update

Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c

@@ -326,7 +326,7 @@ __weak uint32_t HAL_GetTick(void)
 }
 
 /**
-  * @brief This function returns a tick priority.
+  * @brief This function returns ahiwdg tick priority.
   * @retval tick priority
   */
 uint32_t HAL_GetTickPrio(void)

a8000_temperature_ctl.launch

@@ -51,7 +51,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="001B00273132510838363431"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>

sdk

@@ -1 +1 @@
-Subproject commit a41640afe9d4f8e990c13c769238e1a79940fc88
+Subproject commit 89a7ff2c9c2328ba294d19ca501c2303a0942659

usrc/board.h

@@ -0,0 +1,32 @@
+#pragma once
+// MOTOR1
+#define TMC_MOTOR_SPI          hspi1
+#define TMC5130_MOTOR_NUM      1
+#define MOTOR0_CSN             PA4
+#define MOTOR0_ENN             PB7
+#define MOTOR1_SPI_MODE_SELECT PB4
+
+#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
+
+#if 0
+#define STEPPER_MOTOR_ZERO_SENSOR     SENSOR_INT0
+#define STEPPER_MOTOR_FORWARD_SENSOR  SENSOR_INT8
+#define STEPPER_MOTOR_BACKWARD_SENSOR SENSOR_INT9
+#endif
+
+#define ID0_IO PD11
+#define ID1_IO PD12
+#define ID2_IO PD13
+#define ID3_IO PD14
+#define ID4_IO PD15
+
+#define SENSOR_INT0 PD0
+#define SENSOR_INT1 PD1
+#define SENSOR_INT2 PD2
+#define SENSOR_INT3 PD3
+#define SENSOR_INT4 PD4
+#define SENSOR_INT5 PD5
+#define SENSOR_INT6 PD6
+#define SENSOR_INT7 PD7
+#define SENSOR_INT8 PD8
+#define SENSOR_INT9 PD9

