tmc5160_motor/usrc/main.cpp

#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 "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\zcancmder_module\zcan_fan_ctrl_module.hpp"

#define TAG "main"
using namespace iflytop;
using namespace std;

static ZCancmderSubboardIniter initer;

extern void umain();
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
/*******************************************************************************
 *                                GET_DEVICE_ID                                *
 *******************************************************************************/
static int32_t getDeviceId() {
  static bool  init = false;
  static ZGPIO ID0;
  static ZGPIO ID1;
  static ZGPIO ID2;
  static ZGPIO ID3;
  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);
    init = true;
  }
  //   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;
  }
}

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;
  }
}

static bool m_onefan = false;

/*******************************************************************************
 *                               INIT_SUBMODULE                                *
 *******************************************************************************/
void nvs_init_cb() {}

// ZIPWMFanCtrlModule*  fan_ctrl;
// ZIDcMotorCtrlModule* pelter_ctrl;
// ZIPWMPumpCtrlModule* pump_ctrl;

static void initsubmodule() {
#define TIMER1_FREQ 1000
#define HEART_SHAFT false

  {
    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();

    /*******************************************************************************
     *                               ¿ØÎÂÄ£¿é³õʼ»¯                                *
     *******************************************************************************/
    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]},
            .temp_fb_index      = 0,
            .fan_ctrl           = &fan,
            .pelter_ctrl        = &peltier,
            .pump_ctrl          = &pump,
        };

    waterCoolingTemperatureControlModule.initialize(initer.get_module_id(1), &temp_ctrl_config, &hardwared_config);
    initer.register_module(&waterCoolingTemperatureControlModule);
  }

  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();
}