From eb97dc9cd2ce676175f401acccf15db8bde526d4 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 11 Mar 2024 00:14:25 +0800 Subject: [PATCH] update --- .vscode/settings.json | 3 +- CMakeLists.txt | 2 + README.md | 22 +- mainwindow.cpp | 73 ++++- mainwindow.h | 2 + mainwindow.ui | 200 ++++++++++++- .../clst_controler.cpp | 314 ++++++++++++++++++++- .../clst_controler.hpp | 86 +++++- .../clst_controler_sig_type.cpp | 57 ++++ .../clst_controler_sig_type.hpp | 169 +++++++++++ zaf_protocol | 2 +- 11 files changed, 885 insertions(+), 45 deletions(-) create mode 100644 src/camera_light_src_timing_controller/clst_controler_sig_type.cpp create mode 100644 src/camera_light_src_timing_controller/clst_controler_sig_type.hpp diff --git a/.vscode/settings.json b/.vscode/settings.json index 34b1ece..6142323 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -87,6 +87,5 @@ "qserialportinfo": "cpp", "qmessagebox": "cpp" }, - "files.autoGuessEncoding": true, - "files.encoding": "gbk", + "files.autoGuessEncoding": false, } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 40ccb3c..94a46c9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -32,6 +32,8 @@ set(PROJECT_SOURCES src/camera_light_src_timing_controller/clst_controler.cpp src/camera_light_src_timing_controller/qt_serial_datachannel.cpp + src/camera_light_src_timing_controller/clst_controler_sig_type.cpp + zaf_protocol/zaf_ecode.c zaf_protocol/zaf_protocol.c # libxsync/src/xsync_v2.cpp diff --git a/README.md b/README.md index db6e597..f281ef8 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,7 @@ ``` -Timecode测试 -端口:19903 -协议:UDP -消息 :01 00 00 00 05 02 08 00 -解析结果:08:25:00:01 - -xync测试 -端口:13014 -协议:UDP -消息 : -F0 00 20 00 00 00 00 FF 00 00 F0 42 17 00 00 00 E1 FF FF FF 01 00 00 00 78 00 00 00 00 00 00 00 E6 00 00 00 00 00 00 00 00 00 00 00 80 00 00 00 00 00 00 00 - - - - -``` \ No newline at end of file +TODO: + 1. 显示FPGA版本号 + 2. 显示STM32版本号 + 3. 显示PC软件版本号 + 4. 修改窗口名称 +``` diff --git a/mainwindow.cpp b/mainwindow.cpp index 7324e5e..7abc9ad 100644 --- a/mainwindow.cpp +++ b/mainwindow.cpp @@ -9,7 +9,6 @@ #include "./ui_mainwindow.h" #include "camera_light_src_timing_controller/qt_serial_datachannel.hpp" #include "logger.hpp" -#include "xsync_regs.hpp" using namespace iflytop; using namespace clst; @@ -29,9 +28,9 @@ static const char *fmt(const char *fmt, ...) { } static const uint32_t str2int(QString str) { - // 如果0x开头，按16进制转换 - // 如果0b开头，按2进制转换 - // 否则按10进制转换 + // 如果0x开头，??16进制转换 + // 如果0b开头，??2进制转换 + // 否则??10进制转换 // 去除掉str中_ str.remove("_"); @@ -77,6 +76,41 @@ void MainWindow::doinui_slot(QFunction func) { if (func.get()) func.get()(); } +void MainWindow::updatePage() { + { + float Freq; + uint32_t PluseCnt; + uint32_t SeqCtrlPluseCntMax; + + Freq = ui->InterClk_Freq_Text->text().toFloat(); + PluseCnt = ui->InterClk_PluseCnt_Text->text().toUInt(); + SeqCtrlPluseCntMax = ui->InterClk_SeqCtrlPluseCntMax_Text->text().toUInt(); + + DO(m_clstc->InterClk_setFreq(Freq)); + DO(m_clstc->InterClk_setPluseCnt(PluseCnt)); + DO(m_clstc->InterClk_setSeqCtrlPluseCntMax(SeqCtrlPluseCntMax)); + } +} + +void MainWindow::refreshPage() { + { + float Freq; + uint32_t PluseCnt; + uint32_t SeqCtrlPluseCntMax; + float TriOutSignalFreq; + + DO(m_clstc->InterClk_getFreq(Freq)); + DO(m_clstc->InterClk_getPluseCnt(PluseCnt)); + DO(m_clstc->InterClk_getSeqCtrlPluseCntMax(SeqCtrlPluseCntMax)); + DO(m_clstc->InterClk_readTriOutSignalFreq(TriOutSignalFreq)); + + ui->InterClk_Freq_Text->setText(QString::number(Freq, 'f', 2)); + ui->InterClk_PluseCnt_Text->setText(QString::number(PluseCnt)); + ui->InterClk_SeqCtrlPluseCntMax_Text->setText(QString::number(SeqCtrlPluseCntMax)); + ui->InterClk_TriOutSignalFreq_Text->setText(QString::number(TriOutSignalFreq, 'f', 2)); + } +} + void MainWindow::constructUI() { /******************************************************************************* * serialPortCB * @@ -87,7 +121,7 @@ void MainWindow::constructUI() { } /******************************************************************************* - * 波特率填充 * + * 波特率填?? * *******************************************************************************/ ui->serialBaudrateCB->addItem("9600"); ui->serialBaudrateCB->addItem("14400"); @@ -122,7 +156,7 @@ void MainWindow::constructUI() { G_QTDataChannel.setStopBits(QSerialPort::OneStop); if (!G_QTDataChannel.open()) { - QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占用"); + QMessageBox::about(NULL, "提示", "串口无法打开，串口不存在或已被占??"); return; } ui->serialOpenKey->setText("关闭"); @@ -143,7 +177,12 @@ void MainWindow::constructUI() { * 刷新页面 * *******************************************************************************/ connect(ui->refreshPageKey, &QPushButton::clicked, this, [=](bool check) { // + refreshPage(); + }); + connect(ui->UpdateCfg_Key, &QPushButton::clicked, this, [=](bool check) { // + updatePage(); + refreshPage(); }); /******************************************************************************* @@ -151,7 +190,7 @@ void MainWindow::constructUI() { *******************************************************************************/ connect(ui->storageConfigKey, &QPushButton::clicked, this, [=](bool check) { // DO(m_clstc->storageConfigs()); - ui->informationBrowser->setText("保存配置"); + ui->informationBrowser->setText("保存配置成功"); }); /******************************************************************************* @@ -159,7 +198,7 @@ void MainWindow::constructUI() { *******************************************************************************/ connect(ui->rebootDeviceKey, &QPushButton::clicked, this, [=](bool check) { // DO(m_clstc->reboot()); - ui->informationBrowser->setText("重启设备"); + ui->informationBrowser->setText("重启设备成功"); }); /******************************************************************************* @@ -167,11 +206,11 @@ void MainWindow::constructUI() { *******************************************************************************/ connect(ui->factoryResetKey, &QPushButton::clicked, this, [=](bool check) { // DO(m_clstc->factoryReset()); - ui->informationBrowser->setText("恢复出厂设置"); + ui->informationBrowser->setText("恢复出厂设置成功"); }); /******************************************************************************* - * 寄存器操作 * + * 寄存器操?? * *******************************************************************************/ ui->RegAdd->setText("0x00000000"); @@ -180,7 +219,7 @@ void MainWindow::constructUI() { uint32_t value = 0; DO(m_clstc->reg_read(addr, value, 100)); ui->regReadbakVal->setText(fmt("0x%08X", value)); - ui->informationBrowser->setText(fmt("读0x%04x成功", addr)); + ui->informationBrowser->setText(fmt("读取0x%04x成功", addr)); }); connect(ui->regWriteKey, &QPushButton::clicked, this, [=](bool check) { // @@ -189,7 +228,17 @@ void MainWindow::constructUI() { uint32_t readkbak = 0; DO(m_clstc->reg_write(addr, value, readkbak, 100)); ui->regReadbakVal->setText(fmt("0x%04x", readkbak)); - ui->informationBrowser->setText(fmt("写0x%04x成功", addr)); + ui->informationBrowser->setText(fmt("写入0x%08x成功", addr)); + }); + + connect(ui->InterClk_trigger_Key, &QPushButton::clicked, this, [=](bool check) { // + DO(m_clstc->InterClk_trigger()); + ui->informationBrowser->setText(fmt("触发成功")); + refreshPage(); + }); + connect(ui->InterClk_stop_Key, &QPushButton::clicked, this, [=](bool check) { // + DO(m_clstc->InterClk_stop()); + ui->informationBrowser->setText(fmt("停止触发成功")); }); } diff --git a/mainwindow.h b/mainwindow.h index c928469..415233e 100644 --- a/mainwindow.h +++ b/mainwindow.h @@ -73,6 +73,8 @@ class MainWindow : public QMainWindow { MainWindow(QWidget *parent = nullptr); ~MainWindow(); + void refreshPage(); + void updatePage(); private slots: /** diff --git a/mainwindow.ui b/mainwindow.ui index 4f8c37d..36697e5 100644 --- a/mainwindow.ui +++ b/mainwindow.ui @@ -17,7 +17,7 @@ - MainWindow + 相机光源和时序控制器 @@ -228,6 +228,13 @@ + + + 提交配置 + + + + 保存配置 @@ -428,21 +435,204 @@ - 0 + 1 + + + true - 触发源配置 + 外部触发源配置 + + + + + 内部触发源配置 + + + + 20 + 10 + 300 + 191 + + + + + 300 + 200 + + + + 内部触发源配置 + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + + 16777215 + 25 + + + + 触发时钟(HZ) + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + + 16777215 + 25 + + + + 触发脉冲数量(0等于无限) + + + + + + + + 0 + 25 + + + + + + + + + 0 + 25 + + + + + + + + 触发 + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + + 16777215 + 25 + + + + 顺序触发模式最大计数 + + + + + + + + 0 + 25 + + + + + + + + + 0 + 0 + + + + + 0 + 25 + + + + + 16777215 + 25 + + + + 输出频率探测(HZ) + + + + + + + + 0 + 25 + + + + + + + + 停止 + + + + + - 光源配置 + 光源时序配置 - 相机驱动配置 + 快门时序配置 diff --git a/src/camera_light_src_timing_controller/clst_controler.cpp b/src/camera_light_src_timing_controller/clst_controler.cpp index 92645eb..c6dbb16 100644 --- a/src/camera_light_src_timing_controller/clst_controler.cpp +++ b/src/camera_light_src_timing_controller/clst_controler.cpp @@ -9,8 +9,12 @@ using namespace clst; #define TAG "CLSTControler" -#define PACKET_LEN(__packet) (sizeof(zaf_packet_header_t) + __packet->ndata * 