceleration(100); |
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g_motor.setIHOLD_IRUN(0, 8, 10); |
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{ |
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static TMC5130 motor; |
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static StepMotorCtrlModule stepMotorCtrlModule; |
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static ZGPIO input[10]; |
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input[0].initAsInput(PD1 /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[1].initAsInput(PD2 /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[2].initAsInput(PD3 /*DIAG0*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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input[3].initAsInput(PD4 /*DIAG1*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); |
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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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}; |
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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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g_stepMotorCtrlModule.initialize(BOARD_ID * 10 + 1, &g_motor, input, ZARRAY_SIZE(input), MOTOR_CFG_FLASH_MARK); |
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g_ziProtocolParser.registerModule(&g_stepMotorCtrlModule); |
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} |
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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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void init_and_reg_cliptip_module() { |
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// # RS232输出压力流
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// /1U2!0R\r
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// # 设置移液枪最大行程100,防止设备误操作导致吸入液体到设备中
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// /1u1,100R\r
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PipetteModule::config_t cfg = { |
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.limit_ul = 100, |
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}; |
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PipetteModule::hardward_config_t hardwarecfg = { |
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.uart = &huart2, |
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.hdma_rx = &hdma_usart2_rx, |
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.hdma_tx = &hdma_usart2_tx, |
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}; |
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g_pipetteModule.initialize(BOARD_ID * 10 + 2, &cfg, &hardwarecfg); |
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g_ziProtocolParser.registerModule(&g_pipetteModule); |
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} |
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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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} |
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void init_and_reg_m3078() { //
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static M3078CodeScanner codescanner; |
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static M3078CodeScanner::hardware_config_t cfg = { |
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.uart = &huart2, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PD15, |
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}; |
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codescanner.initialize(BOARD_ID * 10 + 3, &cfg); |
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g_ziProtocolParser.registerModule(&codescanner); |
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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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.uart = &huart3, |
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.hdma_rx = nullptr, |
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.hdma_tx = nullptr, |
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.codeReadOkPin = PinNull, |
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.rstPin = PinNull, |
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.triggerPin = PE15, |
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}; |
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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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} |
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void umain() { |
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@ -131,10 +195,7 @@ void umain() { |
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g_zcanCmder.init(zcanCmder_cfg); |
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g_ziProtocolParser.initialize(&g_zcanCmder); |
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init_and_reg_motor(); |
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init_and_reg_cliptip_module(); |
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init_and_reg_m3078(); |
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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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