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#include <stddef.h>
#include <stdio.h>
#include "sdk/os/zos.hpp"
#include "sdk\components\flash\zsimple_flash.hpp"
#include "sdk\components\zcancmder\zcanreceiver.hpp"
#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
//
#include "sdk\components\flash\znvs.hpp"
//
#include "sdk\components\sensors\tmp117\tmp117.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
// cancmder basic
#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
#include "sdk\components\zcancmder\zcan_board_module.hpp"
#include "sdk\components\zprotocol_helper\micro_computer_module_device_script_cmder_paser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
//
#define TAG "main"
using namespace iflytop;using namespace std;
extern void umain();extern "C" {void StartDefaultTask(void const* argument) { umain(); }}
// static ZCanCmder g_zcanCmder;
// static ZIProtocolParser g_ziProtocolParser;
static ZCanCmder g_zcanCmder;static ZIProtocolParser g_ziProtocolParser;static ZModuleDeviceManager g_zModuleDeviceManager;static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser;static uint32_t g_deviceId = 0;
uint8_t getId() { static bool init = false; static ZGPIO ID0; static ZGPIO ID1; static ZGPIO ID2; static ZGPIO ID3; static ZGPIO ID4; if (!init) { ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true); init = true; } uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16; return id;}
void initcfg() {/**
* @brief ��ʼ�����ã�ϵͳ����Ҫ���ö���Ҫ���������г�ʼ�� */#if 0
static I_StepMotorCtrlModule::flash_config_t cfg; StepMotorCtrlModule::create_default_cfg(cfg); ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg));#endif
}
void initmodule() {#define TIMER2_FREQ 1000
#define TIMER1_FREQ 1000
#define HEART_SHAFT false
/*******************************************************************************
* �������� * *******************************************************************************/ PWMSpeedCtrlModule::config_t fan0cfg = { .name = "fan0", .pwm_cfg = { .name = "fan0pwmtimer", .htim = &htim2, .freq = TIMER2_FREQ, .polarity = false, }, .nfan = 2, .fan0Channel = {3, 0, 0, 0}, .fanFBGpioCfg = { {.pin = PC10}, {.pin = PC11}, }, .fanPowerGpioCfg = { { .pin = PC4, .mode = ZGPIO::kMode_nopull, .mirror = false, }, }, .enablefbcheck = false, .enableTrace = true, }; PWMSpeedCtrlModule::config_t fan1cfg = { .name = "fan1", .pwm_cfg = { .name = "fan1pwmtimer", .htim = &htim2, .freq = TIMER2_FREQ, .polarity = false, }, .nfan = 2, .fan0Channel = {4, 0, 0, 0}, .fanFBGpioCfg = { {.pin = PC12}, {.pin = PC13}, }, .fanPowerGpioCfg = { { .pin = PC5, .mode = ZGPIO::kMode_nopull, .mirror = false, }, }, .enablefbcheck = false, .enableTrace = true, };
/*******************************************************************************
* ˮ������ * *******************************************************************************/ PWMSpeedCtrlModule::config_t pumpcfg = { .name = "pump", .pwm_cfg = { .name = "pumptime", .htim = &htim2, .freq = TIMER2_FREQ, .polarity = false, .calltrace = true, }, .nfan = 1, .fan0Channel = {2, 0, 0, 0}, .fanFBGpioCfg = { {.pin = PC3}, }, .fanPowerGpioCfg = { { .pin = PC2, .mode = ZGPIO::kMode_nopull, .mirror = false, .log_when_setstate = true,
}, }, .enablefbcheck = false, .enableTrace = true, };
DRV8710::config_t peltier_config0 = { .pwm_cfg = { .name = "peltier0_pwm", .htim = &htim1, .freq = TIMER1_FREQ, .polarity = true, }, .in1_chnannel_index = 1, // PE9
