p_chinagoldgroup_hand_acid
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hand_acid_mainboard_bak
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update

sunlight
zhaohe 11 months ago
parent
e7f831de42
commit
e0c6a8df23
34 changed files with 761 additions and 1026 deletions
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  1. 3
      .vscode/settings.json
  2. 17
      auto.py
  3. 2
      stm32basic
  4. 2
      stm32components
  5. 5
      uappbase/base.hpp
  6. 106
      ucomponents/preportional_valve/preportional_valve_ctrl.cpp
  7. 50
      ucomponents/preportional_valve/preportional_valve_ctrl.hpp
  8. 3
      ucomponents/ucomponents.hpp
  9. 0
      ui/README.md
  10. 0
      ui/hand_acid_mainboard_ui.HMI
  11. 0
      ui/ui.h
  12. 19
      usrc/app/apublicboard/public_board_initer.hpp
  13. 3
      usrc/app/main_controler/abasicboard/basicboard.cpp
  14. 19
      usrc/app/main_controler/abasicboard/basicboard.hpp
  15. 3
      usrc/app/main_controler/main_controler.cpp
  16. 14
      usrc/app/main_controler/main_controler.hpp
  17. 5
      usrc/app/valvecontroler/valvecontroler.cpp
  18. 13
      usrc/app/valvecontroler/valvecontroler.hpp
  19. 82
      usrc/app_main.cpp
  20. 2
      usrc/appcfg/appcfg.hpp
  21. 4
      usrc/appcfg/publicboard.hpp
  22. 46
      usrc/apphal/apphal.cpp
  23. 15
      usrc/apphal/apphal.hpp
  24. 14
      usrc/apppublic/boardid.cpp
  25. 14
      usrc/apppublic/boardid.hpp
  26. 3
      usrc/main.c
  27. 21
      usrc/project_configs.h
  28. 23
      usrc/service/app_core.cpp
  29. 21
      usrc/service/app_core.hpp

3
.vscode/settings.json
View File

@ -82,7 +82,8 @@
"public_service.h": "c",
"stm32irq.h": "c",
"project_configs.h": "c",
"*.bak": "c"
"*.bak": "c",
"zflash.h": "c"
},
"files.autoGuessEncoding": false,
"files.encoding": "utf8"

17
auto.py
View File

@ -0,0 +1,17 @@
import time
import ctypes
from pynput.keyboard import Key
from pynput.keyboard import Controller
a=0
while True:
if ctypes.windll.user32.GetForegroundWindow() == 0:
print('0')
time.sleep(2)
else:
a = a+1
b = Controller()
b.press(Key.f20)
b.release(Key.f20)
time.sleep(30)
print('1')
print(a)

2
stm32basic

@ -1 +1 @@
Subproject commit 7628a01fff313fd263d7de7e93d7d652b4325e59
Subproject commit 219877a3ae5cfabe04211a9121eac9519b6081cc

2
stm32components

@ -1 +1 @@
Subproject commit 03d9638ccbc69971524957a68e51842da0960940
Subproject commit a3069a8005dcb8277f95d0341551c145fac2a046

5
usrc/appdep.hpp → uappbase/base.hpp
View File

@ -1,4 +1,5 @@
#pragma once
#include "ucomponents/ucomponents.hpp"
#include "stm32basic/stm32basic.hpp"
#include "stm32halport/stm32halport.hpp"
#include "stm32basic/stm32basic.hpp"
#include "ucomponents/ucomponents.hpp"
#include "main.h"

