update

README.md

@@ -1,21 +1,7 @@
 ```
-ref:https://iflytop1.feishu.cn/docx/FPqjdaTtkoBeU9x4qbjcD6vxnUc
+设计文档:https://iflytop1.feishu.cn/wiki/CQWNw4ZBXiStBkkQRo0czgnbnxc
 ```
 
 ```
-主动上报
-    发生改变->上报(最小周期)
-    单片机重启->触发上报
-    主机上线->上报
-    传感器异常->上报
-    触发上报指令下发->上报
 
-
-websocket
-    -> 建立连接上报
-    -> 发生改变上报（最小周期）
-    -> 触发上报指令下发->上报
-
-
-; 主机模式/监听模式
 ```

iflytop_canbus_protocol

@@ -1 +1 @@
-Subproject commit c01f84e2ad44f02f615ceec55762e9eda995c0a1
+Subproject commit 0a220fccdd10378ec311e17871edbc0acf089569

usrc/base/hardware.cpp

@@ -33,5 +33,5 @@ void Hardware::init() {
   // m_motor[1].rotate(500000);
   ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);
 
-  m_pressureSensorBus.init(&m_modbusBlockHost, nullptr, 1000, 1000);
+  m_pressureSensorBus.init(&m_modbusBlockHost);
 }

usrc/protocol_impl/protocol_impl_service.cpp

@@ -31,6 +31,9 @@ using namespace iflytop;
 static osTimerId  HeartReportTimerId;
 static osThreadId PacketRxThreadId;
 
+static osTimerId PressureSensorDataReportTimerId;  // 压力传感器数值上报
+static uint32_t  m_pressureSensorDataReportPeriodMs = 3000;
+
 /***********************************************************************************************************************
  *                                                    FUNCTION_IMPL                                                    *
  ***********************************************************************************************************************/
@@ -78,7 +81,7 @@ static void basic_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     static report_heatpacket_data_t heatpacket;
     heatpacket.boardType  = deviceInfo_getBoardType();
     heatpacket.heartIndex = GET_PARAM(packet->params, 0);
-    zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket));
+    zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket), 30);
   }
   // 触发一次强制上报事件
   if (packet->function_id == kcmd_force_report) {
@@ -208,9 +211,39 @@ static void others_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_
 
   // 压力传感器数据上报
   else if (packet->function_id == kcmd_read_pressure_data) {
+    CHECK_PARAM_LEN(paramNum, 1);
+    int32_t index = GET_PARAM(packet->params, 0);
+
+    int16_t val       = 0;
+    int32_t reportVal = 0;
+    bool    suc       = Hardware::ins().pressureSensorBus()->readData(index, &val);
+
+    reportVal = val;
+
+    if (suc) {
+      zcanbus_send_ack(packet, (uint8_t*)&reportVal, sizeof(reportVal));
+    } else {
+      zcanbus_send_errorack(packet, kerr_subdevice_offline);
+    }
+
   }
   // 压力传感器数据上报
   else if (packet->function_id == kcmd_set_pressure_data_report_period_ms) {
+    CHECK_PARAM_LEN(paramNum, 1);
+    int32_t period = GET_PARAM(packet->params, 0);
+
+    ZLOGI(TAG, "set pressure sensor data report period %d ms", period);
+
+    if (period != 0) {
+      if (period < 200) period = 200;
+      osTimerStop(PressureSensorDataReportTimerId);
+      osTimerStart(PressureSensorDataReportTimerId, period);
+      m_pressureSensorDataReportPeriodMs = period;
+    } else {
+      osTimerStop(PressureSensorDataReportTimerId);
+    }
+
+    zcanbus_send_ack(packet, NULL, 0);
   }
 }
 
@@ -241,6 +274,30 @@ static void zcanbus_on_connected(bool connected) {
     ZLOGI(TAG, "disconnected from host");
   }
 }
+
+static void onPressureSensorDataReportTimer(void const* argument) {
+  // 压力传感器数据上报
+  static uint8_t                 reportcache[100];
+  static report_pressure_data_t* report = (report_pressure_data_t*)reportcache;
+
+  int sensorNum = 0;
+
+  for (size_t i = 0; i < PXX_PRESSURE_SENSOR_NUM; i++) {
+    int16_t val = 0;
+    bool    suc = Hardware::ins().pressureSensorBus()->readData(i, &val);
+
+    if (suc) {
+      report->data[sensorNum].subid       = i;
+      report->data[sensorNum].pressureVal = val;
+      sensorNum++;
+    }
+  }
+
+  report->sensorDataNum = sensorNum;
+  zcanbus_send_report(kreport_pressure_data, (uint8_t*)report,  //
+                      sizeof(report_pressure_data_t) + sensorNum * sizeof(report->data[0]), 10);
+}
+
 /***********************************************************************************************************************
  *                                                         EXT                                                         *
  ***********************************************************************************************************************/
@@ -253,9 +310,9 @@ void protocol_impl_service_init() {  //
   zcanbus_reglistener(zcanbus_on_rx);
   zcanbus_reg_on_connected_listener(zcanbus_on_connected);
 
-  // osTimerDef(HeartReportTimer, onHeartReportTimer);
-  // HeartReportTimerId = osTimerCreate(osTimer(HeartReportTimer), osTimerPeriodic, NULL);
-  // osTimerStart(HeartReportTimerId, HEART_PACKET_PERIOD_MS);
+  osTimerDef(PressureSensorDataReportTimer, onPressureSensorDataReportTimer);
+  PressureSensorDataReportTimerId = osTimerCreate(osTimer(PressureSensorDataReportTimer), osTimerPeriodic, NULL);
+  osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs);
 
   osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 0, 1024);
   PacketRxThreadId = osThreadCreate(osThread(PacketRxThread), NULL);

zsdk

@@ -1 +1 @@
-Subproject commit b8f10eae25ded517701a56b1e609f6608ed04f7a
+Subproject commit 2c74701b86a85d9a7658f2e64a34a3f9101a2306