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260 lines
9.9 KiB
260 lines
9.9 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 "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\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/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp"
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#include "sdk\components/step_motor_ctrl_module/zcan_master_step_motor_ctrl_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/xy_robot_ctrl_module/zcan_xy_robot_master_module.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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#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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static StepMotor45::cfg_t cfg1 = {
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.max_pos = -1,
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.enable_zero_limit = false,
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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PB13,
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.ioPollType = ZGPIO::kMode_pullup,
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.zeroPinMirror = true,
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.driverPin = {PB15, PD11, PD12, PD13},
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.driverPinMirror = true,
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};
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static StepMotor45::cfg_t cfg2 = {
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.max_pos = -1,
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.enable_zero_limit = false,
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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PG1,
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.ioPollType = ZGPIO::kMode_pullup,
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.zeroPinMirror = false,
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.driverPin = {PG2, PG3, PG4, PG5},
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.driverPinMirror = true,
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};
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static StepMotor45::cfg_t cfg3 = {
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.max_pos = -1,
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.enable_zero_limit = false,
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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PB12,
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.ioPollType = ZGPIO::kMode_pullup,
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.zeroPinMirror = false,
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.driverPin = {PG6, PG7, PG8, PC6},
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.driverPinMirror = true,
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};
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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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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PinNull,
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.zeroPinMirror = false,
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.driverPin = {PE0, PE2, PE4, PE6},
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.driverPinMirror = true,
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};
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static StepMotor45::cfg_t cfg5 = {
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.max_pos = -1,
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.enable_zero_limit = false,
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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PinNull,
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.zeroPinMirror = false,
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.driverPin = {PC13, PE5, PE3, PE1},
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.driverPinMirror = true,
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};
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static StepMotor45::cfg_t cfg6 = {
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.max_pos = -1,
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.enable_zero_limit = false,
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.enable_max_pos_limit = false,
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.mirror = true,
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.zeroPin = PinNull,
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.zeroPinMirror = false,
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.driverPin = {PC12, PD3, PD5, PD7},
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.driverPinMirror = true,
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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;
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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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/*******************************************************************************
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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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MiniRobotCtrlModule g_mini_servo[5];
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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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} // 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 step_motor_cmd_reg();
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void Main::run() {
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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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// 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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/*******************************************************************************
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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(&g_feiteservomotor_bus, 1);
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g_mini_servo[1].initialize(&g_feiteservomotor_bus, 2);
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g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3);
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g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4);
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g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5);
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StepMotor45Scheduler step_motor45_scheduler;
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step_motor45_scheduler.initialize(&htim10, 1000);
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g_step_motor45[0].initialize(&step_motor45_scheduler, cfg1);
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g_step_motor45[1].initialize(&step_motor45_scheduler, cfg2);
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g_step_motor45[2].initialize(&step_motor45_scheduler, cfg3);
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g_step_motor45[3].initialize(&step_motor45_scheduler, cfg4);
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g_step_motor45[4].initialize(&step_motor45_scheduler, cfg5);
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g_step_motor45[5].initialize(&step_motor45_scheduler, cfg6);
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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_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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#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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