usrc/driver.cpp

@@ -0,0 +1,288 @@
+#include "driver.hpp"
+using namespace iflytop;
+#define TIMER2_FREQ 1000
+#define TIMER1_FREQ 1000
+#define HEART_SHAFT false
+
+#define TAG "DRIVER"
+/*******************************************************************************
+ *                                  ·çÉÈÅäÖà                                   *
+ *******************************************************************************/
+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,
+};
+
+/*******************************************************************************
+ *                                FanCtrlModule                                *
+ *******************************************************************************/
+void FanCtrlModule::initialize(fan_index_t index) {
+  m_fanindex = index;
+
+  if (m_fanindex == kfan0) {
+    fan0.initialize(&fan0cfg);
+  } else if (m_fanindex == kfan1) {
+    fan1.initialize(&fan1cfg);
+  } else if (m_fanindex == kfan0and1) {
+    fan0.initialize(&fan0cfg);
+    fan1.initialize(&fan1cfg);
+  }
+}
+
+void FanCtrlModule::setFanSpeed(int32_t duty) {
+  if (m_fanindex == kfan0) {
+    fan0.startModule(duty);
+  } else if (m_fanindex == kfan1) {
+    fan1.startModule(duty);
+  } else if (m_fanindex == kfan0and1) {
+    fan0.startModule(duty);
+    fan1.startModule(duty);
+  }
+}
+void FanCtrlModule::stop() {
+  if (m_fanindex == kfan0) {
+    fan0.stopModule();
+  } else if (m_fanindex == kfan1) {
+    fan1.stopModule();
+  } else if (m_fanindex == kfan0and1) {
+    fan0.stopModule();
+    fan1.stopModule();
+  }
+}
+
+bool FanCtrlModule::isWorking() {
+  if (m_fanindex == kfan0) {
+    return fan0.isWorking();
+  } else if (m_fanindex == kfan1) {
+    return fan1.isWorking();
+  } else if (m_fanindex == kfan0and1) {
+    return fan0.isWorking() || fan1.isWorking();
+  }
+  return false;
+}
+
+void FanCtrlModule::clearError() {
+  if (m_fanindex == kfan0) {
+    fan0.clearError();
+  } else if (m_fanindex == kfan1) {
+    fan1.clearError();
+  } else if (m_fanindex == kfan0and1) {
+    fan0.clearError();
+    fan1.clearError();
+  }
+};
+
+bool FanCtrlModule::isError() {
+  if (m_fanindex == kfan0) {
+    return fan0.isError();
+  } else if (m_fanindex == kfan1) {
+    return fan1.isError();
+  } else if (m_fanindex == kfan0and1) {
+    return fan0.isError() || fan1.isError();
+  }
+  return false;
+}
+
+/*******************************************************************************
+ *                                  Ë®±ÃÅäÖà                                   *
+ *******************************************************************************/
+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,
+};
+
+/*******************************************************************************
+ *                               PumpCtrlModule                                *
+ *******************************************************************************/
+void PumpCtrlModule::initialize() { pump.initialize(&pumpcfg); }
+
+void PumpCtrlModule::setPumpSpeed(int32_t duty) { pump.startModule(duty); }
+void PumpCtrlModule::stop() { pump.stopModule(); }
+bool PumpCtrlModule::isError() { return pump.isError(); }
+bool PumpCtrlModule::isWorking() { return pump.isWorking(); }
+void PumpCtrlModule::clearError() { return pump.clearError(); }
+
+/*******************************************************************************
+ *                                 ÅÁ¶ûÌùÅäÖà                                  *
+ *******************************************************************************/
+DRV8710::config_t peltier_config0 = {
+    .pwm_cfg =
+        {
+            .name     = "peltier0_pwm",
+            .htim     = &htim1,
+            .freq     = TIMER1_FREQ,
+            .polarity = false,
+        },
+    .in1_chnannel_index = 1,  // PE9
+    .in2                = PE11,
+    .nsleep             = PB2,
+    .nfault             = PB3,
+    .sensePin           = PB4,
+    .shaft              = HEART_SHAFT,
+    .enableTrace        = true,
+};
+
+DRV8710::config_t peltier_config1 = {
+    .pwm_cfg =
+        {
+            .name     = "peltier1_pwm",
+            .htim     = &htim1,
+            .freq     = TIMER1_FREQ,
+            .polarity = false,
+        },
+    .in1_chnannel_index = 3,  // PE13
+    .in2                = PE14,
+    .nsleep             = PB13,
+    .nfault             = PB14,
+    .sensePin           = PB15,
+    .shaft              = HEART_SHAFT,
+    .enableTrace        = true,
+};
+
+void PeltierCtrlModule::initialize(peltier_index_t index) {
+  m_index = index;
+
+  if (m_index == kpeltier0) {
+    peltier0.initialize(&peltier_config0);
+  } else if (m_index == kpeltier1) {
+    peltier1.initialize(&peltier_config1);
+  } else if (m_index == kpeltier0and1) {
+    peltier0.initialize(&peltier_config0);
+    peltier1.initialize(&peltier_config1);
+  }
+}
+
+void PeltierCtrlModule::setSpeed(int32_t duty) {
+  m_workflag = true;
+
+  if (m_index == kpeltier0) {
+    peltier0.enable(true);
+    peltier0.move(duty);
+  } else if (m_index == kpeltier1) {
+    peltier1.enable(true);
+    peltier1.move(duty);
+  } else if (m_index == kpeltier0and1) {
+    peltier0.enable(true);
+    peltier0.move(duty);
+    peltier1.enable(true);
+    peltier1.move(duty);
+  }
+}
+void PeltierCtrlModule::stop() {
+  m_workflag = false;
+
+  if (m_index == kpeltier0) {
+    peltier0.enable(false);
+    peltier0.move(0);
+  } else if (m_index == kpeltier1) {
+    peltier1.enable(false);
+    peltier1.move(0);
+  } else if (m_index == kpeltier0and1) {
+    peltier0.enable(false);
+    peltier0.move(0);
+    peltier1.enable(false);
+    peltier1.move(0);
+  }
+}
+bool PeltierCtrlModule::isError() {
+  if (m_index == kpeltier0) {
+    return peltier0.isFault();
+  } else if (m_index == kpeltier1) {
+    return peltier1.isFault();
+  } else if (m_index == kpeltier0and1) {
+    return peltier0.isFault() || peltier1.isFault();
+  }
+  return false;
+}
+
+bool PeltierCtrlModule::dumpErrorInfo() {  //
+  if (m_index == kpeltier0) {
+    ZLOGI(TAG, "motor0 fault:%d,sense:%d", !peltier0.isFault(), peltier0.getSensePinState());
+  } else if (m_index == kpeltier1) {
+    ZLOGI(TAG, "motor1 fault:%d,sense:%d", !peltier1.isFault(), peltier1.getSensePinState());
+  } else if (m_index == kpeltier0and1) {
+    ZLOGI(TAG, "motor0 fault:%d,sense:%d", !peltier0.isFault(), peltier0.getSensePinState());
+    ZLOGI(TAG, "motor1 fault:%d,sense:%d", !peltier1.isFault(), peltier1.getSensePinState());
+  }
+  return true;
+};
+
+bool PeltierCtrlModule::isWorking() { return m_workflag; }
+
+void PeltierCtrlModule::clearError() { return; }

