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- 0 - 0 - 0 - 0 - 0 - 0 - startup_stm32f407xx.s + 1 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.cpp - + \\app\../../dep/libiflytop_micro/stm32/component/iflytop_can_slave_v1/iflytop_can_slave.cpp\368 diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index b20587f..7d75783 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit b20587ffa86f4dd670c5383301847f61b429a748 +Subproject commit 7d7578337596e9375631d79ad963cf9d3b96a24d diff --git a/src/umain.cpp b/src/umain.cpp index 1308cad..b2140fb 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -1,77 +1,7 @@ -#include -#include - -#include "board/project_board.hpp" -#include "libiflytop_micro\stm32\basic\basic.h" -#include "libtrinamic/src/ic/tmc2160.hpp" -#include "libtrinamic\src\ic\tmc4361A.hpp" -// -#include - -#include "board/hardware.hpp" -#include "i2c.h" -#include "libiflytop_micro\stm32\basic\zsignal.hpp" -#include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp" -#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" -#include "lncubator_rotating_control_service.hpp" -#include "lncubator_temperature_control_service.hpp" -#define TAG "main" - -#define ACTIVE_REG(reg, mask, initval) IflytopCanProtocolStackProcesser::activeReg(&IflytopCanStackConfig, reg, mask, (initval)) -#define UPDATE_REG(reg, value, periodms) \ - { \ - static uint32_t lastReportTicket = 0; \ - if (m_hardware.hasPassedMS(lastReportTicket) > (periodms + random(3))) { \ - lastReportTicket = m_hardware.getTicket(); \ - m_protocolStack.writeRegValue(reg, value, false); \ - } \ - } +#include "umain.hpp" using namespace iflytop; using namespace std; -class Main : public HardwareListener, // - public IflytopCanProtocolStackProcesserListener, - public LncubatorRotatingControlServiceListener { - public: - Hardware m_hardware; - - IflytopCanProtocolStackProcesser::iflytop_can_slave_config_t IflytopCanStackConfig; - icps::Reg_t regList[50]; - // - IflytopCanProtocolStackProcesser m_protocolStack; - LncubatorTemperatureControlService m_tempCtrl; - LncubatorRotatingControlService m_rotatingCtrl; - IflytopMicroOS *os; - - Main() {} - void main(int argc, char const *argv[]); - - void initializeIflytopCanProtocolStackProcesser(); - void updateRegList(); - - virtual void LncubatorRotatingControlService_onException(exception_id_t exception); - virtual void LncubatorRotatingControlService_onMoveToHomeJobFinished(); - virtual void LncubatorRotatingControlService_onMoveSubPositionJobFinished(); - virtual void LncubatorRotatingControlService_onMoveByJobFinished(); - virtual void LncubatorRotatingControlService_startWorking(int32_t dowhat); - - /******************************************************************************* - * override HardwareListener * - *******************************************************************************/ - virtual void Hardware_OnHardwareException(); - virtual void Hardware_OnCanRxData(void *packet); - virtual void Hardware_onHomeRefSwitchISR(); - - /******************************************************************************* - * override IflytopCanProtocolStackProcesserListener * - *******************************************************************************/ - virtual icps::error_t IflytopCanProtocolStack_onHostRegisterWriteEvent( // - icps::Reg_t *reg, int32_t oldvalue, int32_t &newvalue); - - virtual icps::error_t IflytopCanProtocolStack_onHostRegisterReadEvent( // - icps::Reg_t *reg, int32_t &value); - virtual void IflytopCanProtocolStack_onRegisterValueAutoReportEvent(icps::Reg_t *reg, int32_t &value); -}; int random(int max) { // TODO:使用STM32的随机数功能生成随机数 @@ -260,6 +190,8 @@ void Main::initializeIflytopCanProtocolStackProcesser() { ACTIVE_REG(REG_MOTOR_CTRL_CURRENT_POSITION4 /* */, icps::kr, 0); ACTIVE_REG(REG_MOTOR_CTRL_CURRENT_ACTION /* */, icps::kr, 0); ACTIVE_REG(REG_MOTOR_CTRL_CURRENT_STATE /* */, icps::kr, 0); + + m_protocolStack.initialize(&m_hardware, &IflytopCanStackConfig); } void Main::LncubatorRotatingControlService_onException(exception_id_t exception) {} @@ -322,11 +254,15 @@ void Main::main(int argc, char