update

chip/chip.cpp

@@ -40,9 +40,9 @@ void chip_init(chip_cfg_t *cfg) {
       50);
 
   ZEARLY_LOGI("SYS", "chip init ok");
-  ZEARLY_LOGI("SYS", "= manufacturer  : %s", MANUFACTURER);
-  ZEARLY_LOGI("SYS", "= project name  : %s", PROJECT_NAME);
-  ZEARLY_LOGI("SYS", "= version       : %s", VERSION);
+  ZEARLY_LOGI("SYS", "= manufacturer  : %s", PC_MANUFACTURER);
+  ZEARLY_LOGI("SYS", "= project name  : %s", PC_PROJECT_NAME);
+  ZEARLY_LOGI("SYS", "= version       : %s", PC_VERSION);
   ZEARLY_LOGI("SYS", "= freq          : %d", HAL_RCC_GetSysClockFreq());
   ZEARLY_LOGI("SYS", "= build time    : %s", __DATE__ " " __TIME__);
 }

chip/chip_tim_irq_shceduler.cpp

@@ -41,7 +41,7 @@ void ChipTimIrqShceduler::simpleTimer_startByFreq(float freq) {
   m_htim->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   HAL_TIM_Base_Init(m_htim);
 
-  HAL_NVIC_SetPriority(chip_tim_get_irq(m_htim), IFLYTOP_PREEMPTPRIORITY_DEFAULT, 0);
+  HAL_NVIC_SetPriority(chip_tim_get_irq(m_htim), PC_IRQ_PREEMPTPRIORITY_DEFAULT, 0);
   HAL_NVIC_EnableIRQ(chip_tim_get_irq(m_htim));
 
   HAL_TIM_Base_Start_IT(m_htim);

chip/zgpio.cpp

@@ -181,7 +181,7 @@ void ZGPIO::initAsInput(Pin_t pin, GPIOMode_t mode, GPIOIrqType_t irqtype, bool
   if (m_irqtype != kIRQ_noIrq) {
     regIRQGPIO(this);
     lastLevel = getState();
-    HAL_NVIC_SetPriority(getEXTIIRQn(), IFLYTOP_PREEMPTPRIORITY_DEFAULT, 0);
+    HAL_NVIC_SetPriority(getEXTIIRQn(), PC_IRQ_PREEMPTPRIORITY_DEFAULT, 0);
     HAL_NVIC_EnableIRQ(getEXTIIRQn());
   }
 

components/step_motor_45/step_motor_45_scheduler.cpp

@@ -18,7 +18,7 @@ void StepMotor45Scheduler::initialize(zchip_tim_t* tim) {
   m_htim->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   HAL_TIM_Base_Init(m_htim);
 
-  HAL_NVIC_SetPriority(chip_tim_get_irq(m_htim), IFLYTOP_PREEMPTPRIORITY_DEFAULT, 0);
+  HAL_NVIC_SetPriority(chip_tim_get_irq(m_htim), PC_IRQ_PREEMPTPRIORITY_DEFAULT, 0);
   HAL_NVIC_EnableIRQ(chip_tim_get_irq(m_htim));
 
   // HAL_TIM_Base_Start_IT(m_htim);

components/subcanmodule/dep.hpp

@@ -0,0 +1,7 @@
+#pragma once
+#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
+#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
+#include "sdk\components\zcancmder\zcan_board_module.hpp"
+#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"

components/subcanmodule/zcancmder_subboard_initer.cpp

@@ -0,0 +1,90 @@
+#include "zcancmder_subboard_initer.hpp"
+//
+#include "sdk\components\flash\znvs.hpp"
+//
+#include <stdio.h>
+#include <string.h>
+
+#include "project_configs.h"
+using namespace iflytop;
+const char* TAG = PC_PROJECT_NAME;
+
+__weak void              nvs_init_cb() {}
+extern DMA_HandleTypeDef PC_DEBUG_UART_DMA_HANDLER;
+
+int32_t ZCancmderSubboardIniter::get_module_id(int32_t moduleIndex) { return m_cfg.deviceId * 100 + moduleIndex; }
+
+void ZCancmderSubboardIniter::init(cfg_t* cfg) {
+  m_cfg = *cfg;
+
+  chip_cfg_t chipcfg            = {};
+  chipcfg.us_dleay_tim          = &PC_SYS_DELAY_US_TIMER;
+  chipcfg.tim_irq_scheduler_tim = &PC_SYS_TIM_IRQ_SCHEDULER_TIMER;
+  chipcfg.huart                 = &PC_DEBUG_UART;
+  chipcfg.debuglight            = PC_DEBUG_LIGHT_GPIO;
+
+  chip_init(&chipcfg);
+
+  zos_cfg_t zoscfg;
+  zos_init(&zoscfg);
+
+  ZLOGI(TAG, "boardId:%d", m_cfg.deviceId);
+
+  /*******************************************************************************
+   *                                   NVSINIT                                   *
+   *******************************************************************************/
+
+  if (PC_NVS_ENABLE) {
+    ZNVS::ins().initialize(PC_NVS_CONFIG_FLASH_SECTOR);
+    nvs_init_cb();
+    ZNVS::ins().init_config();
+  }
+
+  auto zcanCmder_cfg = zcanCmder.createCFG(m_cfg.deviceId);
+  zcanCmder.init(zcanCmder_cfg);
+  ziProtocolParser.initialize(&zcanCmder);
+
+  {
+    static ZUARTDmaReceiver                    dmaUartReceiver;
+    static ZUARTDmaReceiver::hardware_config_t cfg = {
+        .huart         = &PC_DEBUG_UART,
+        .dma_rx        = &PC_DEBUG_UART_DMA_HANDLER,
+        .rxbuffersize  = PC_DEBUG_UART_RX_BUF_SIZE,
+        .rxovertime_ms = 10,
+    };
+    dmaUartReceiver.initialize(&cfg);
+    cmder.initialize(&dmaUartReceiver);
+    zModuleDeviceManager.initialize(nullptr);
+    zModuleDeviceScriptCmderPaser.initialize(&cmder, &zModuleDeviceManager);
+  }
+
+  initmodule();
+}
+
+void ZCancmderSubboardIniter::initmodule() {
+  static ZCanBoardModule boardmodule;
+
+  ZCanBoardModule::hardware_config_t hcfg = {};
+  static_assert(ZARRAY_SIZE(hcfg.input) == ZARRAY_SIZE(m_cfg.input_gpio));
+  static_assert(ZARRAY_SIZE(hcfg.output) == ZARRAY_SIZE(m_cfg.output_gpio));
+
+  memcpy(&hcfg.input, &m_cfg.input_gpio, sizeof(m_cfg.input_gpio));
+  memcpy(&hcfg.output, &m_cfg.output_gpio, sizeof(m_cfg.output_gpio));
+
+  boardmodule.initialize(get_module_id(0), &hcfg);
+  ziProtocolParser.registerModule(&boardmodule);
+  zModuleDeviceManager.registerModule(&boardmodule);
+}
+
+void ZCancmderSubboardIniter::register_module(ZIModule* module) {
+  ziProtocolParser.registerModule(module);
+  zModuleDeviceManager.registerModule(module);
+}
+
+void ZCancmderSubboardIniter::loop() {
+  while (true) {
+    OSDefaultSchduler::getInstance()->loop();
+    zcanCmder.loop();
+    cmder.schedule();
+  }
+}