usrc/driver.hpp

@@ -0,0 +1,97 @@
+#pragma once
+#include <stddef.h>
+#include <stdio.h>
+
+#include "board.h"
+#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
+/*******************************************************************************
+ *                               PROJECT_INCLUDE                               *
+ *******************************************************************************/
+#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
+#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
+#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
+#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
+#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
+#include "sdk\components\tmc\ic\ztmc4361A.hpp"
+#include "sdk\components\tmc\ic\ztmc5130.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"
+
+namespace iflytop {
+
+class FanCtrlModule : public ZIPWMFanCtrlModule {
+ public:
+  typedef enum {
+    kfan0,
+    kfan1,
+    kfan0and1,
+  } fan_index_t;
+
+ private:
+  /* data */
+  PWMSpeedCtrlModule fan0;
+  PWMSpeedCtrlModule fan1;
+
+  fan_index_t m_fanindex = kfan0and1;
+
+ public:
+  void initialize(fan_index_t index);
+
+  virtual void setFanSpeed(int32_t duty) override;
+  virtual void stop() override;
+
+  virtual bool isWorking() override;
+
+  virtual bool isError() override;
+  virtual void clearError() override;
+};
+
+class PumpCtrlModule : public ZIPWMPumpCtrlModule {
+ private:
+  /* data */
+  PWMSpeedCtrlModule pump;
+
+ public:
+  void initialize();
+
+  virtual void setPumpSpeed(int32_t duty) override;
+  virtual void stop() override;
+
+  virtual bool isWorking() override;
+
+  virtual bool isError() override;
+  virtual void clearError() override;
+};
+
+class PeltierCtrlModule : public ZIDcMotorCtrlModule {
+ public:
+  typedef enum {
+    kpeltier0,
+    kpeltier1,
+    kpeltier0and1,
+  } peltier_index_t;
+
+ private:
+  /* data */
+  DRV8710         peltier0;
+  DRV8710         peltier1;
+  bool            m_workflag = false;
+  peltier_index_t m_index;
+
+ public:
+  void initialize(peltier_index_t index);
+
+  virtual void setSpeed(int32_t duty) override;
+  virtual void stop() override;
+  virtual bool isWorking() override;
+
+  virtual bool dumpErrorInfo() override;
+
+  virtual bool isError() override;
+  virtual void clearError() override;
+};
+
+}  // namespace iflytop

usrc/main.cpp

@@ -1,243 +1,109 @@
 #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 "board.h"
+#include "sdk\components\subcanmodule\zcancmder_subboard_initer.hpp"
+/*******************************************************************************
+ *                               PROJECT_INCLUDE                               *
+ *******************************************************************************/
+#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
+#include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
+#include "sdk\components\mini_servo_motor\mini_servo_motor_ctrl_module.hpp"
+#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
+#include "sdk\components\sensors\m3078\m3078_code_scaner.hpp"
+#include "sdk\components\tmc\ic\ztmc4361A.hpp"
+#include "sdk\components\tmc\ic\ztmc5130.hpp"
 //
+#include "driver.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"
+#include "sdk\components\zcancmder_module\zcan_fan_ctrl_module.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;
 