4 + 3) - +#define PACKET_LEN(__packet) (sizeof(zaf_packet_header_t) + (__packet->ndata) * sizeof(uint32_t) + 1 /*checksum*/ + 2 /*tail*/) +#define DO_CMD(exptr) \ + { \ + zaf_error_code_t ecode = exptr; \ + if (ecode != kaf_ec_success) return ecode; \ + } CLSTControler *CLSTControler::ins() { static CLSTControler *ins = nullptr; if (ins == nullptr) { @@ -70,7 +74,7 @@ void CLSTControler::processRxData(uint8_t *rx, uint32_t rxlen) { * 1. findHeader * 2. processRx * - * ָ: + * 测试指令: * 5A 5A 02 00 01 00 01 00 01 00 01 00 00 00 06 A5 A5 * */ @@ -177,8 +181,6 @@ zaf_error_code_t CLSTControler::sendPacket(zaf_packet_header_t *packet, uint32_t return kaf_ec_overtime; } -#define PACKET_LEN(__packet) (sizeof(zaf_packet_header_t) + (__packet->ndata) * sizeof(uint32_t) + 1 /*checksum*/ + 2 /*tail*/) - zaf_error_code_t CLSTControler::reg_write(uint32_t regadd, uint32_t regvalue, uint32_t ®backvalue, int32_t overtime_ms) { // lock_guard lock(m_tx_lock); @@ -212,6 +214,12 @@ zaf_error_code_t CLSTControler::reg_write(uint32_t regadd, uint32_t regvalue, ui regbackvalue = rxpacket->data[1]; return kaf_ec_success; } +uint32_t CLSTControler::reg_read_v2(uint32_t regadd) { + uint32_t regvalue = 0; + reg_read(regadd, regvalue, 30); + return regvalue; +} + zaf_error_code_t CLSTControler::reg_read(uint32_t regadd, uint32_t ®value, int32_t overtime_ms) { lock_guard lock(m_tx_lock); @@ -279,7 +287,7 @@ zaf_error_code_t CLSTControler::factoryReset() { txdata[txpacklen - 2] = PACKET_TAIL & 0xFF; txdata[txpacklen - 1] = (PACKET_TAIL >> 8) & 0xFF; - zaf_error_code_t ecode = sendPacket(txpacket, txpacklen, 100); + zaf_error_code_t ecode = sendPacket(txpacket, txpacklen, 1500); if (ecode != kaf_ec_success) return ecode; return kaf_ec_success; @@ -335,8 +343,300 @@ zaf_error_code_t CLSTControler::storageConfigs() { txdata[txpacklen - 2] = PACKET_TAIL & 0xFF; txdata[txpacklen - 1] = (PACKET_TAIL >> 8) & 0xFF; - zaf_error_code_t ecode = sendPacket(txpacket, txpacklen, 100); + zaf_error_code_t ecode = sendPacket(txpacket, txpacklen, 1500); if (ecode != kaf_ec_success) return ecode; return kaf_ec_success; } + +zaf_error_code_t CLSTControler::readFreq(uint32_t reg, float &freqfloat) { + uint32_t freq_cnt = 0; + DO_CMD(reg_read(reg, freq_cnt, 30)); + if (freq_cnt == 0) { + freqfloat = 0; + } + + if (freq_cnt != 0) { + uint32_t freq_1000x = ((1.0 / (freq_cnt * 1.0 / (100 * 1000 * 1000))) * 1000 + 0.5); //+0.5???c++ ?????????????????? + // ZLOGI(TAG, "freq_10x %f", freq_10x); + freqfloat = freq_1000x / 1000.0; + } else { + freqfloat = 0; + } + if (freqfloat < 0.05) { + freqfloat = 0; + } + + return kaf_ec_success; +} + +/******************************************************************************* + * ???? * + *******************************************************************************/ +zaf_error_code_t CLSTControler::InterClk_setFreq(float freq) { // + DO_CMD(InterClk_stop()); + ZLOGI(TAG, "InterClk_setFreq %f", freq); + double T = 1.0 / freq; + double T_ns = T * 1000 * 1000 * 1000; + double cnt = T_ns / 10 + 0.5; // 100MHZ <=> 10ns + + uint32_t cnt_u32 = uint32_t(cnt); + ZLOGI(TAG, "InterClk_setFreq %f %d", freq, cnt_u32); + + return reg_write(kreg_internal_clk_freq_cnt, cnt_u32); +} +zaf_error_code_t CLSTControler::InterClk_setPluseCnt(uint32_t cnt) { // + return reg_write(kreg_internal_clk_pluse_cnt, cnt); +} +zaf_error_code_t CLSTControler::InterClk_setSeqCtrlPluseCntMax(uint32_t cnt) { // + if (cnt == 0) return kaf_ec_param_error; + return reg_write(kreg_internal_clk_tri_sequential_control_pluse_cnt_max, cnt - 1); +} + +zaf_error_code_t CLSTControler::InterClk_getFreq(float &freq) { // + return readFreq(kreg_internal_clk_freq_cnt, freq); +} +zaf_error_code_t CLSTControler::InterClk_getPluseCnt(uint32_t &cnt) { // + return reg_read(kreg_internal_clk_pluse_cnt, cnt); +} +zaf_error_code_t CLSTControler::InterClk_getSeqCtrlPluseCntMax(uint32_t &cnt) { // + DO_CMD(reg_read(kreg_internal_clk_tri_sequential_control_pluse_cnt_max, cnt)); + cnt++; + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::InterClk_readTriOutSignalFreq(float &freq) { // + return readFreq(kreg_internal_clk_tri_out_signal_freq, freq); +} +zaf_error_code_t CLSTControler::InterClk_trigger() { // + return reg_write(kreg_internal_clk_ctrl, 1); +} +zaf_error_code_t CLSTControler::InterClk_stop() { // + return reg_write(kreg_internal_clk_ctrl, 0); +} +/******************************************************************************* + * TTL????? * + *******************************************************************************/ +// kreg_trigger_in1_module +// kreg_trigger_in1_src_slect +// kreg_trigger_in1_fileter_coefficient +// kreg_trigger_in1_freq_detect_bias +// kreg_trigger_in1_mode +// kreg_trigger_in1_trigger_mode_trigger_edge +// kreg_trigger_in1_trigger_mode_freq_division +// kreg_trigger_in1_trigger_mode_freq_multiplication +// kreg_trigger_in1_sequential_control_pluse_cnt_max +// kreg_trigger_in1_in_signal_freq +// kreg_trigger_in1_out_signal_freq + +zaf_error_code_t CLSTControler::TriInX_setSrcSelect(int32_t index, ExtTriggerSrcType src) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_src_slect + (index - 1) * 32, src.getVal()); +} +zaf_error_code_t CLSTControler::TriInX_setFileterCoefficient(int32_t index, uint32_t coefficient) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_fileter_coefficient + (index - 1) * 32, coefficient); +} +zaf_error_code_t CLSTControler::TriInX_setFreqDetectBias(int32_t index, uint32_t bias) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_freq_detect_bias + (index - 1) * 32, bias); +} +zaf_error_code_t CLSTControler::TriInX_setMode(int32_t index, SigProcessMode mode) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_mode + (index - 1) * 32, mode.getVal()); +} +zaf_error_code_t CLSTControler::TriInX_setTriggerModeTriggerEdge(int32_t index, TriggerEdge edge) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_trigger_mode_trigger_edge + (index - 1) * 32, edge); +} +zaf_error_code_t CLSTControler::TriInX_setTriggerModeFreqDivision(int32_t index, uint32_t division) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_trigger_mode_freq_division + (index - 1) * 32, division); +} +zaf_error_code_t CLSTControler::TriInX_setTriggerModeFreqMultiplication(int32_t index, uint32_t multiplication) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_trigger_mode_freq_multiplication + (index - 1) * 32, multiplication); +} +zaf_error_code_t CLSTControler::TriInX_setSequentialControlPluseCntMax(int32_t index, uint32_t cnt) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_trigger_in1_sequential_control_pluse_cnt_max + (index - 1) * 32, cnt); +} + +zaf_error_code_t CLSTControler::TriInX_getSrcSelect(int32_t index, ExtTriggerSrcType &src) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t val; + DO_CMD(reg_read(kreg_trigger_in1_src_slect + (index - 1) * 32, val)); + src = ExtTriggerSrcType(val); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::TriInX_getFileterCoefficient(int32_t index, uint32_t &coefficient) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_read(kreg_trigger_in1_fileter_coefficient + (index - 1) * 32, coefficient); +} +zaf_error_code_t CLSTControler::TriInX_getFreqDetectBias(int32_t index, uint32_t &bias) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_read(kreg_trigger_in1_freq_detect_bias + (index - 1) * 32, bias); +} +zaf_error_code_t CLSTControler::TriInX_getMode(int32_t index, SigProcessMode &mode) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t reakbak = 0; + DO_CMD(reg_read(kreg_trigger_in1_mode + (index - 1) * 32, reakbak)); + mode = SigProcessMode(reakbak); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::TriInX_getTriggerModeTriggerEdge(int32_t index, TriggerEdge &edge) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t val; + DO_CMD(reg_read(kreg_trigger_in1_trigger_mode_trigger_edge + (index - 1) * 32, val)); + edge = TriggerEdge(val); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::TriInX_getTriggerModeFreqDivision(int32_t index, uint32_t &division) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_read(kreg_trigger_in1_trigger_mode_freq_division + (index - 1) * 32, division); +} +zaf_error_code_t CLSTControler::TriInX_getTriggerModeFreqMultiplication(int32_t index, uint32_t &multiplication) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_read(kreg_trigger_in1_trigger_mode_freq_multiplication + (index - 1) * 32, multiplication); +} + +zaf_error_code_t CLSTControler::TriInX_readInSignalFreq(int32_t index, float &freq) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return readFreq(kreg_trigger_in1_in_signal_freq + (index - 1) * 32, freq); +} +zaf_error_code_t CLSTControler::TriInX_readOutSignalFreq(int32_t index, float &freq) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return readFreq(kreg_trigger_in1_out_signal_freq + (index - 1) * 32, freq); + return