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\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.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"

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

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}

static ZCanCmder        g_zcanCmder;
static ZIProtocolParser g_ziProtocolParser;

uint8_t getId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  static ZGPIO ID4;
  if (!init) {
    ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
    init = true;
  }
  uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
  return id;
}

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);

  uint8_t deviceId = getId();
  ZLOGI(TAG, "motorId:%d", deviceId);

  if (deviceId == 0) {
    ZLOGE(TAG, "motorId can't be 0");
    chip_set_error();
    while (true) {
    }
  }

#if 0
  /*******************************************************************************
   *                                   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();

#endif

  /*******************************************************************************
   *                                  ·çÉÈÅäÖà                                   *
   *******************************************************************************/
  PWMSpeedCtrlModule::config_t fan0cfg = {
      .fanCtrlTim  = &htim2,
      .nfan        = 2,
      .fan0Channel = {3, 0, 0, 0},
      .fanFBGpioCfg =
          {
              {.pin = PC10},
              {.pin = PC11},
          },
      .fanPowerGpioCfg =
          {
              {.pin = PC4, .mode = ZGPIO::kMode_nopull, .mirror = false},
          },
  };
  PWMSpeedCtrlModule::config_t fan1cfg = {
      .fanCtrlTim  = &htim2,
      .nfan        = 2,
      .fan0Channel = {4, 0, 0, 0},
      .fanFBGpioCfg =
          {
              {.pin = PC12},
              {.pin = PC13},
          },
      .fanPowerGpioCfg =
          {
              {.pin = PC5, .mode = ZGPIO::kMode_nopull, .mirror = false},
          },
  };

  /*******************************************************************************
   *                                  Ë®±ÃÅäÖà                                   *
   *******************************************************************************/
  PWMSpeedCtrlModule::config_t pumpcfg = {
      .fanCtrlTim  = &htim2,
      .nfan        = 1,
      .fan0Channel = {2, 0, 0, 0},
      .fanFBGpioCfg =
          {
              {.pin = PC3},
          },
      .fanPowerGpioCfg =
          {
              {.pin = PC2, .mode = ZGPIO::kMode_nopull, .mirror = false},
          },
  };

  DRV8710::config_t peltier_config0 = {
      .tim                = &htim1,
      .in1_chnannel_index = 1,
      .in2                = PE10,
      .nsleep             = PB2,
      .nfault             = PB3,
      .shaft              = false,
  };

  DRV8710::config_t peltier_config1 = {
      .tim                = &htim1,
      .in1_chnannel_index = 3,
      .in2                = PE14,
      .nsleep             = PB13,
      .nfault             = PB14,
      .shaft              = false,

  };

  static TMP117             temp[4];
  static PWMSpeedCtrlModule fan0;
  static PWMSpeedCtrlModule fan1;
  static PWMSpeedCtrlModule pump;
  static DRV8710            peltier0;
  static DRV8710            peltier1;

  static WaterCoolingTemperatureControlModule waterCoolingTemperatureControlModule;

  fan0.initialize(&fan0cfg, true);
  fan1.initialize(&fan1cfg, true);
  pump.initialize(&pumpcfg, false);
  peltier0.initialize(&peltier_config0);
  peltier1.initialize(&peltier_config1);

  temp[0].initializate(&hi2c1, TMP117::ID0);
  temp[1].initializate(&hi2c1, TMP117::ID1);
  temp[2].initializate(&hi2c1, TMP117::ID2);
  temp[3].initializate(&hi2c1, TMP117::ID3);

  WaterCoolingTemperatureControlModule::config_t temp_ctrl_config;
  waterCoolingTemperatureControlModule.createDefaultConfig(&temp_ctrl_config);

  WaterCoolingTemperatureControlModule::hardwared_config_t hardwared_config =  //
      {
          .temperature_sensor = {&temp[0], &temp[1], &temp[2], &temp[3]},
          .fanTable           = {&fan0, &fan1},
          .pump               = &pump,
          .peltier_ctrl       = {&peltier0, &peltier1},
          .ext_input =
              {
                  {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
                  {PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
              },
          .ext_output =
              {
                  {PD0, ZGPIO::kMode_nopull, false, false},
              }  //
      };

  waterCoolingTemperatureControlModule.initialize(deviceId, &temp_ctrl_config, &hardwared_config);

  auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId);
  g_zcanCmder.init(zcanCmder_cfg);

  g_ziProtocolParser.initialize(&g_zcanCmder);
  g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule);

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