+static ZCancmderSubboardIniter initer;
+
 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() {
+/*******************************************************************************
+ *                                GET_DEVICE_ID                                *
+ *******************************************************************************/
+static int32_t getDeviceId() {
   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;
+  //   uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
+  if (ID0.getState() == 0) {
+    return 4;
+  } else {
+    return 5;
+  }
 }
 
-void initcfg() {
-/**
- * @brief 初始化配置，系统中需要配置都需要在这里进行初始化
- */
-#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
+static int32_t getPeltierNum() {
+  static bool  init = false;
+  static ZGPIO ID4;
+  if (!init) {
+    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    init = true;
+  }
+  if (ID4.getState() == 0) {
+    return 1;
+  } else {
+    return 2;
+  }
 }
 
-void initmodule() {
-#define TIMER2_FREQ 1000
-#define TIMER1_FREQ 1000
-#define HEART_SHAFT false
-  /*******************************************************************************
-   *                                  风扇配置                                   *
-   *******************************************************************************/
-  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,
-  };
+static bool m_onefan = false;
 
-  /*******************************************************************************
-   *                                  水泵配置                                   *
-   *******************************************************************************/
-  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,
+/*******************************************************************************
+ *                               INIT_SUBMODULE                                *
+ *******************************************************************************/
+void nvs_init_cb() {}
 
-              },
-          },
-      .enablefbcheck = false,
-      .enableTrace   = true,
-  };
+// ZIPWMFanCtrlModule*  fan_ctrl;
+// ZIDcMotorCtrlModule* pelter_ctrl;
+// ZIPWMPumpCtrlModule* pump_ctrl;
 
-  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);
+static void initsubmodule() {
+#define TIMER1_FREQ 1000
+#define HEART_SHAFT false
 
   {
-    /**
-     * @brief 板子本身模块初始化
-     */
-    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);
-  }
+    static TMP117            temp[4];
+    static FanCtrlModule     fan;
+    static PumpCtrlModule    pump;
+    static PeltierCtrlModule peltier;
+
+    temp[0].initializate(&hi2c1, TMP117::ID0);
+    temp[1].initializate(&hi2c1, TMP117::ID1);
+    temp[2].initializate(&hi2c1, TMP117::ID2);
+    temp[3].initializate(&hi2c1, TMP117::ID3);
+
+    if (getPeltierNum() == 1) {
+      fan.initialize(FanCtrlModule::kfan0);
+      peltier.initialize(PeltierCtrlModule::kpeltier0);
+    } else {
+      fan.initialize(FanCtrlModule::kfan0and1);
+      peltier.initialize(PeltierCtrlModule::kpeltier0and1);
+    }
+    pump.initialize();
 
-  {
     /*******************************************************************************
      *                               控温模块初始化                                *
      *******************************************************************************/
@@ -247,59 +113,43 @@ void initmodule() {
     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},
+            .temp_fb_index      = 1,
+            .fan_ctrl           = &fan,
+            .pelter_ctrl        = &peltier,
+            .pump_ctrl          = &pump,
         };
 