kaf_ec_success; +} + +/******************************************************************************* + * ???? * + *******************************************************************************/ + +zaf_error_code_t CLSTControler::LightSrcX_setTriSrc(int32_t index, InternalSig src) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_light_ctrol_module1_source_select + (index - 1) * 32, src); +} +zaf_error_code_t CLSTControler::LightSrcX_setTriggerModePluseWidth(int32_t index, uint32_t width) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_light_ctrol_module1_trigger_mode_pluse_width + (index - 1) * 32, width * 10); // 0.1us +} +zaf_error_code_t CLSTControler::LightSrcX_setTriggerModeFirstPluseOffset(int32_t index, uint32_t offset) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_write(kreg_light_ctrol_module1_trigger_mode_first_pluse_offset + (index - 1) * 32, offset * 10); // 0.1us +} +zaf_error_code_t CLSTControler::LightSrcX_setLightIntensityDuty(int32_t index, float duty) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + + uint32_t freqcnt = 0; + DO_CMD(reg_read(kreg_light_ctrol_module1_light_driver_freq_cnt + (index - 1) * 32, freqcnt)); + + uint32_t cnt = freqcnt * (duty / 100.0); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::LightSrcX_setLightDriverFreq(int32_t index, float freq) { // + + double T = 1.0 / freq; + double T_ns = T * 1000 * 1000 * 1000; + double cnt = T_ns / 10 + 0.5; // 100MHZ <=> 10ns + + uint32_t cnt_u32 = uint32_t(cnt); + return reg_write(kreg_light_ctrol_module1_light_driver_freq_cnt + (index - 1) * 32, cnt_u32); +} + +zaf_error_code_t CLSTControler::LightSrcX_getTriSrc(int32_t index, InternalSig &src) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t val; + DO_CMD(reg_read(kreg_light_ctrol_module1_source_select + (index - 1) * 32, val)); + src = InternalSig(val); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::LightSrcX_getTriggerModePluseWidth(int32_t index, uint32_t &width) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t val; + DO_CMD(reg_read(kreg_light_ctrol_module1_trigger_mode_pluse_width + (index - 1) * 32, val)); + width = val / 10; + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::LightSrcX_getTriggerModeFirstPluseOffset(int32_t index, uint32_t &offset) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t val; + DO_CMD(reg_read(kreg_light_ctrol_module1_trigger_mode_first_pluse_offset + (index - 1) * 32, val)); + offset = val / 10; + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::LightSrcX_getLightIntensityDuty(int32_t index, float &duty) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + uint32_t freqcnt = 0; + DO_CMD(reg_read(kreg_light_ctrol_module1_light_driver_freq_cnt + (index - 1) * 32, freqcnt)); + + uint32_t cnt = 0; + DO_CMD(reg_read(kreg_light_ctrol_module1_light_intensity_cnt + (index - 1) * 32, cnt)); + + duty = (cnt * 100.0 / freqcnt); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::LightSrcX_getLightDriverFreq(int32_t index, float &freq) { // + return readFreq(kreg_light_ctrol_module1_light_driver_freq_cnt + (index - 1) * 32, freq); +} + +zaf_error_code_t CLSTControler::LightSrcX_readLightSrcErrorState(int32_t index, uint32_t &state) { // + if (index < 1 || index > 4) return kaf_ec_param_error; + return reg_read(kreg_light_ctrol_module1_light_src_error_state + (index - 1) * 32, state); +} +zaf_error_code_t CLSTControler::LightSrcX_readInSigFreqDetect(int32_t index, float &freq) { // + return readFreq(kreg_light_ctrol_module1_in_sig_freq_detect + (index - 1) * 32, freq); +} +zaf_error_code_t CLSTControler::LightSrcX_readOutSigFreqDetect(int32_t index, float &freq) { // + return readFreq(kreg_light_ctrol_module1_out_sig_freq_detect + (index - 1) * 32, freq); +} + +/******************************************************************************* + * * + *******************************************************************************/ + +zaf_error_code_t CLSTControler::ShutterX_setOutputCtrlMode(int32_t index, SigProcessMode mode) { // + return reg_write(kreg_ttl_output_module1_output_ctrl_mode + (index - 1) * 32, mode); +} +zaf_error_code_t CLSTControler::ShutterX_setLtEnBind(int32_t index, uint32_t lt_en_sig_index, uint32_t state) { // + uint32_t readbak_state = 0; + DO_CMD(reg_read(kreg_ttl_output_module1_lt_en_bind + (index - 1) * 32, readbak_state)); + if (state == 1) { + readbak_state |= (1 << lt_en_sig_index); + } else { + readbak_state &= ~(1 << lt_en_sig_index); + } + DO_CMD(reg_write(kreg_ttl_output_module1_lt_en_bind + (index - 1) * 