106
ucomponents/preportional_valve/preportional_valve_ctrl.cpp
View File

@ -1,106 +0,0 @@
#include "preportional_valve_ctrl.hpp"
using namespace iflytop;
using namespace zscanprotocol;
#define WORK_STATE_REG 0x0000
#define CTRL_STATE_REG 0x0001
#define POS_STATE_REG 0x0013
#define OVERTIME 30
#define TAG "PreportionalValveCtrl"
void PreportionalValveCtrl::initialize(UART_HandleTypeDef* huart) { m_modbusBlockHost.initialize(huart); }
int32_t PreportionalValveCtrl::writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal) {
// 重发三次
for (size_t i = 0; i < 3; i++) {
int32_t err = m_modbusBlockHost.writeReg06(slaveAddr, regAddr, regVal, OVERTIME);
if (err == 0) return 0;
}
return err::kerr_subdevice_offline;
}
int32_t PreportionalValveCtrl::readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t* regVal) {
// 重发三次
for (size_t i = 0; i < 3; i++) {
int32_t err = m_modbusBlockHost.readReg03(slaveAddr, regAddr, regVal, OVERTIME);
if (err == 0) return 0;
}
return err::kerr_subdevice_offline;
}
int32_t PreportionalValveCtrl::setValvePos(int32_t valueid, int32_t pos) { //
int32_t ret = 0;
if (valueid > 255 || valueid < 1) {
return err::kerr_invalid_param;
}
ret = writeReg06(valueid, CTRL_STATE_REG, pos);
if (!ret) return err::kerr_subdevice_offline;
m_last_set_valve_ticket = HAL_GetTick();
m_targetpos[valueid] = pos;
return 0;
}
int32_t PreportionalValveCtrl::getValvePos(int32_t valueid, int32_t* pos) {
int32_t ret = 0;
if (valueid > 255 || valueid < 1) {
return err::kerr_invalid_param;
}
uint16_t pos16 = 0;
ret = readReg03(valueid, POS_STATE_REG, &pos16);
if (!ret) return err::kerr_subdevice_offline;
*pos = pos16;
return 0;
}
int32_t PreportionalValveCtrl::getValveOrderPos(int32_t valueid, int32_t* pos) {
int32_t ret = 0;
if (valueid > 255 || valueid < 1) {
return err::kerr_invalid_param;
}
uint16_t pos16 = 0;
ret = readReg03(valueid, CTRL_STATE_REG, &pos16);
if (!ret) return err::kerr_subdevice_offline;
*pos = pos16;
return 0;
}
int32_t PreportionalValveCtrl::isBusy(int32_t valueid, int32_t* busy) {
#if 1
int32_t orderpos = 0;
int32_t pos = 0;
int32_t err = 0;
#if 0
err = getValveOrderPos(valueid, &orderpos);
if (err != 0) return err;
#endif
orderpos = m_targetpos[valueid];
err = getValvePos(valueid, &pos);
if (err != 0) return err;
if (abs(m_targetpos[valueid] - pos) <= 11) {
*busy = 0;
} else {
*busy = 1;
}
return 0;
#endif
}
int32_t PreportionalValveCtrl::getValveWorkState(int32_t valueid, int32_t* state) {
int32_t ret = 0;
if (valueid > 255 || valueid < 1) {
return err::kerr_invalid_param;
}
uint16_t state16 = 0;
ret = readReg03(valueid, WORK_STATE_REG, &state16);
if (!ret) return err::kerr_subdevice_offline;
*state = state16;
return 0;
}

50
ucomponents/preportional_valve/preportional_valve_ctrl.hpp
View File

@ -1,50 +0,0 @@
#pragma once
#include <stddef.h>
#include <stdio.h>
#include "stm32components/modbus/modbus_block_host.hpp"
#include "stm32basic/stm32basic.hpp"
#include "stm32components/stm32components.hpp"
/**
* @brief
*
* https://iflytop1.feishu.cn/wiki/GQwCwHMqFiaJRwks80ncwaYKnSe
*/
namespace iflytop {
using namespace std;
class PreportionalValveCtrl {
public:
typedef enum {
kstate_stop = 0x0,
kstate_running_forward = 0xaa,
kstate_running_backward = 0xbb,
kstate_err_state = 0xea,
} work_state_t;
private:
/* data */
ModbusBlockHost m_modbusBlockHost;
int32_t val = 0;
uint32_t m_last_set_valve_ticket = 0;
uint16_t m_targetpos[255];
public:
PreportionalValveCtrl() {};
~PreportionalValveCtrl() {};
void initialize(UART_HandleTypeDef* huart);
int32_t setValvePos(int32_t valueid, int32_t pos);
int32_t getValvePos(int32_t valueid, int32_t* pos);
int32_t getValveOrderPos(int32_t valueid, int32_t* pos);
int32_t isBusy(int32_t valueid, int32_t* busy);
int32_t getValveWorkState(int32_t valueid, int32_t* state);
private:
int32_t writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal);
int32_t readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t* regVal);
};
} // namespace iflytop