-    waterCoolingTemperatureControlModule.initialize(g_deviceId + 1, &temp_ctrl_config, &hardwared_config);
-    g_zModuleDeviceManager.registerModule(&waterCoolingTemperatureControlModule);
-    g_ziProtocolParser.registerModule(&waterCoolingTemperatureControlModule);
+    waterCoolingTemperatureControlModule.initialize(initer.get_module_id(1), &temp_ctrl_config, &hardwared_config);
+    initer.register_module(&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();
+  if (getPeltierNum() == 1) {
+    static FanCtrlModule     fan;
+    static ZcanFanCtrlModule fan_ctrl_module;
+    fan.initialize(FanCtrlModule::kfan1);
+    fan_ctrl_module.initialize(initer.get_module_id(2), &fan, 50);
+    initer.register_module(&fan_ctrl_module);
   }
 }
+
+/*******************************************************************************
+ *                                    MAIN                                     *
+ *******************************************************************************/
+void umain() {
+  ZCancmderSubboardIniter::cfg_t cfg =  //
+      {
+          .deviceId = getDeviceId(),
+          .input_gpio =
+              {
+                  {PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
+                  {PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true},
+              },
+          .output_gpio =
+              {
+                  {PD0, ZGPIO::kMode_nopull, false, false},
+              },
+      };
+  initer.init(&cfg);
+  initsubmodule();
+  initer.loop();
+}

usrc/project_configs.h

@@ -1,51 +1,21 @@
 #pragma once
+#pragma once
+#define PC_VERSION           "v1.0.1"
+#define PC_MANUFACTURER      "http://www.iflytop.com/"
+#define PC_PROJECT_NAME      "a8000_temperature_ctrl"
+#define PC_IFLYTOP_ENABLE_OS 1
 
-#define VERSION        "v1.0.0"
-#define MANUFACTURER   "http://www.iflytop.com/"
-#define PROJECT_NAME   "a8000_temperature_ctrl"
-#define DEBUG_UART     huart1
-#define DEBUG_UART_DMA hdma_usart1_rx
-#define DEBUG_LIGHT_GPIO PE2
-
-#define DELAY_US_TIMER          htim6  // US延时定时器
-#define TIM_IRQ_SCHEDULER_TIMER htim7  // 中断定时器中断调度器
-#define IFLTYOP_ZTICKET_TIMER   TIM11  // 系统ticket定时器
-
-#define IFLYTOP_ENABLE_OS               1
-#define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
-
-/****************************************FLASH***************************************/
-#define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8
-/*********************************************************************************/
-
-// MOTOR1
-#define TMC_MOTOR_SPI          hspi1
-#define TMC5130_MOTOR_NUM      1
-#define MOTOR0_CSN             PA4
-#define MOTOR0_ENN             PB7
-#define MOTOR1_SPI_MODE_SELECT PB4
+#define PC_DEBUG_UART             huart1
+#define PC_DEBUG_UART_DMA_HANDLER hdma_usart1_rx
+#define PC_DEBUG_UART_RX_BUF_SIZE 1024
+#define PC_DEBUG_LIGHT_GPIO       PE2
 
-#define MOTOR_CFG_FLASH_MARK "MOTOR_CFG_FLASH_MARK"
+#define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器
+#define PC_SYS_ZTICKET_TIMER           TIM11  // 系统ticket定时器
+#define PC_SYS_TIM_IRQ_SCHEDULER_TIMER htim7  // 中断定时器中断调度器
 
-#if 0
-#define STEPPER_MOTOR_ZERO_SENSOR     SENSOR_INT0
-#define STEPPER_MOTOR_FORWARD_SENSOR  SENSOR_INT8
-#define STEPPER_MOTOR_BACKWARD_SENSOR SENSOR_INT9
-#endif
+#define PC_IRQ_PREEMPTPRIORITY_DEFAULT 5
 
-#define ID0_IO PD11
-#define ID1_IO PD12
-#define ID2_IO PD13
-#define ID3_IO PD14
-#define ID4_IO PD15
+#define PC_NVS_ENABLE              1
+#define PC_NVS_CONFIG_FLASH_SECTOR 8
 
-#define SENSOR_INT0 PD0
-#define SENSOR_INT1 PD1
-#define SENSOR_INT2 PD2
-#define SENSOR_INT3 PD3
-#define SENSOR_INT4 PD4
-#define SENSOR_INT5 PD5
-#define SENSOR_INT6 PD6
-#define SENSOR_INT7 PD7
-#define SENSOR_INT8 PD8
-#define SENSOR_INT9 PD9