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@ -5,7 +5,6 @@ |
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#include "sdk\components\flash\zsimple_flash.hpp"
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#include "sdk\components\zcancmder\zcanreceiver.hpp"
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#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\protocol_parser.hpp"
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//
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#include "sdk\components\flash\znvs.hpp"
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//
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@ -16,6 +15,14 @@ |
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.cpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module_factory.hpp"
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// cancmder basic
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#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
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#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
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#include "sdk\components\zcancmder\zcan_board_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_parser.hpp"
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#include "sdk\components\zprotocols\zcancmder_v2\zmodule_device_manager.hpp"
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//
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#define TAG "main"
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using namespace iflytop; |
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using namespace std; |
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@ -25,8 +32,14 @@ extern "C" { |
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void StartDefaultTask(void const* argument) { umain(); } |
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} |
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static ZCanCmder g_zcanCmder; |
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static ZIProtocolParser g_ziProtocolParser; |
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// static ZCanCmder g_zcanCmder;
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// static ZIProtocolParser g_ziProtocolParser;
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static ZCanCmder g_zcanCmder; |
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static ZIProtocolParser g_ziProtocolParser; |
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static ZModuleDeviceManager g_zModuleDeviceManager; |
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static MicroComputerModuleDeviceScriptCmderPaser g_zModuleDeviceScriptCmderPaser; |
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static uint32_t g_deviceId = 0; |
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uint8_t getId() { |
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static bool init = false; |
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@ -47,47 +60,32 @@ uint8_t getId() { |
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return id; |
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} |
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void umain() { |
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chip_cfg_t chipcfg; |
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chipcfg.us_dleay_tim = &DELAY_US_TIMER; |
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chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER; |
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chipcfg.huart = &DEBUG_UART; |
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chipcfg.debuglight = DEBUG_LIGHT_GPIO; |
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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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uint8_t deviceId = getId(); |
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ZLOGI(TAG, "motorId:%d", deviceId); |
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if (deviceId == 0) { |
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ZLOGE(TAG, "motorId can't be 0"); |
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chip_set_error(); |
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while (true) { |
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} |
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} |
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void initcfg() { |
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/**
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* @brief 初始化配置，系统中需要配置都需要在这里进行初始化 |
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*/ |
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#if 0
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/*******************************************************************************
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* NVSINIT * |
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*******************************************************************************/ |
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ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR); |
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{ |
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static I_StepMotorCtrlModule::flash_config_t cfg; |
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StepMotorCtrlModule::create_default_cfg(cfg); |
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ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg)); |
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} |
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ZNVS::ins().init_config(); |
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static I_StepMotorCtrlModule::flash_config_t cfg; |
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StepMotorCtrlModule::create_default_cfg(cfg); |
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ZNVS::ins().alloc_config(MOTOR_CFG_FLASH_MARK, (uint8_t*)&cfg, sizeof(cfg)); |
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#endif
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} |
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void initmodule() { |
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#define TIMER2_FREQ 1000
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#define TIMER1_FREQ 1000
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#define HEART_SHAFT false
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/*******************************************************************************
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* 风扇配置 * |
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*******************************************************************************/ |
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PWMSpeedCtrlModule::config_t fan0cfg = { |
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.fanCtrlTim = &htim2, |
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.pwm_cfg = |
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{ |
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.name = "fan0pwmtimer", |
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.htim = &htim2, |
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.freq = TIMER2_FREQ, |
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.polarity = true, |
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}, |
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.nfan = 2, |
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.fan0Channel = {3, 0, 0, 0}, |
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.fanFBGpioCfg = |
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@ -97,11 +95,23 @@ void umain() { |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC4, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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{ |
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.pin = PC4, |
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.mode = ZGPIO::kMode_nopull, |
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.mirror = false, |
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}, |
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}, |
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.enablefbcheck = true, |
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.enableTrace = true, |
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}; |
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PWMSpeedCtrlModule::config_t fan1cfg = { |