32, readbak_state)); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::ShutterX_setLtEnOffset(int32_t index, uint32_t offset) { // + return reg_write(kreg_ttl_output_module1_lt_en_offset + (index - 1) * 32, offset * 10); // 0.1us +} +zaf_error_code_t CLSTControler::ShutterX_setInSigSelect(int32_t index, InternalSig sig) { // + return reg_write(kreg_ttl_output_module1_in_sig_select + (index - 1) * 32, sig); +} + +zaf_error_code_t CLSTControler::ShutterX_getOutputCtrlMode(int32_t index, SigProcessMode &mode) { // + uint32_t val; + DO_CMD(reg_read(kreg_ttl_output_module1_output_ctrl_mode + (index - 1) * 32, val)); + mode = SigProcessMode(val); + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::ShutterX_getLtEnBind(int32_t index, uint32_t lt_en_sig_index, uint32_t &state) { // + uint32_t readbak_state = 0; + DO_CMD(reg_read(kreg_ttl_output_module1_lt_en_bind + (index - 1) * 32, readbak_state)); + state = (readbak_state >> lt_en_sig_index) & 0x01; + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::ShutterX_getLtEnOffset(int32_t index, uint32_t &offset) { // + uint32_t val; + DO_CMD(reg_read(kreg_ttl_output_module1_lt_en_offset + (index - 1) * 32, val)); + offset = val / 10; + return kaf_ec_success; +} +zaf_error_code_t CLSTControler::ShutterX_getInSigSelect(int32_t index, InternalSig &sig) { // + uint32_t val; + DO_CMD(reg_read(kreg_ttl_output_module1_in_sig_select + (index - 1) * 32, val)); + sig = InternalSig(val); + return kaf_ec_success; +} \ No newline at end of file diff --git a/src/camera_light_src_timing_controller/clst_controler.hpp b/src/camera_light_src_timing_controller/clst_controler.hpp index dbd0c1a..21174ec 100644 --- a/src/camera_light_src_timing_controller/clst_controler.hpp +++ b/src/camera_light_src_timing_controller/clst_controler.hpp @@ -12,6 +12,7 @@ #include #include +#include "clst_controler_sig_type.hpp" #include "zaf_protocol/zaf_protocol.h" #define SDK_VERSION 1 @@ -76,15 +77,96 @@ class CLSTControler { zaf_error_code_t reboot(); zaf_error_code_t storageConfigs(); + void initDevice(); + public: - zaf_error_code_t reg_write(uint32_t regadd, uint32_t regvalue, uint32_t ®backvalue, int32_t overtime_ms); - zaf_error_code_t reg_read(uint32_t regadd, uint32_t ®value, int32_t overtime_ms); + zaf_error_code_t reg_write(uint32_t regadd, uint32_t regvalue, uint32_t ®backvalue, int32_t overtime_ms = 30); + zaf_error_code_t reg_write(uint32_t regadd, uint32_t regvalue) { + uint32_t regbackvalue; + return reg_write(regadd, regvalue, regbackvalue, 30); + } + zaf_error_code_t reg_read(uint32_t regadd, uint32_t ®value, int32_t overtime_ms = 30); + uint32_t reg_read_v2(uint32_t regadd); public: + /******************************************************************************* + * 内部触发源 * + *******************************************************************************/ + zaf_error_code_t InterClk_setFreq(float freq); + zaf_error_code_t InterClk_setPluseCnt(uint32_t cnt); + zaf_error_code_t InterClk_setSeqCtrlPluseCntMax(uint32_t cnt); + + zaf_error_code_t InterClk_getFreq(float &freq); + zaf_error_code_t InterClk_getPluseCnt(uint32_t &cnt); + zaf_error_code_t InterClk_getSeqCtrlPluseCntMax(uint32_t &cnt); + + zaf_error_code_t InterClk_readTriOutSignalFreq(float &freq); + + zaf_error_code_t InterClk_trigger(); + zaf_error_code_t InterClk_stop(); + + /******************************************************************************* + * TTL外部触发源 * + *******************************************************************************/ + zaf_error_code_t TriInX_setSrcSelect(int32_t index, ExtTriggerSrcType src); // 0 + zaf_error_code_t TriInX_setFileterCoefficient(int32_t index, uint32_t coefficient); + zaf_error_code_t TriInX_setFreqDetectBias(int32_t index, uint32_t bias); + zaf_error_code_t TriInX_setMode(int32_t index, SigProcessMode mode); + zaf_error_code_t TriInX_setTriggerModeTriggerEdge(int32_t index, TriggerEdge edge); + zaf_error_code_t TriInX_setTriggerModeFreqDivision(int32_t index, uint32_t division); + zaf_error_code_t TriInX_setTriggerModeFreqMultiplication(int32_t index, uint32_t multiplication); + zaf_error_code_t TriInX_setSequentialControlPluseCntMax(int32_t index, uint32_t cnt); + + zaf_error_code_t TriInX_getSrcSelect(int32_t index, ExtTriggerSrcType &src); + zaf_error_code_t TriInX_getFileterCoefficient(int32_t index, uint32_t &coefficient); + zaf_error_code_t TriInX_getFreqDetectBias(int32_t index, uint32_t &bias); + zaf_error_code_t TriInX_getMode(int32_t index, SigProcessMode &mode); + zaf_error_code_t