3
ucomponents/ucomponents.hpp
View File

@ -1,2 +1 @@
#pragma once
#include "preportional_valve/preportional_valve_ctrl.hpp"
#pragma once

0
usrc/app/main_controler_ui/README.md → ui/README.md
View File

0
usrc/app/main_controler_ui/hand_acid_mainboard_ui.HMI → ui/hand_acid_mainboard_ui.HMI
View File

0
usrc/app/main_controler_ui/ui.h → ui/ui.h
View File

19
usrc/app/apublicboard/public_board_initer.hpp
View File

@ -1,19 +0,0 @@
#pragma once
#include "appdep.hpp"
#include "project_configs.h"
namespace iflytop {
#define PB PublicBoardIniter::ins()
class PublicBoardIniter {
private:
/* data */
public:
static PublicBoardIniter* ins() {
static PublicBoardIniter instance;
return &instance;
}
void MX_TIM6_Init();
void MX_TIM7_Init();
};
} // namespace iflytop

3
usrc/app/main_controler/abasicboard/basicboard.cpp
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@ -1,3 +0,0 @@
#include "basicboard.hpp"
using namespace iflytop;

19
usrc/app/main_controler/abasicboard/basicboard.hpp
View File

@ -1,19 +0,0 @@
#pragma once
#include "appdep.hpp"
namespace iflytop {
using namespace std;
class BasicBoard {
private:
/* data */
BasicBoard() {}
public:
static BasicBoard* ins() {
static BasicBoard instance;
return &instance;
}
};
} // namespace iflytop

3
usrc/app/main_controler/main_controler.cpp
View File

@ -1,3 +0,0 @@
#include "main_controler.hpp"
using namespace iflytop;

14
usrc/app/main_controler/main_controler.hpp
View File

@ -1,14 +0,0 @@
#pragma once
#include "appdep.hpp"
namespace iflytop {
class MainControler {
public:
static MainControler* ins() {
static MainControler instance;
return &instance;
}
void init(){}
};
} // namespace iflytop

5
usrc/app/valvecontroler/valvecontroler.cpp
View File

@ -1,5 +0,0 @@
#include "valvecontroler.hpp"
using namespace iflytop;
void ValvaControler::init() {}

13
usrc/app/valvecontroler/valvecontroler.hpp
View File

@ -1,13 +0,0 @@
#pragma once
#include "appdep.hpp"
namespace iflytop {
class ValvaControler {
public:
static ValvaControler* ins() {
static ValvaControler instance;
return &instance;
}
void init();
};
} // namespace iflytop

82
usrc/app_main.cpp
View File

@ -1,82 +0,0 @@
#include <stddef.h>
#include <stdio.h>
//
#include "appdep.hpp"
#include "apppublic/boardid.hpp"
//
#include "app/main_controler/main_controler.hpp"
#include "app/valvecontroler/valvecontroler.hpp"
#define TAG "main"
extern void umain();
extern "C" {
void StartDefaultTask(void const *argument) { umain(); }
}
/*******************************************************************************
* MAIN *
*******************************************************************************/
using namespace iflytop;
/* IWDG init function */
void MX_IWDG_Init(void) {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_256;
hiwdg.Init.Reload = 501;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
Error_Handler();
}
}
static ZGPIO debuglight0;
static ZGPIO debuglight1;
static bool errorFlag;
static inline void debugLightLoop() {
static bool light = false;
static uint32_t lastcall = 0;
if (errorFlag) {
if (zos_haspassedms(lastcall) > 30) {
light = !light;
debuglight0.write(light);
debuglight1.write(light);
lastcall = zos_get_tick();
}
} else {
if (zos_haspassedms(lastcall) > 300) {
light = !light;
debuglight0.write(light);
debuglight1.write(light);
lastcall = zos_get_tick();
}
}
}
int32_t getDeviceIdFromFlash() {
int32_t *deviceId = (int32_t *)BOARD_TYPE_ID_FLASH_ADD;
if (*deviceId <= 0) {
return 0;
}
return *deviceId;
}
void umain() {
MX_IWDG_Init();
debuglight0.initAsOutput(DEBUG_LIGHT_IO0, kxs_gpio_nopull, false, false);
debuglight1.initAsOutput(DEBUG_LIGHT_IO1, kxs_gpio_nopull, false, false);
int32_t id = getDeviceIdFromFlash();
if (id == boardid::kbmainboard) {
MainControler::ins()->init();
} else if (id == boardid::kvalveboard) {
ValvaControler::ins()->init();
} else {
errorFlag = true;
}
while (true) {
osDelay(30);
debugLightLoop();
HAL_IWDG_Refresh(&hiwdg);
}
}