.in2 = PE11, .nsleep = PB2, .nfault = PB3, .shaft = HEART_SHAFT, .enableTrace = true, };
DRV8710::config_t peltier_config1 = { .pwm_cfg = { .name = "peltier1_pwm", .htim = &htim1, .freq = TIMER1_FREQ, .polarity = true, }, .in1_chnannel_index = 3, // PE13
.in2 = PE14, .nsleep = PB13, .nfault = PB14, .shaft = HEART_SHAFT, .enableTrace = true, };
static TMP117 temp[4]; static PWMSpeedCtrlModule fan0; static PWMSpeedCtrlModule fan1; static PWMSpeedCtrlModule pump; static DRV8710 peltier0; static DRV8710 peltier1;
temp[0].initializate(&hi2c1, TMP117::ID0); temp[1].initializate(&hi2c1, TMP117::ID1); temp[2].initializate(&hi2c1, TMP117::ID2); temp[3].initializate(&hi2c1, TMP117::ID3);
fan0.initialize(&fan0cfg); fan1.initialize(&fan1cfg); pump.initialize(&pumpcfg); peltier0.initialize(&peltier_config0); peltier1.initialize(&peltier_config1);
{ /**
* @brief ���ӱ���ģ����ʼ�� */ static ZCanBoardModule::hardware_config_t cfg = { .input = { {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, {PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, }, .output = { {PD0, ZGPIO::kMode_nopull, false, false}, } //
}; static ZCanBoardModule boardmodule; boardmodule.initialize(g_deviceId, &cfg); g_ziProtocolParser.registerModule(&boardmodule); g_zModuleDeviceManager.registerModule(&boardmodule); }
{ /*******************************************************************************
* ����ģ����ʼ�� * *******************************************************************************/ static WaterCoolingTemperatureControlModule waterCoolingTemperatureControlModule; static WaterCoolingTemperatureControlModule::config_t temp_ctrl_config; waterCoolingTemperatureControlModule.createDefaultConfig(&temp_ctrl_config); WaterCoolingTemperatureControlModule::hardwared_config_t hardwared_config = //
{ .temperature_sensor = {&temp[0], &temp[1], &temp[2], &temp[3]}, .fanTable = {&fan0, &fan1}, .pump = &pump, .peltier_ctrl = {&peltier0, &peltier1}, };
waterCoolingTemperatureControlModule.initialize(g_deviceId + 1, &temp_ctrl_config, &hardwared_config); g_zModuleDeviceManager.registerModule(&waterCoolingTemperatureControlModule); g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule); }}void umain() { chip_cfg_t chipcfg; chipcfg.us_dleay_tim = &DELAY_US_TIMER; chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER; chipcfg.huart = &DEBUG_UART; chipcfg.debuglight = DEBUG_LIGHT_GPIO;
chip_init(&chipcfg);
zos_cfg_t zoscfg; zos_init(&zoscfg);
g_deviceId = getId() * 10; ZLOGI(TAG, "motorId:%d", g_deviceId);
/*******************************************************************************
* NVSINIT * *******************************************************************************/ ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR); initcfg(); ZNVS::ins().init_config();
auto zcanCmder_cfg = g_zcanCmder.createCFG(g_deviceId); g_zcanCmder.init(zcanCmder_cfg); g_ziProtocolParser.initialize(&g_zcanCmder);
static ZUARTDmaReceiver dmaUartReceiver; static CmdSchedulerV2 cmder; ZUARTDmaReceiver::hardware_config_t cfg = { .huart = &DEBUG_UART, .dma_rx = &DEBUG_UART_DMA, .rxbuffersize = 1024, .rxovertime_ms = 10, }; dmaUartReceiver.initialize(&cfg); cmder.initialize(&dmaUartReceiver); g_zModuleDeviceManager.initialize(nullptr); g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager);
initmodule(); while (true) { OSDefaultSchduler::getInstance()->loop(); g_zcanCmder.loop(); cmder.schedule(); }}
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