const *argv[]) { m_rotatingCtrl.setInletPosition(m_protocolStack.readRegValue(REG_MOTOR_CTRL_ENTRY_POSITION)); while (true) { - m_hardware.periodicJob(); - m_protocolStack.periodicJob(); - m_tempCtrl.periodicJob(); - m_rotatingCtrl.periodicJob(); - updateRegList(); + // m_hardware.periodicJob(); + // m_protocolStack.periodicJob(); + // m_tempCtrl.periodicJob(); + // m_rotatingCtrl.periodicJob(); + // updateRegList(); + m_hardware.debug_light_periodicJob(); + if (m_protocolStack.sendHeart(0, 10) == HAL_OK) { + ZLOGI(TAG, "CAN RX HAL_OK"); + } } } static Main mainObject; diff --git a/src/umain.hpp b/src/umain.hpp new file mode 100644 index 0000000..2850aaa --- /dev/null +++ b/src/umain.hpp @@ -0,0 +1,74 @@ +#pragma once +#include +#include + +#include "board/project_board.hpp" +#include "libiflytop_micro\stm32\basic\basic.h" +#include "libtrinamic/src/ic/tmc2160.hpp" +#include "libtrinamic\src\ic\tmc4361A.hpp" +// +#include + +#include "board/hardware.hpp" +#include "i2c.h" +#include "libiflytop_micro\stm32\basic\zsignal.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp" +#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" +#include "lncubator_rotating_control_service.hpp" +#include "lncubator_temperature_control_service.hpp" +#define TAG "main" + +#define ACTIVE_REG(reg, mask, initval) IflytopCanProtocolStackProcesser::activeReg(&IflytopCanStackConfig, reg, mask, (initval)) +#define UPDATE_REG(reg, value, periodms) \ + { \ + static uint32_t lastReportTicket = 0; \ + if (m_hardware.hasPassedMS(lastReportTicket) > (periodms + random(3))) { \ + lastReportTicket = m_hardware.getTicket(); \ + m_protocolStack.writeRegValue(reg, value, false); \ + } \ + } +namespace iflytop { +class Main : public HardwareListener, // + public IflytopCanProtocolStackProcesserListener, + public LncubatorRotatingControlServiceListener { + public: + Hardware m_hardware; + + IflytopCanProtocolStackProcesser::iflytop_can_slave_config_t IflytopCanStackConfig; + icps::Reg_t regList[50]; + // + IflytopCanProtocolStackProcesser m_protocolStack; + LncubatorTemperatureControlService m_tempCtrl; + LncubatorRotatingControlService m_rotatingCtrl; + IflytopMicroOS *os; + + Main() {} + void main(int argc, char const *argv[]); + + void initializeIflytopCanProtocolStackProcesser(); + void updateRegList(); + + virtual void LncubatorRotatingControlService_onException(exception_id_t exception); + virtual void LncubatorRotatingControlService_onMoveToHomeJobFinished(); + virtual void LncubatorRotatingControlService_onMoveSubPositionJobFinished(); + virtual void LncubatorRotatingControlService_onMoveByJobFinished(); + virtual void LncubatorRotatingControlService_startWorking(int32_t dowhat); + + /******************************************************************************* + * override HardwareListener * + *******************************************************************************/ + virtual void Hardware_OnHardwareException(); + virtual void Hardware_OnCanRxData(void *packet); + virtual void Hardware_onHomeRefSwitchISR(); + + /******************************************************************************* + * override IflytopCanProtocolStackProcesserListener * + *******************************************************************************/ + virtual icps::error_t IflytopCanProtocolStack_onHostRegisterWriteEvent( // + icps::Reg_t *reg, int32_t oldvalue, int32_t &newvalue); + + virtual icps::error_t IflytopCanProtocolStack_onHostRegisterReadEvent( // + icps::Reg_t *reg, int32_t &value); + virtual void IflytopCanProtocolStack_onRegisterValueAutoReportEvent(icps::Reg_t *reg, int32_t &value); +}; +} // namespace iflytop \ No newline at end of file diff --git a/texttool/sscom5.13.1.exe b/texttool/sscom5.13.1.exe new file mode 100644 index 0000000..1fe2df0 Binary files /dev/null and b/texttool/sscom5.13.1.exe differ diff --git a/texttool/sscom51.ini b/texttool/sscom51.ini new file mode 100644 index 0000000..f5fe8a9 --- /dev/null +++ b/texttool/sscom51.ini @@ -0,0 +1,383 @@ +;ɾļԻָĬֵ +;SSCOMñļ,ڳúõĴڲַݶԶ,òҪⲿ༭Ķļ! +;ļ޸ĺܴ,ɾļ,򽫻Զһµiniļ. +;׵İǷֺעͷ +;ÿжԻس + +;"="HʾǸHEXݴ +;"="AʾǸASCַ +;Nxʾڼַ(1