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.fanCtrlTim = &htim2, |
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.pwm_cfg = |
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{ |
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.name = "fan1pwmtimer", |
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.htim = &htim2, |
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.freq = TIMER2_FREQ, |
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.polarity = true, |
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}, |
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.nfan = 2, |
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.fan0Channel = {4, 0, 0, 0}, |
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.fanFBGpioCfg = |
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@ -111,15 +121,28 @@ void umain() { |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC5, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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{ |
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.pin = PC5, |
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.mode = ZGPIO::kMode_nopull, |
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.mirror = false, |
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}, |
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}, |
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.enablefbcheck = true, |
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.enableTrace = true, |
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}; |
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/*******************************************************************************
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* 水泵配置 * |
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*******************************************************************************/ |
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PWMSpeedCtrlModule::config_t pumpcfg = { |
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.fanCtrlTim = &htim2, |
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.pwm_cfg = |
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{ |
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.name = "pumptime", |
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.htim = &htim2, |
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.freq = TIMER2_FREQ, |
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.polarity = true, |
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.calltrace = true, |
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}, |
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.nfan = 1, |
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.fan0Channel = {2, 0, 0, 0}, |
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.fanFBGpioCfg = |
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@ -128,27 +151,48 @@ void umain() { |
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}, |
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.fanPowerGpioCfg = |
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{ |
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{.pin = PC2, .mode = ZGPIO::kMode_nopull, .mirror = false}, |
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{ |
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.pin = PC2, |
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.mode = ZGPIO::kMode_nopull, |
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.mirror = false, |
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.log_when_setstate = true, |
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}, |
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}, |
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.enablefbcheck = false, |
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.enableTrace = true, |
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}; |
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DRV8710::config_t peltier_config0 = { |
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.tim = &htim1, |
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.in1_chnannel_index = 1, |
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.in2 = PE10, |
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.pwm_cfg = |
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{ |
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.name = "peltier0_pwm", |
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.htim = &htim1, |
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.freq = TIMER1_FREQ, |
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.polarity = true, |
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}, |
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.in1_chnannel_index = 1, // PE9
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.in2 = PE11, |
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.nsleep = PB2, |
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.nfault = PB3, |
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.shaft = false, |
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.shaft = HEART_SHAFT, |
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.enableTrace = true, |
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}; |
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DRV8710::config_t peltier_config1 = { |
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.tim = &htim1, |
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.in1_chnannel_index = 3, |
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.pwm_cfg = |
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{ |
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.name = "peltier1_pwm", |
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.htim = &htim1, |
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.freq = TIMER1_FREQ, |
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.polarity = true, |
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}, |
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.in1_chnannel_index = 3, // PE13
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.in2 = PE14, |
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.nsleep = PB13, |
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.nfault = PB14, |
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.shaft = false, |
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.shaft = HEART_SHAFT, |
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.enableTrace = true, |
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}; |
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static TMP117 temp[4]; |
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@ -158,49 +202,101 @@ void umain() { |
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static DRV8710 peltier0; |
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static DRV8710 peltier1; |
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static WaterCoolingTemperatureControlModule waterCoolingTemperatureControlModule; |
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fan0.initialize(&fan0cfg, true); |
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fan1.initialize(&fan1cfg, true); |
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pump.initialize(&pumpcfg, false); |
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peltier0.initialize(&peltier_config0); |
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peltier1.initialize(&peltier_config1); |
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temp[0].initializate(&hi2c1, TMP117::ID0); |
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temp[1].initializate(&hi2c1, TMP117::ID1); |
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temp[2].initializate(&hi2c1, TMP117::ID2); |
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temp[3].initializate(&hi2c1, TMP117::ID3); |
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WaterCoolingTemperatureControlModule::config_t temp_ctrl_config; |
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waterCoolingTemperatureControlModule.createDefaultConfig(&temp_ctrl_config); |
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fan0.initialize(&fan0cfg); |
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fan1.initialize(&fan1cfg); |
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pump.initialize(&pumpcfg); |
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peltier0.initialize(&peltier_config0); |
