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@ -7,7 +7,7 @@ |
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#include "feite_servo_motor.hpp"
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#include "sdk/os/zos.hpp"
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//
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#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
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// #include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
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#include "sdk\components\eq_20_asb_motor\eq20_servomotor.hpp"
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#include "sdk\components\iflytop_can_slave_module_master_end\stepmotor.hpp"
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#include "sdk\components\iflytop_can_slave_v1\iflytop_can_master.hpp"
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@ -16,9 +16,8 @@ |
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#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
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//
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#include "sdk\components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
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#include "sdk\components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp"
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#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
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#include "sdk\components\eq_20_asb_motor\script_cmder_eq20_servomotor.hpp"
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#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
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#include "sdk\components\mini_servo_motor\scirpt_cmder_mini_servo_motor_ctrl_module.hpp"
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@ -27,6 +26,10 @@ |
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// #include "sdk\components\zcancmder_master_module/zcan_master_step_motor_ctrl_module.hpp"
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// #include "sdk\components\zcancmder_master_module\zcan_xy_robot_master_module.hpp"
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#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_proxy.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_script_cmder_paser.hpp"
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#define TAG "main"
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namespace iflytop { |
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Main gmain; |
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@ -94,7 +97,7 @@ static StepMotor45::cfg_t cfg3 = { |
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.driverPin = {PG6, PG7, PG8, PC6}, |
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.driverPinMirror = true, |
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}; |
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#if 0
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static StepMotor45::cfg_t cfg4 = { |
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.max_pos = -1, |
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.enable_zero_limit = false, |
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@ -132,36 +135,31 @@ static StepMotor45::cfg_t cfg6 = { |
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.driverPin = {PC12, PD3, PD5, PD7}, |
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.driverPinMirror = true, |
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}; |
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#endif
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namespace iflytop { |
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/*******************************************************************************
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* 基础组件 * |
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*******************************************************************************/ |
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ZCanCommnaderMaster m_zcanCommnaderMaster; |
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CmdScheduler g_cmdScheduler; |
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ModbusBlockHost g_modbusblockhost; |
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FeiTeServoMotor g_feiteservomotor_bus; |
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CmdSchedulerV2 g_cmdScheduler; // 串口字符串指令总线
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ZCanCommnaderMaster m_zcanCommnaderMaster; // can总线
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ModbusBlockHost g_modbusblockhost; // modbus总线
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FeiTeServoMotor g_feiteservomotor_bus; // 飞特舵机总线
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ZModuleDeviceManager g_zmodule_device_manager; // 用于管理所有的设备
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MicroComputerModuleDeviceScriptCmderPaser g_zmodule_device_script_cmder_paser; // 用于解析所有的设备指令
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StepMotor45Scheduler step_motor45_scheduler; // 45步进电机调度器
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/*******************************************************************************
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* 本地设备 * |
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*******************************************************************************/ |
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StepMotor45 g_step_motor45[7]; |
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Eq20ServoMotor g_main_servo_motor; |
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StepMotor45 g_step_motor45[7]; |
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MiniRobotCtrlModule g_mini_servo[6]; |
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/*******************************************************************************
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* CAN设备 * |
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*******************************************************************************/ |
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I_XYRobotCtrlModule* g_xyrobotctrlmodule = nullptr; |
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I_StepMotorCtrlModule* g_z_step_motor = nullptr; |
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/*******************************************************************************
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* 串口指令 * |
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*******************************************************************************/ |
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StepMotorCtrlScriptCmderModule g_step_motor_ctrl_script_cmder_module; |
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XYRobotScriptCmderModule g_script_xyrobot; |
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ScriptCmderEq20Servomotor g_script_eq20servomotor; |
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ScirptCmderMiniServoMotorCtrlModule g_script_mini_servo_motor_ctrl_module; |
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ScriptCmderStepMotor45 g_script_step_motor45; |
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ZIProtocolProxy g_xyrobotctrlmodule; |
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ZIProtocolProxy g_z_step_motor; |
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} // namespace iflytop
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@ -181,75 +179,54 @@ void Main::run() { |
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*******************************************************************************/ |
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chip_init(&chipcfg); |
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zos_cfg_t zoscfg; |
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zos_init(&zoscfg); |
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/*******************************************************************************
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* 总线初始化 * |
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*******************************************************************************/ |
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// 指令总线
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g_cmdScheduler.initialize(&DEBUG_UART, 1000); |
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// can总线
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auto* cfg = m_zcanCommnaderMaster.createCFG(); |
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m_zcanCommnaderMaster.init(cfg); |
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// 飞特舵机总线
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g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx); |
