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305 lines
10 KiB
305 lines
10 KiB
#include <stddef.h>
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#include <stdio.h>
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#include "sdk/os/zos.hpp"
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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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//
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#include "sdk\components\flash\znvs.hpp"
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//
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#include "sdk\components\sensors\tmp117\tmp117.hpp"
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#include "sdk\components\ti\drv8710.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\pwm_ctrl_module.hpp"
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#include "sdk\components\water_cooling_temperature_control_module\water_cooling_temperature_control_module.hpp"
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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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extern void umain();
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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 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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static ZGPIO ID0;
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static ZGPIO ID1;
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static ZGPIO ID2;
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static ZGPIO ID3;
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static ZGPIO ID4;
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if (!init) {
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ID0.initAsInput(ID0_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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ID1.initAsInput(ID1_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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ID2.initAsInput(ID2_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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ID3.initAsInput(ID3_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
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init = true;
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}
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uint8_t id = ID0.getState() * 1 + ID1.getState() * 2 + ID2.getState() * 4 + ID3.getState() * 8 + ID4.getState() * 16;
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return id;
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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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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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.name = "fan0",
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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 = false,
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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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{
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{.pin = PC10},
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{.pin = PC11},
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},
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.fanPowerGpioCfg =
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{
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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 = false,
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.enableTrace = true,
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};
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PWMSpeedCtrlModule::config_t fan1cfg = {
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.name = "fan1",
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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 = false,
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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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{
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{.pin = PC12},
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{.pin = PC13},
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},
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.fanPowerGpioCfg =
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{
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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 = false,
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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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.name = "pump",
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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 = false,
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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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{
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{.pin = PC3},
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},
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.fanPowerGpioCfg =
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{
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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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.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 = 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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.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 = HEART_SHAFT,
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.enableTrace = true,
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};
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static TMP117 temp[4];
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static PWMSpeedCtrlModule fan0;
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static PWMSpeedCtrlModule fan1;
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static PWMSpeedCtrlModule pump;
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static DRV8710 peltier0;
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static DRV8710 peltier1;
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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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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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{
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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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{
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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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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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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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