components/subcanmodule/zcancmder_subboard_initer.hpp

@@ -0,0 +1,39 @@
+#pragma once
+#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
+#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
+#include "sdk\components\zcancmder\zcan_board_module.hpp"
+#include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
+#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
+
+namespace iflytop {
+class ZCancmderSubboardIniter {
+ public:
+  typedef struct {
+    int32_t                deviceId;
+    ZGPIO::InputGpioCfg_t  input_gpio[10];
+    ZGPIO::OutputGpioCfg_t output_gpio[10];
+  } cfg_t;
+
+ private:
+  ZCanCmder                                 zcanCmder;
+  ZIProtocolParser                          ziProtocolParser;
+  ZModuleDeviceManager                      zModuleDeviceManager;
+  MicroComputerModuleDeviceScriptCmderPaser zModuleDeviceScriptCmderPaser;
+  CmdSchedulerV2                            cmder;
+
+  cfg_t m_cfg;
+
+ public:
+  void    init(cfg_t* cfg);
+  void    register_module(ZIModule* module);
+  int32_t get_module_id(int32_t moduleIndex);
+  //
+  void loop();
+
+ private:
+  int32_t getDeviceId();
+  void    initmodule();
+};
+}  // namespace iflytop

os/delay.cpp

@@ -1,6 +1,6 @@
 #include "delay.hpp"
 
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
 #include "cmsis_os.h"
 #endif
 
@@ -11,7 +11,7 @@ void zos_early_delay(int ms) {
     zos_early_delayus(1000);
   }
 }
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
 void zos_delay(int ms) { osDelay(ms); }
 #else
 void zos_delay(int ms) { z_early_delay(ms); }

os/mutex.cpp

@@ -8,19 +8,19 @@ using namespace iflytop;
  *******************************************************************************/
 zmutex::zmutex() {}
 zmutex::~zmutex() {
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   vSemaphoreDelete(recursiveMutex);
 #endif
 }
 
 void zmutex::init() {
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   recursiveMutex = xSemaphoreCreateRecursiveMutex();
 #endif
 }
 
 bool zmutex::isInit() {
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   return recursiveMutex != NULL;
 #else
   return true;
@@ -28,7 +28,7 @@ bool zmutex::isInit() {
 }
 
 void zmutex::lock() {
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   ZEARLY_ASSERT(recursiveMutex != NULL);
   xSemaphoreTakeRecursive(recursiveMutex, portMAX_DELAY);
 #else
@@ -36,7 +36,7 @@ void zmutex::lock() {
 #endif
 }
 void zmutex::unlock() {
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   xSemaphoreGiveRecursive(recursiveMutex);
 #else
   chip_critical_exit();

os/mutex.hpp

@@ -5,7 +5,7 @@ using namespace std;
 
 class zmutex {
  public:
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
   SemaphoreHandle_t recursiveMutex;
 #endif
 

os/osbasic_h.hpp

@@ -1,6 +1,6 @@
 #pragma once
 #include "../chip/chip.hpp"
 //
-#ifdef IFLYTOP_ENABLE_OS
+#ifdef PC_IFLYTOP_ENABLE_OS
 #include "cmsis_os.h"
 #endif

os/ticket.cpp

@@ -2,7 +2,7 @@
 
 extern "C" {
 uint32_t zos_get_tick(void) {
-  // #ifdef IFLYTOP_ENABLE_OS
+  // #ifdef PC_IFLYTOP_ENABLE_OS
   //   return osKernelSysTick();
   // #else
   return HAL_GetTick();