2
usrc/appcfg/appcfg.hpp
View File

@ -0,0 +1,2 @@
#pragma once
#include "project_configs.h"

4
usrc/appcfg/publicboard.hpp
View File

@ -1,4 +0,0 @@
#pragma once
#define DEBUG_UART_TX PA9
#define DEBUG_UART_RX PA10

46
usrc/app/apublicboard/public_board_initer.cpp → usrc/apphal/apphal.cpp
View File

@ -1,21 +1,7 @@
#include "public_board_initer.hpp"
#include "appcfg/publicboard.hpp"
#include "apphal.hpp"
using namespace iflytop;
#include "main.h"
/**
* @brief 资料列表
*
* CAN1 PA11 PA12
* UART1 PA9 PA10
* TIM6
* TIM7
*
*/
/* TIM6 init function */
void PublicBoardIniter::MX_TIM6_Init(void) {
void AppHal::MX_TIM6_Init(void) {
__HAL_RCC_TIM6_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig = {0};
@ -38,7 +24,7 @@ void PublicBoardIniter::MX_TIM6_Init(void) {
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
}
/* TIM7 init function */
void PublicBoardIniter::MX_TIM7_Init(void) {
void AppHal::MX_TIM7_Init(void) {
__HAL_RCC_TIM7_CLK_ENABLE();
TIM_MasterConfigTypeDef sMasterConfig = {0};
@ -61,10 +47,17 @@ void PublicBoardIniter::MX_TIM7_Init(void) {
HAL_NVIC_EnableIRQ(TIM7_IRQn);
}
static void debug_uart_init() {
#define EARLY_ASSERT(exptr) \
if (!exptr) { \
while (true) { \
} \
}
void AppHal::DEBUG_UART_INIT(Pin_t tx, Pin_t rx, int32_t baudrate) {
GPIO_InitTypeDef GPIO_InitStruct = {0};
static_assert(PA9 == DEBUG_UART_TX);
static_assert(PA10 == DEBUG_UART_RX);
EARLY_ASSERT(PA9 == tx);
EARLY_ASSERT(PA10 == rx);
/***********************************************************************************************************************
* IO初始化 *
@ -81,7 +74,7 @@ static void debug_uart_init() {
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
huart1.Instance = USART1;
huart1.Init.BaudRate = 460800;
huart1.Init.BaudRate = baudrate;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@ -114,4 +107,13 @@ static void debug_uart_init() {
__HAL_LINKDMA(&huart1, hdmarx, hdma2_stream2);
HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
}
}
void AppHal::MX_IWDG_Init(void) {
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
hiwdg.Init.Reload = 4095;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK) {
Error_Handler();
}
}

15
usrc/apphal/apphal.hpp
View File

@ -0,0 +1,15 @@
#pragma once
#include "appcfg/appcfg.hpp"
#include "uappbase/base.hpp"
namespace iflytop {
class AppHal {
private:
/* data */
public:
static void MX_TIM6_Init(void);
static void MX_TIM7_Init(void);
static void DEBUG_UART_INIT(Pin_t tx, Pin_t rx, int32_t baudrate);
static void MX_IWDG_Init(void);
};
} // namespace iflytop

