添加电磁铁自动关闭逻辑

Intelligent_winding_robot_main_board_dap.launch

@@ -6,7 +6,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
     <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>

sdk

@@ -1 +1 @@
-Subproject commit abfd99957b7572b1ca8df0d60ad015ac4fabac1d
+Subproject commit 0d5a3a53c8d3b3d22f5c3963dc94abadab11da7e

usrc/cmdline_support.cpp

@@ -15,6 +15,13 @@ void CmdlineSupport::init(Device* device) {
                                m_device->line_locking_solenoid_valve(val);
                                return 0;
                              });
+  cmdlineparser->registerCmd("line_locking_solenoid_valve_set_auto_close_delay_s", "(delays)", 1,  //
+                             [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+                               int val = atoi(paraV[0]);
+                               m_device->line_locking_solenoid_valve_set_auto_close_delay_s(val);
+                               return 0;
+                             });
+
   cmdlineparser->registerCmd("blower_set_val", "(bool on)", 1,  //
                              [this](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
                                int val = atoi(paraV[0]);

usrc/device.cpp

@@ -120,7 +120,7 @@ void Device::sub_module_init() {
    * @brief 初始化主轴电机
    */
   static Eq20ServoMotor::servo_config_t default_servo_cfg =  //
-      {.default_acc_time_ms = 1000, .default_velocity = 800, .find_zero_velocity = 100};
+      {.default_acc_time_ms = 1000, .default_velocity = 500, .find_zero_velocity = 100};
   static Eq20ServoMotor eq20_motor;
   eq20_motor.init(1, &m_modbus, 1, default_servo_cfg);
   m_device_manager.registerModule(&eq20_motor);
@@ -167,26 +167,53 @@ void Device::sub_module_init() {
   m_device_manager.module_active_cfg(42);
 }
 
-static ZGPIO line_locking_solenoid_valve_gpio;
-void         Device::line_locking_solenoid_valve_init() {  //
-  line_locking_solenoid_valve_gpio.initAsOutput(PC3, ZGPIO::kMode_nopull, false, false);
+/*******************************************************************************
+ *                         line_locking_solenoid_valve                         *
+ *******************************************************************************/
+ZGPIO    m_line_locking_solenoid_valve_gpio;
+int32_t  m_line_locking_solenoid_valve_auto_close_delayms = 5000;
+uint32_t m_line_locking_solenoid_valve_open_ticket        = 0;
+
+void Device::line_locking_solenoid_valve_init() {  //
+  m_line_locking_solenoid_valve_gpio.initAsOutput(PC1, ZGPIO::kMode_nopull, true, false);
+  // 自动关闭
+  OSDefaultSchduler::getInstance()->regPeriodJob(
+      [this](OSDefaultSchduler::Context& cx) {
+        if (m_line_locking_solenoid_valve_gpio.getState()) {
+          if (zos_haspassedms(m_line_locking_solenoid_valve_open_ticket) > m_line_locking_solenoid_valve_auto_close_delayms) {
+            line_locking_solenoid_valve(false);
+          }
+        }
+      },
+      100);
 }
-void Device::line_locking_solenoid_valve(bool on) { line_locking_solenoid_valve_gpio.setState(on); }
 
+void Device::line_locking_solenoid_valve(bool on) {
+  m_line_locking_solenoid_valve_open_ticket = HAL_GetTick();
+  m_line_locking_solenoid_valve_gpio.setState(on);
+}
+void Device::line_locking_solenoid_valve_set_auto_close_delay_s(int32_t delays) { m_line_locking_solenoid_valve_auto_close_delayms = delays * 1000; }
+
+/*******************************************************************************
+ *                                   blower                                    *
+ *******************************************************************************/
 static ZGPIO blower_gpio;
 void         Device::blower_init() { blower_gpio.initAsOutput(PC2, ZGPIO::kMode_nopull, true, false); }
 void         Device::blower_set_val(bool on) { blower_gpio.setState(on); }
 
 int32_t Device::app_motor_move_from_a_to_b_block(int motor_id, int32_t a, int32_t b, int32_t times) {
-  int32_t ret = 0;
+  int32_t    ret = 0;
+  ThisThread thisThread;
   for (size_t i = 0; i < times; i++) {
     ZLOGI(TAG, "move motor %d to %d", a);
     ret = m_device_manager.motor_easy_move_to(motor_id, a);
+    thisThread.sleep(10);
     if (ret != 0) break;
     ret = wait_for_module(motor_id);
     if (ret != 0) break;
     ZLOGI(TAG, "move motor %d to %d", b);
     ret = m_device_manager.motor_easy_move_to(motor_id, b);
+    thisThread.sleep(10);
     if (ret != 0) break;
     ret = wait_for_module(motor_id);
     if (ret != 0) break;

usrc/device.hpp

@@ -77,6 +77,8 @@ class Device {
   /*******************************************************************************
    *                               SUB CAN MODULE                                *
    *******************************************************************************/
+
+
  public:
   void init();
 
@@ -85,6 +87,8 @@ class Device {
    */
   void line_locking_solenoid_valve_init();
   void line_locking_solenoid_valve(bool on);
+  void line_locking_solenoid_valve_set_auto_close_delay_s(int32_t delays);
+
 
   void blower_init();
   void blower_set_val(bool on);

usrc/project_configs.h

@@ -7,7 +7,7 @@
 
 #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_UART_RX_BUF_SIZE (1024*4)
 #define PC_DEBUG_LIGHT_GPIO       PG0
 
 #define PC_SYS_DELAY_US_TIMER          htim6  // US延时定时器