iflytop_cancmder/usrc/main.cpp

#include "main.hpp"

#include <stddef.h>
#include <stdio.h>

//
#include "sdk/os/zos.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"

#define TAG "main"
namespace iflytop {
Main gmain;
};

using namespace iflytop;
using namespace std;

extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
/*******************************************************************************
 *                                    ����                                     *
 *******************************************************************************/
static chip_cfg_t chipcfg = {
    .us_dleay_tim          = &DELAY_US_TIMER,
    .tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER,
    .huart                 = &DEBUG_UART,
    .debuglight            = DEBUG_LIGHT_GPIO,
};

static StepMotor45::cfg_t cfg1 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = false,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PB15, PD11, PD12, PD13},
    .driverPinMirror = false,
};

static StepMotor45::cfg_t cfg2 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = false,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PG2, PG3, PG4, PG5},
    .driverPinMirror = false,
};

static StepMotor45::cfg_t cfg3 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = false,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PG6, PG7, PG8, PC6},
    .driverPinMirror = false,
};

static StepMotor45::cfg_t cfg4 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = false,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PC7, PC8, PC9, PA8},
    .driverPinMirror = false,
};

static StepMotor45::cfg_t cfg5 = {
    .max_pos              = -1,
    .enable_zero_limit    = false,
    .enable_max_pos_limit = false,
    .mirror               = false,

    .zeroPin       = PinNull,
    .zeroPinMirror = false,

    .driverPin       = {PA13, PA14, PA15, PC10},
    .driverPinMirror = false,
};

/*******************************************************************************
 *                                    ����                                     *
 *******************************************************************************/

static StepMotor45 g_step_motor45_1;
static StepMotor45 g_step_motor45_2;
static StepMotor45 g_step_motor45_3;
static StepMotor45 g_step_motor45_4;
static StepMotor45 g_step_motor45_5;

void Main::run() {
  /*******************************************************************************
   *                                 ϵͳ��ʼ��                                  *
   *******************************************************************************/

  chip_init(&chipcfg);

  zos_cfg_t zoscfg;
  zos_init(&zoscfg);

  g_step_motor45_1.initialize(cfg1);
  g_step_motor45_2.initialize(cfg2);
  g_step_motor45_3.initialize(cfg3);
  g_step_motor45_4.initialize(cfg4);
  g_step_motor45_5.initialize(cfg5);

  StepMotor45Scheduler step_motor45_scheduler;
  step_motor45_scheduler.initialize(&htim10, 1000);
  step_motor45_scheduler.addMotor(&g_step_motor45_1);
  step_motor45_scheduler.addMotor(&g_step_motor45_2);
  step_motor45_scheduler.addMotor(&g_step_motor45_3);
  step_motor45_scheduler.addMotor(&g_step_motor45_4);
  step_motor45_scheduler.addMotor(&g_step_motor45_5);
  //   g_step_motor45_1.rotate(true, 1000);

  step_motor45_scheduler.start();

  CmdScheduler cmdScheduler;
  cmdScheduler.initialize(&DEBUG_UART, 1000);
  cmdScheduler.registerCmd("help",  //
                           [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { ZLOGI(TAG, "do_help"); });

  while (true) {
    OSDefaultSchduler::getInstance()->loop();
    cmdScheduler.schedule();
    osDelay(1);
  }
}