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// modbus总线
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g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); |
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g_main_servo_motor.init(&g_modbusblockhost, 1); |
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g_cmdScheduler.initialize(&DEBUG_UART, 1000); // 串口字符串指令总线
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auto* cfg = m_zcanCommnaderMaster.createCFG(); // can总线配置
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m_zcanCommnaderMaster.init(cfg); // can总线
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g_modbusblockhost.initialize(&huart2, &hdma_usart2_tx, &hdma_usart2_rx); // modbus总线
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g_feiteservomotor_bus.initialize(&huart3, &hdma_usart3_rx, &hdma_usart3_tx); // 飞特舵机总线
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step_motor45_scheduler.initialize(&htim10); |
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// 设备管理器初始化
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g_zmodule_device_manager.initialize(&m_zcanCommnaderMaster); |
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// 设备指令解析器初始化
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g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager); |
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/*******************************************************************************
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* 设备构造和初始化 * |
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*******************************************************************************/ |
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// g_z_step_motor = zcancmder_master::create_zcan_master_step_motor_ctrl_module(&m_zcanCommnaderMaster, 1);
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// ZASSERT(g_z_step_motor != nullptr);
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// g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
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g_mini_servo[0].initialize(1, &g_feiteservomotor_bus, 1); |
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g_mini_servo[1].initialize(2, &g_feiteservomotor_bus, 2); |
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g_mini_servo[2].initialize(3, &g_feiteservomotor_bus, 3); |
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g_mini_servo[3].initialize(4, &g_feiteservomotor_bus, 4); |
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g_mini_servo[4].initialize(5, &g_feiteservomotor_bus, 5); |
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g_mini_servo[5].initialize(6, &g_feiteservomotor_bus, 6); |
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StepMotor45Scheduler step_motor45_scheduler; |
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step_motor45_scheduler.initialize(&htim10); |
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g_step_motor45[0].initialize(1, &step_motor45_scheduler, cfg1); |
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g_step_motor45[1].initialize(2, &step_motor45_scheduler, cfg2); |
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g_step_motor45[2].initialize(3, &step_motor45_scheduler, cfg3); |
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g_step_motor45[3].initialize(4, &step_motor45_scheduler, cfg4); |
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g_step_motor45[4].initialize(5, &step_motor45_scheduler, cfg5); |
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g_step_motor45[5].initialize(6, &step_motor45_scheduler, cfg6); |
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g_main_servo_motor.init(2, &g_modbusblockhost, 1); |
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g_xyrobotctrlmodule.initialize(3, &m_zcanCommnaderMaster); |
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g_z_step_motor.initialize(4, &m_zcanCommnaderMaster); |
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g_mini_servo[0].initialize(11, &g_feiteservomotor_bus, 1); |
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g_mini_servo[1].initialize(12, &g_feiteservomotor_bus, 2); |
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g_mini_servo[2].initialize(13, &g_feiteservomotor_bus, 3); |
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g_mini_servo[3].initialize(14, &g_feiteservomotor_bus, 4); |
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g_mini_servo[4].initialize(15, &g_feiteservomotor_bus, 5); |
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g_mini_servo[5].initialize(16, &g_feiteservomotor_bus, 6); |
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g_step_motor45[0].initialize(21, &step_motor45_scheduler, cfg1); |
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g_step_motor45[1].initialize(22, &step_motor45_scheduler, cfg2); |
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g_step_motor45[2].initialize(23, &step_motor45_scheduler, cfg3); |
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step_motor45_scheduler.start(); |
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/*******************************************************************************
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* CMD * |
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*******************************************************************************/ |
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g_script_eq20servomotor.initialize(&g_cmdScheduler); |
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g_script_eq20servomotor.regmodule(1, &g_main_servo_motor); |
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g_step_motor_ctrl_script_cmder_module.initialize(&g_cmdScheduler); |
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g_step_motor_ctrl_script_cmder_module.regmodule(1, g_z_step_motor); |
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g_script_xyrobot.initialize(&g_cmdScheduler); |
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g_script_xyrobot.regmodule(1, g_xyrobotctrlmodule); |
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g_script_mini_servo_motor_ctrl_module.initialize(&g_cmdScheduler); |
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g_script_mini_servo_motor_ctrl_module.regmodule(1, &g_mini_servo[0]); |
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g_script_mini_servo_motor_ctrl_module.regmodule(2, &g_mini_servo[1]); |
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g_script_mini_servo_motor_ctrl_module.regmodule(3, &g_mini_servo[2]); |
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g_script_mini_servo_motor_ctrl_module.regmodule(4, &g_mini_servo[3]); |
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g_script_mini_servo_motor_ctrl_module.regmodule(5, &g_mini_servo[4]); |
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g_script_mini_servo_motor_ctrl_module.regmodule(6, &g_mini_servo[5]); |
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g_script_step_motor45.initialize(&g_cmdScheduler); |
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g_script_step_motor45.regmodule(1, &g_step_motor45[0]); |
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g_script_step_motor45.regmodule(2, &g_step_motor45[1]); |
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g_script_step_motor45.regmodule(3, &g_step_motor45[2]); |
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g_script_step_motor45.regmodule(4, &g_step_motor45[3]); |
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g_script_step_motor45.regmodule(5, &g_step_motor45[4]); |
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g_script_step_motor45.regmodule(6, &g_step_motor45[5]); |
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g_zmodule_device_manager.registerModule(&g_main_servo_motor); |
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g_zmodule_device_manager.registerModule(&g_xyrobotctrlmodule); |
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g_zmodule_device_manager.registerModule(&g_z_step_motor); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[0]); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[1]); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[2]); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[3]); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[4]); |
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g_zmodule_device_manager.registerModule(&g_mini_servo[5]); |
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g_zmodule_device_manager.registerModule(&g_step_motor45[0]); |
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g_zmodule_device_manager.registerModule(&g_step_motor45[1]); |
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g_zmodule_device_manager.registerModule(&g_step_motor45[2]); |
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#if 0
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step_motor_cmd_reg(); |
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