14
usrc/apppublic/boardid.cpp
View File

@ -1,14 +0,0 @@
#pragma once
#include "boardid.hpp"
#include "appdep.hpp"
#include "project_configs.h"
using namespace iflytop;
boardid::id_t BoardId_get() {
int32_t *deviceId = (int32_t *)BOARD_TYPE_ID_FLASH_ADD;
if (*deviceId <= 0) {
return boardid::kunsupport;
}
return (boardid::id_t)*deviceId;
}

14
usrc/apppublic/boardid.hpp
View File

@ -1,14 +0,0 @@
#pragma once
#include "appdep.hpp"
namespace iflytop {
namespace boardid {
typedef enum {
kunsupport = 0,
kbmainboard = 1,
kvalveboard = 2,
} id_t;
}
boardid::id_t BoardId_get();
} // namespace iflytop

3
usrc/main.c
View File

@ -88,6 +88,8 @@ void MX_GPIO_Init(void) {
GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
extern void umain();
void StartDefaultTask(void const *argument) { umain(); }
int main(void) {
HAL_Init();
@ -98,6 +100,7 @@ int main(void) {
MX_FREERTOS_Init();
osKernelStart();
// main is in app_core.cpp
while (1) {
}
}

21
usrc/project_configs.h
View File

@ -7,19 +7,16 @@
#define SDK_IRQ_PREEMPTPRIORITY_DEFAULT 5 // IO中断默认中断等级
#define SDK_CFG__CFG_FLASH_ADDR 0x080C0000 // flash配置地址
#define SDK_CFG__SN_FLASH_ADDR 0x080E0004 //
#define SDK_MAX_TASK 10 // 最大任务数量
#define SDK_MAX_TASK 10 // 最大任务数量
#define DEBUG_UART huart1 // 调试串口
/***********************************************************************************************************************
* PROJECT_CONFIG *
* FLASH分区 *
***********************************************************************************************************************/
/**
* @brief 基础配置
*/
#define SOFTWARE_VERSION 1 // 软件版本
#define HARDWARE_VERSION 1 // 硬件版本
#define SN_HEADER "SN" // SN号前缀
#define DEBUG_UART huart1 // 调试串口
#define DEBUG_LIGHT_IO0 PE0 // 调试指示灯
#define DEBUG_LIGHT_IO1 PE2 // 调试指示灯
// #define BOARD_TYPE_ID_FLASH_ADD 0x080E0000 // 板子类型
// #define SN_FLASH_ADD 0x080E0004 // 使用扇区11存储SN编码
#define BOARD_TYPE_ID_FLASH_ADD 0x080E0000 // 板子类型
#define SOFTWARE_VERSION 100 // 软件版本
#define HARDWARE_VERSION 1 // 硬件版本
#define PROJECT "hand_acid_main_board" // 工程名称

23
usrc/service/app_core.cpp
View File

@ -0,0 +1,23 @@
#include "app_core.hpp"
#include <stddef.h>
#include <stdio.h>
#define TAG "main"
extern "C" {
void umain() { AppCore::ins()->initialize(); }
}
using namespace iflytop;
void AppCore::initialize() {
AppHal::MX_TIM6_Init();
AppHal::MX_TIM7_Init();
AppHal::DEBUG_UART_INIT(PA9, PA10, 460800);
AppHal::MX_IWDG_Init();
ZLOGI(TAG, "======================= boardinfo ==================== ");
ZLOGI(TAG, "project : %s ", PROJECT);
ZLOGI(TAG, "version : %d ", SOFTWARE_VERSION);
ZLOGI(TAG, "sn : %s", sn_get_str());
ZLOGI(TAG, "=");
}

21
usrc/service/app_core.hpp
View File

@ -0,0 +1,21 @@
#pragma once
#include "appcfg/appcfg.hpp"
#include "apphal/apphal.hpp"
#include "uappbase/base.hpp"
namespace iflytop {
class AppCore {
private:
/* data */
AppCore(/* args */) {}
public:
static AppCore* ins() {
static AppCore ins;
return &ins;
}
void initialize();
};
} // namespace iflytop
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