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125 lines
5.4 KiB
125 lines
5.4 KiB
#include "main.hpp"
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#include <stddef.h>
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#include <stdio.h>
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//
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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\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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#include "sdk\components\step_motor_45\step_motor_45.hpp"
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#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
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#include "sdk\components\zcancmder\zcanreceiver_master.hpp"
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//
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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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#include "sdk\components\step_motor_45\script_cmder_step_motor_45.hpp"
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// #include "sdk\components\scriptcmder_module\xy_robot_script_cmder_module.hpp"
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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\taojingchi_screen\taojingchi_screen_service.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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//
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#define TAG "main"
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namespace iflytop {
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Main gmain;
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};
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using namespace iflytop;
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using namespace std;
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#define CHECK_ARGC(n) \
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if (argc != (n + 1)) { \
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ZLOGE(TAG, "argc != %d", n); \
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context->breakflag = true; \
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return; \
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}
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extern "C" {
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void StartDefaultTask(void const* argument) { iflytop::gmain.run(); }
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}
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/*******************************************************************************
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* 配置 *
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*******************************************************************************/
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static chip_cfg_t chipcfg = {
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.us_dleay_tim = &DELAY_US_TIMER,
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.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER,
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.huart = &DEBUG_UART,
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.debuglight = DEBUG_LIGHT_GPIO,
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};
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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; // can总线
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ModbusBlockHost g_modbusblockhost; // modbus总线
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CmdSchedulerV2 g_cmdScheduler; // 串口字符串指令总线
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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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ZModuleDeviceManager g_zmodule_device_manager; // 设备管理器
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/*******************************************************************************
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* CAN设备 *
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*******************************************************************************/
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ZIProtocolProxy protocolProxy[30];
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} // namespace iflytop
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extern "C" {
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extern DMA_HandleTypeDef hdma_usart3_rx;
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extern DMA_HandleTypeDef hdma_usart3_tx;
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}
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extern "C" {}
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extern DMA_HandleTypeDef hdma_usart2_rx;
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extern DMA_HandleTypeDef hdma_usart2_tx;
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extern void script_reg_fn();
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void regfn() { script_reg_fn(); }
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extern void step_motor_cmd_reg();
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void Main::run() {
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// PB13
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/*******************************************************************************
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* 系统初始化 *
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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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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_zmodule_device_manager.initialize(&m_zcanCommnaderMaster);
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/*******************************************************************************
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* 设备构造和初始化 *
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*******************************************************************************/
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for (size_t i = 0; i < ZARRAY_SIZE(protocolProxy); i++) {
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protocolProxy[i].initialize(i + 1, &m_zcanCommnaderMaster);
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g_zmodule_device_manager.registerModule(&protocolProxy[i]);
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}
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/*******************************************************************************
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* 串口字符串指令总线 *
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*******************************************************************************/
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g_cmdScheduler.initialize(&DEBUG_UART, 1000); //
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g_zmodule_device_script_cmder_paser.initialize(&g_cmdScheduler, &g_zmodule_device_manager);
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#if 0
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step_motor_cmd_reg();
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#endif
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while (true) {
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OSDefaultSchduler::getInstance()->loop();
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g_cmdScheduler.schedule();
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osDelay(1);
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}
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}
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