TriInX_getTriggerModeTriggerEdge(int32_t index, TriggerEdge &edge); + zaf_error_code_t TriInX_getTriggerModeFreqDivision(int32_t index, uint32_t &division); + zaf_error_code_t TriInX_getTriggerModeFreqMultiplication(int32_t index, uint32_t &multiplication); + + zaf_error_code_t TriInX_readInSignalFreq(int32_t index, float &freq); + zaf_error_code_t TriInX_readOutSignalFreq(int32_t index, float &freq); + + /******************************************************************************* + * 光源控制 * + *******************************************************************************/ + zaf_error_code_t LightSrcX_setTriSrc(int32_t index, InternalSig src); + zaf_error_code_t LightSrcX_setTriggerModePluseWidth(int32_t index, uint32_t width); + zaf_error_code_t LightSrcX_setTriggerModeFirstPluseOffset(int32_t index, uint32_t offset); + zaf_error_code_t LightSrcX_setLightIntensityDuty(int32_t index, float duty); + zaf_error_code_t LightSrcX_setLightDriverFreq(int32_t index, float freq); + + zaf_error_code_t LightSrcX_getTriSrc(int32_t index, InternalSig &src); + zaf_error_code_t LightSrcX_getTriggerModePluseWidth(int32_t index, uint32_t &width); + zaf_error_code_t LightSrcX_getTriggerModeFirstPluseOffset(int32_t index, uint32_t &offset); + zaf_error_code_t LightSrcX_getLightIntensityDuty(int32_t index, float &duty); + zaf_error_code_t LightSrcX_getLightDriverFreq(int32_t index, float &freq); + + zaf_error_code_t LightSrcX_readLightSrcErrorState(int32_t index, uint32_t &state); + zaf_error_code_t LightSrcX_readInSigFreqDetect(int32_t index, float &freq); + zaf_error_code_t LightSrcX_readOutSigFreqDetect(int32_t index, float &freq); + + /******************************************************************************* + * 快门控制 * + *******************************************************************************/ + + zaf_error_code_t ShutterX_setOutputCtrlMode(int32_t index, SigProcessMode mode); + zaf_error_code_t ShutterX_setLtEnBind(int32_t index, uint32_t lt_en_sig_index, uint32_t state); + zaf_error_code_t ShutterX_setLtEnOffset(int32_t index, uint32_t offset); + zaf_error_code_t ShutterX_setInSigSelect(int32_t index, InternalSig sig); + + zaf_error_code_t ShutterX_getOutputCtrlMode(int32_t index, SigProcessMode &mode); + zaf_error_code_t ShutterX_getLtEnBind(int32_t index, uint32_t lt_en_sig_index, uint32_t &state); + zaf_error_code_t ShutterX_getLtEnOffset(int32_t index, uint32_t &offset); + zaf_error_code_t ShutterX_getInSigSelect(int32_t index, InternalSig &sig); + + private: void processRxData(uint8_t *rx, uint32_t rxlen); void processRxPacket(zaf_packet_header_t *packet); zaf_error_code_t sendPacket(zaf_packet_header_t *packet, uint32_t len, uint32_t overtime); + zaf_error_code_t readFreq(uint32_t reg, float &freq); }; } // namespace clst diff --git a/src/camera_light_src_timing_controller/clst_controler_sig_type.cpp b/src/camera_light_src_timing_controller/clst_controler_sig_type.cpp new file mode 100644 index 0000000..2d87637 --- /dev/null +++ b/src/camera_light_src_timing_controller/clst_controler_sig_type.cpp @@ -0,0 +1,57 @@ +#include "clst_controler_sig_type.hpp" + +using namespace iflytop; +using namespace clst; + +map ExtTriggerSrcType::emap = { + {"OPTOCOUPLER_INPUT", OPTOCOUPLER_INPUT}, // + {"DIFF_INPUT", DIFF_INPUT}, // +}; + +map TriggerEdge::emap = { + {"RISING", RISING}, // + {"FALLING", FALLING}, // + {"BOTH", BOTH} // +}; + +map SigProcessMode::emap = { + {"TRIGGER_MODE", TRIGGER_MODE}, // + {"TRANSPARENT_MODE", TRANSPARENT_MODE}, // + {"BIND_MODE", BIND_MODE} // + +}; + +map InternalSig::emap = { + {"LOGIC0", LOGIC0}, // + {"LOGIC1", LOGIC1}, // + + {"INTERNAL_TRIGGER", INTERNAL_TRIGGER}, // + {"INTERNAL_TRIGGER_I1", INTERNAL_TRIGGER_I1}, // + {"INTERNAL_TRIGGER_I2", INTERNAL_TRIGGER_I2}, // + {"INTERNAL_TRIGGER_I3", INTERNAL_TRIGGER_I3}, // + {"INTERNAL_TRIGGER_I4", INTERNAL_TRIGGER_I4}, // + + {"EXT_TRIGGER_1", EXT_TRIGGER_1}, // + {"EXT_TRIGGER_1_I1", EXT_TRIGGER_1_I1}, // + {"EXT_TRIGGER_1_I2", EXT_TRIGGER_1_I2}, // + {"EXT_TRIGGER_1_I3", EXT_TRIGGER_1_I3}, // + {"EXT_TRIGGER_1_I4", EXT_TRIGGER_1_I4}, // + + {"EXT_TRIGGER_2", EXT_TRIGGER_2}, // + {"EXT_TRIGGER_2_I1", EXT_TRIGGER_2_I1}, // + {"EXT_TRIGGER_2_I2", EXT_TRIGGER_2_I2}, // + {"EXT_TRIGGER_2_I3", EXT_TRIGGER_2_I3}, // + {"EXT_TRIGGER_2_I4", EXT_TRIGGER_2_I4}, // + + {"EXT_TRIGGER_3", EXT_TRIGGER_3}, // + {"EXT_TRIGGER_3_I1", EXT_TRIGGER_3_I1}, // + {"EXT_TRIGGER_3_I2", EXT_TRIGGER_3_I2}, // + {"EXT_TRIGGER_3_I3", EXT_TRIGGER_3_I3}, // + {"EXT_TRIGGER_3_I4", EXT_TRIGGER_3_I4}, // + + {"EXT_TRIGGER_4", EXT_TRIGGER_4}, // + {"EXT_TRIGGER_4_I1", EXT_TRIGGER_4_I1}, // + {"EXT_TRIGGER_4_I2", EXT_TRIGGER_4_I2}, // + {"EXT_TRIGGER_4_I3", EXT_TRIGGER_4_I3}, // + {"EXT_TRIGGER_4_I4", EXT_TRIGGER_4_I4}, // +}; \ No newline at end of file diff --git a/src/camera_light_src_timing_controller/clst_controler_sig_type.hpp b/src/camera_light_src_timing_controller/clst_controler_sig_type.hpp new file mode 100644 index 0000000..1859e5b --- /dev/null +++ b/src/camera_light_src_timing_controller/clst_controler_sig_type.hpp @@ -0,0 +1,169 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "zaf_protocol/zaf_protocol.h" + +namespace iflytop { +namespace clst { +using namespace std; + +class ExtTriggerSrcType { + public: + typedef enum { + OPTOCOUPLER_INPUT = 0, // 光耦输入 + DIFF_INPUT = 1, // 差分输入 + } EnumType_t; + + private: + static map emap; + + public: + EnumType_t val; + + ExtTriggerSrcType() { val = OPTOCOUPLER_INPUT; } + ExtTriggerSrcType(EnumType_t e) { val = e; } + ExtTriggerSrcType(uint32_t e) { val = (EnumType_t)e; } + ExtTriggerSrcType(string string) { emap.find(string) != emap.end() ? val = emap[string] : val = OPTOCOUPLER_INPUT; } + string toString() { return toString(val); } + string toString(EnumType_t ein) { + for (auto &item : emap) { + if (item.second == ein) return item.first; + } + return "unkown"; + } + uint32_t getVal() { return val; } + operator uint32_t() { return val; } +}; + +class TriggerEdge { + public: + typedef enum { + RISING = 0, // 上升沿触发 + FALLING = 1, // 下降沿触发 + BOTH = 2, // 上升沿和下降沿触发 + } EnumType_t; + + private: + static map emap; + + public: + EnumType_t val; + + TriggerEdge() { val = RISING; } + TriggerEdge(EnumType_t e) { val = e; } + TriggerEdge(uint32_t e) { val = (EnumType_t)e; } + TriggerEdge(string string) { emap.find(string) != emap.end() ? val = emap[string] : val = RISING; } + string toString() { return toString(val); } + string toString(EnumType_t ein) { + for (auto &item : emap) { + if (item.second == ein) return item.first; + } + return "unkown"; + } + uint32_t getVal() { return val; } + operator uint32_t() { return val; } +}; + +class SigProcessMode { + public: + typedef enum { + TRIGGER_MODE = 0, // 触发模式 + TRANSPARENT_MODE = 1, // 透传模式 + BIND_MODE = 2 // 绑定模式 + } EnumType_t; + + private: + static map emap; + + public: + EnumType_t val; + + SigProcessMode() { val = TRIGGER_MODE; } + SigProcessMode(EnumType_t e) { val = e; } + SigProcessMode(uint32_t e) { val = (EnumType_t)e; } + SigProcessMode(string string) { emap.find(string) != emap.end() ? val = emap[string] : val = TRIGGER_MODE; } + string toString() { return toString(val); } + string toString(EnumType_t ein) { + for (auto &item : emap) { + if (item.second == ein) return item.first; + } + return "unkown"; + } + uint32_t getVal() { return val; } + operator uint32_t() { return val; } +}; + +class InternalSig { + public: + typedef enum { + + LOGIC0 = 0, + LOGIC1 = 1, + + INTERNAL_TRIGGER = 2, + INTERNAL_TRIGGER_I1 = 3, + INTERNAL_TRIGGER_I2 = 4, + INTERNAL_TRIGGER_I3 = 5, + INTERNAL_TRIGGER_I4 = 6, + + EXT_TRIGGER_1 = 7, + EXT_TRIGGER_1_I1 = 8, + EXT_TRIGGER_1_I2 = 9, + EXT_TRIGGER_1_I3 = 10, + EXT_TRIGGER_1_I4 = 11, + + EXT_TRIGGER_2 = 12, + EXT_TRIGGER_2_I1 = 13, + EXT_TRIGGER_2_I2 = 14, + EXT_TRIGGER_2_I3 = 15, + EXT_TRIGGER_2_I4 = 16, + + EXT_TRIGGER_3 = 17, + EXT_TRIGGER_3_I1 = 18, + EXT_TRIGGER_3_I2 = 19, + EXT_TRIGGER_3_I3 = 20, + EXT_TRIGGER_3_I4 = 21, + + EXT_TRIGGER_4 = 22, + EXT_TRIGGER_4_I1 = 23, + EXT_TRIGGER_4_I2 = 24, + EXT_TRIGGER_4_I3 = 25, + EXT_TRIGGER_4_I4 = 26, + + } EnumType_t; + + private: + static map emap; + + public: + EnumType_t val; + + InternalSig() { val = LOGIC0; } + InternalSig(EnumType_t e) { val = e; } + InternalSig(uint32_t e) { val = (EnumType_t)e; } + InternalSig(string string) { emap.find(string) != emap.end() ? val = emap[string] : val = LOGIC0; } + string toString() { return toString(val); } + string toString(EnumType_t ein) { + for (auto &item : emap) { + if (item.second == ein) return item.first; + } + return "unkown"; + } + + uint32_t getVal() { return val; } + operator uint32_t() { return val; } +}; + +} // namespace clst +} // namespace iflytop \ No newline at end of file diff --git a/zaf_protocol b/zaf_protocol index 19d549a..d29b003 160000 --- a/zaf_protocol +++ b/zaf_protocol @@ -1 +1 @@ -Subproject commit 19d549a123f6dcf6e1a47b012a64bf659740638d +Subproject commit d29b00371520aea2566aa09cba2384e3e937a908