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103 lines
4.6 KiB
103 lines
4.6 KiB
#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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#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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}
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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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