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#include "main.hpp"
#include <stddef.h>
#include <stdio.h>
//
#include "feite_servo_motor.hpp"
#include "sdk/os/zos.hpp"
//
// #include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
//
#include "sdk\components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
#include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
#include "sdk\components\step_motor_45\script_cmder_step_motor_45.hpp"
// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
#include "intelligent_winding_robot_ctrl.hpp"
#include "sdk\components\taojingchi_screen\taojingchi_screen_service.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp"
//
#include "app_zmodule_device_manager.hpp"
#define TAG "main"
namespace iflytop {Main gmain;};
using namespace iflytop;using namespace std;#define CHECK_ARGC(n) \
if (argc != (n + 1)) { \ ZLOGE(TAG, "argc != %d", n); \ context->breakflag = true; \ return; \ }extern "C" {void StartDefaultTask(void const* argument) { iflytop::gmain.run(); }}/*******************************************************************************
* ���� * *******************************************************************************/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 = true, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PB12, .ioPollType = ZGPIO::kMode_pullup, .zeroPinMirror = true,
.driverPin = {PB15, PD11, PD12, PD13}, .driverPinMirror = true,};static StepMotor45::cfg_t cfg2 = { .max_pos = -1, .enable_zero_limit = true, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PG1, .ioPollType = ZGPIO::kMode_pullup, .zeroPinMirror = true,
.driverPin = {PG2, PG3, PG4, PG5}, .driverPinMirror = true,};// PB13
#if 0
static StepMotor45::cfg_t cfg3 = { .max_pos = -1, .enable_zero_limit = true, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PB12, .ioPollType = ZGPIO::kMode_pullup, .zeroPinMirror = true,
.driverPin = {PG6, PG7, PG8, PC6}, .driverPinMirror = true,};static StepMotor45::cfg_t cfg4 = { .max_pos = -1, .enable_zero_limit = false, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PinNull, .zeroPinMirror = false,
.driverPin = {PE0, PE2, PE4, PE6}, .driverPinMirror = true,};
static StepMotor45::cfg_t cfg5 = { .max_pos = -1, .enable_zero_limit = false, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PinNull, .zeroPinMirror = false,
.driverPin = {PC13, PE5, PE3, PE1}, .driverPinMirror = true,};static StepMotor45::cfg_t cfg6 = { .max_pos = -1, .enable_zero_limit = false, .enable_max_pos_limit = false, .mirror = true,
.zeroPin = PinNull, .zeroPinMirror = false,
.driverPin = {PC12, PD3, PD5, PD7}, .driverPinMirror = true,};#endif
namespace iflytop {/*******************************************************************************
* �������� * *******************************************************************************/ZCanCommnaderMaster m_zcanCommnaderMaster; // can����
ModbusBlockHost g_modbusblockhost; // modbus����
FeiTeServoMotor g_feiteservomotor_bus; // ���ض�������
APPDM g_zmodule_device_manager; // ���ڹ������е��豸
StepMotor45Scheduler step_motor45_scheduler; // 45��������������
CmdSchedulerV2 g_cmdScheduler; // �����ַ���ָ������
TaoJingChiScreenService g_taojingchi_screen_service; // �Ծ�����Ļ����
MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser; // ���ڽ������е��豸ָ��
ScriptCmderEq20Servomotor g_eq20_servomotor_script_cmder; // eq20
ScriptCmderStepMotor45 g_step_motor45_script_cmder; // 45��������
ScirptCmderMiniServoMotorCtrlModule g_mini_servo_motor_script_cmder; // ����
/*******************************************************************************
* �����豸 * *******************************************************************************/Eq20ServoMotor g_main_servo_motor;StepMotor45 g_step_motor45[7];MiniRobotCtrlModule g_mini_servo[10];/*******************************************************************************
* CAN�豸 * *******************************************************************************/ZIProtocolProxy g_xyrobotctrlmodule;ZIProtocolProxy g_z_step_motor;
IntelligentWindingRobotCtrl g_intelligent_winding_robot_ctrl;
} // namespace iflytop
extern "C" {extern DMA_HandleTypeDef hdma_usart3_rx;extern DMA_HandleTypeDef hdma_usart3_tx;}
extern "C" {}extern DMA_HandleTypeDef hdma_usart2_rx;extern DMA_HandleTypeDef hdma_usart2_tx;
extern void script_reg_fn();void regfn() { script_reg_fn(); }
extern void step_motor_cmd_reg();void Main::run() { // PB13
/*******************************************************************************
* ϵͳ��ʼ�� * *******************************************************************************/
chip_init(&chipcfg); zos_cfg_t zoscfg; zos_init(&zoscfg);
/*******************************************************************************
* ���߳�ʼ�� * *******************************************************************************/ auto* cfg = m_zcanCommnaderMaster.createCFG(); // can��������
m_zcanCommnaderMaster.init(cfg); // can����
g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); // modbus����
g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx); // ���ض�������
step_motor45_scheduler.initialize(&htim10); // �豸��������ʼ��
g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster); // �豸ָ����������ʼ��
/*******************************************************************************
* �豸�����ͳ�ʼ�� * *******************************************************************************/ g_main_servo_motor.init(2, &g_modbusblockhost, 1); g_xyrobotctrlmodule.initialize(3, &m_zcanCommnaderMaster); g_z_step_motor.initialize(4, &m_zcanCommnaderMaster);
g_mini_servo[0].initialize(11, &g_feiteservomotor_bus, 1); g_mini_servo[1].initialize(12, &g_feiteservomotor_bus, 2); g_mini_servo[2].initialize(13, &g_feiteservomotor_bus, 3); g_mini_servo[3].initialize(14, &g_feiteservomotor_bus, 4); g_mini_servo[4].initialize(15, &g_feiteservomotor_bus, 5); g_mini_servo[5].initialize(16, &g_feiteservomotor_bus, 6); g_mini_servo[6].initialize(23, &g_feiteservomotor_bus, 23);
g_step_motor45[0].initialize(21, &step_motor45_scheduler, cfg1); g_step_motor45[1].initialize(22, &step_motor45_scheduler, cfg2); // g_step_motor45[2].initialize(23, &step_motor45_scheduler, cfg3);
step_motor45_scheduler.start();
g_zmodule_device_manager.registerModule(&g_main_servo_motor); g_zmodule_device_manager.registerModule(&g_xyrobotctrlmodule); g_zmodule_device_manager.registerModule(&g_z_step_motor); g_zmodule_device_manager.registerModule(&g_mini_servo[0]); g_zmodule_device_manager.registerModule(&g_mini_servo[1]); g_zmodule_device_manager.registerModule(&g_mini_servo[2]); g_zmodule_device_manager.registerModule(&g_mini_servo[3]); g_zmodule_device_manager.registerModule(&g_mini_servo[4]); g_zmodule_device_manager.registerModule(&g_mini_servo[5]); g_zmodule_device_manager.registerModule(&g_mini_servo[6]); g_zmodule_device_manager.registerModule(&g_step_motor45[0]); g_zmodule_device_manager.registerModule(&g_step_motor45[1]); g_zmodule_device_manager.registerModule(&g_step_motor45[2]);
int32_t status; g_zmodule_device_manager.module_get_status(21, &status);
// status *= 2;
// status
g_intelligent_winding_robot_ctrl.initialize(&g_zmodule_device_manager, &g_cmdScheduler);
/*******************************************************************************
* g_xyrobotctrlmodule * *******************************************************************************/ g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_shift, 0); g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_shift, 0); g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_one_circle_pulse, 7344); g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_one_circle_pulse, 7344); g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 50); g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_dec, 1600); g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_speed, 10); g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_dec, 1600); g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_velocity, 600); g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_acc, 1000); g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_dec, 1000); g_xyrobotctrlmodule.module_set_param(k_cfg_stepmotor_irun, 4); g_xyrobotctrlmodule.module_active_cfg();
g_z_step_motor.module_set_param(kcfg_motor_x_shift, 0); g_z_step_motor.module_set_param(kcfg_motor_x_one_circle_pulse, 800); g_z_step_motor.module_active_cfg();
/*******************************************************************************
* �����ַ���ָ������ * *******************************************************************************/ g_cmdScheduler.initialize(&DEBUG_UART, 1000); //
g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager); g_eq20_servomotor_script_cmder.initialize(&g_cmdScheduler); g_eq20_servomotor_script_cmder.regmodule(1, &g_main_servo_motor);
g_step_motor45_script_cmder.initialize(&g_cmdScheduler); g_step_motor45_script_cmder.regmodule(1, &g_step_motor45[0]); g_step_motor45_script_cmder.regmodule(2, &g_step_motor45[1]); g_step_motor45_script_cmder.regmodule(3, &g_step_motor45[2]);
g_mini_servo_motor_script_cmder.initialize(&g_cmdScheduler); g_mini_servo_motor_script_cmder.regmodule(1, &g_mini_servo[0]); g_mini_servo_motor_script_cmder.regmodule(2, &g_mini_servo[1]); g_mini_servo_motor_script_cmder.regmodule(3, &g_mini_servo[2]); g_mini_servo_motor_script_cmder.regmodule(4, &g_mini_servo[3]); g_mini_servo_motor_script_cmder.regmodule(5, &g_mini_servo[4]); g_mini_servo_motor_script_cmder.regmodule(6, &g_mini_servo[5]);
g_taojingchi_screen_service.initialize( &huart5, 1, /**
* @brief ˽��Э������ */ [this](const char* cmd, int32_t paramN, const char** paraV) { //
ZLOGI(TAG, "process cmd:%s", cmd); }, /**
* @brief �վ�����Ϣ���� */ [this](uint8_t* data, size_t len) {}); regfn();#if 0
step_motor_cmd_reg();#endif
while (true) { OSDefaultSchduler::getInstance()->loop(); g_cmdScheduler.schedule(); osDelay(1); }}
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