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peltier1.initialize(&peltier_config1); |
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WaterCoolingTemperatureControlModule::hardwared_config_t hardwared_config = //
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{ |
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.temperature_sensor = {&temp[0], &temp[1], &temp[2], &temp[3]}, |
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.fanTable = {&fan0, &fan1}, |
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.pump = &pump, |
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.peltier_ctrl = {&peltier0, &peltier1}, |
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.ext_input = |
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{ |
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{PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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{PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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}, |
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.ext_output = |
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{ |
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{PD0, ZGPIO::kMode_nopull, false, false}, |
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} //
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}; |
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{ |
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/**
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* @brief 板子本身模块初始化 |
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*/ |
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static ZCanBoardModule::hardware_config_t cfg = { |
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.input = |
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{ |
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{PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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{PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true}, |
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}, |
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.output = |
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{ |
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{PD0, ZGPIO::kMode_nopull, false, false}, |
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} //
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}; |
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static ZCanBoardModule boardmodule; |
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boardmodule.initialize(g_deviceId, &cfg); |
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g_ziProtocolParser.registerModule(&boardmodule); |
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g_zModuleDeviceManager.registerModule(&boardmodule); |
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} |
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waterCoolingTemperatureControlModule.initialize(deviceId, &temp_ctrl_config, &hardwared_config); |
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{ |
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/*******************************************************************************
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* 控温模块初始化 * |
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*******************************************************************************/ |
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static WaterCoolingTemperatureControlModule waterCoolingTemperatureControlModule; |
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static WaterCoolingTemperatureControlModule::config_t temp_ctrl_config; |
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waterCoolingTemperatureControlModule.createDefaultConfig(&temp_ctrl_config); |
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WaterCoolingTemperatureControlModule::hardwared_config_t hardwared_config = //
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{ |
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.temperature_sensor = {&temp[0], &temp[1], &temp[2], &temp[3]}, |
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.fanTable = {&fan0, &fan1}, |
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.pump = &pump, |
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.peltier_ctrl = {&peltier0, &peltier1}, |
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}; |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(deviceId); |
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g_zcanCmder.init(zcanCmder_cfg); |
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waterCoolingTemperatureControlModule.initialize(g_deviceId + 1, &temp_ctrl_config, &hardwared_config); |
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g_zModuleDeviceManager.registerModule(&waterCoolingTemperatureControlModule); |
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g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule); |
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} |
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} |
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void umain() { |
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chip_cfg_t chipcfg; |
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chipcfg.us_dleay_tim = &DELAY_US_TIMER; |
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chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER; |
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chipcfg.huart = &DEBUG_UART; |
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chipcfg.debuglight = DEBUG_LIGHT_GPIO; |
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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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g_deviceId = getId() * 10; |
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ZLOGI(TAG, "motorId:%d", g_deviceId); |
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/*******************************************************************************
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* NVSINIT * |
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*******************************************************************************/ |
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ZNVS::ins().initialize(IFLYTOP_NVS_CONFIG_FLASH_SECTOR); |
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initcfg(); |
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ZNVS::ins().init_config(); |
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auto zcanCmder_cfg = g_zcanCmder.createCFG(g_deviceId); |
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g_zcanCmder.init(zcanCmder_cfg); |
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g_ziProtocolParser.initialize(&g_zcanCmder); |
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g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule); |
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static ZUARTDmaReceiver dmaUartReceiver; |
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static CmdSchedulerV2 cmder; |
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ZUARTDmaReceiver::hardware_config_t cfg = { |
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.huart = &DEBUG_UART, |
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.dma_rx = &DEBUG_UART_DMA, |
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.rxbuffersize = 1024, |
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.rxovertime_ms = 10, |
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}; |
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dmaUartReceiver.initialize(&cfg); |
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cmder.initialize(&dmaUartReceiver); |
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g_zModuleDeviceManager.initialize(nullptr); |
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g_zModuleDeviceScriptCmderPaser.initialize(&cmder, &g_zModuleDeviceManager); |
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initmodule(); |
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while (true) { |
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OSDefaultSchduler::getInstance()->loop(); |
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g_zcanCmder.loop(); |
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cmder.schedule(); |
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} |
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}; |
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} |
