p_transmit_disinfection_v2
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h2o2_ext_sensor_old_protocol
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update

master
zhaohe 1 year ago
parent
16d47ca8ad
commit
8f8150086f
4 changed files with 105 additions and 5 deletions
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  1. 2
      iflytop_canbus_protocol
  2. 13
      usrc/base/hardware.cpp
  3. 93
      usrc/protocol_impl/protocol_impl_service.cpp
  4. 2
      zsdk

2
iflytop_canbus_protocol

@ -1 +1 @@
Subproject commit 0a220fccdd10378ec311e17871edbc0acf089569
Subproject commit 0d30adef26695d979d4f62a051d896aab1354734

13
usrc/base/hardware.cpp
View File

@ -28,10 +28,21 @@ void Hardware::init() {
int32_t chipv0 = m_motor[0].readChipVERSION(); // 5130:0x11
int32_t chipv1 = m_motor[1].readChipVERSION(); // 5130:0x11
// m_motor[0].rotate(500000);
// m_motor[1].rotate(500000);
ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);
auto gstate0 = m_motor[0].getGState();
auto gstate1 = m_motor[1].getGState();
ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);
gstate0 = m_motor[0].getGState();
gstate1 = m_motor[1].getGState();
ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp);
ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp);
m_pressureSensorBus.init(&m_modbusBlockHost);
}

93
usrc/protocol_impl/protocol_impl_service.cpp
View File

@ -24,6 +24,9 @@ using namespace iflytop;
}
#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off]))
#define CLEAR_BIT(val, bit) (val &= ~(1 << bit))
#define SET_BIT(val, bit) (val |= (1 << bit))
/***********************************************************************************************************************
* VAR_LIST *
***********************************************************************************************************************/
@ -34,6 +37,10 @@ static osThreadId PacketRxThreadId;
static osTimerId PressureSensorDataReportTimerId; // 压力传感器数值上报
static uint32_t m_pressureSensorDataReportPeriodMs = 3000;
static osTimerId MotorMonitorTimerId; // 压力传感器数值上报
static uint8_t m_dflag;
/***********************************************************************************************************************
* FUNCTION_IMPL *
***********************************************************************************************************************/
@ -81,8 +88,14 @@ 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);
heatpacket.flag = m_dflag;
zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket), 30);
}
else if (packet->function_id == kcmd_clear_reset_flag) {
CLEAR_BIT(m_dflag, 0);
zcanbus_send_ack(packet, NULL, 0);
}
// 触发一次强制上报事件
if (packet->function_id == kcmd_force_report) {
ForceReportFlagMgr::ins()->trigger();
@ -105,11 +118,18 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
Hardware::ins().motor(subindex)->enableIC(false);
Hardware::ins().motor(subindex)->enableIC(true);
Hardware::ins().motor(subindex)->rotate(velocity);
zcanbus_send_ack(packet, NULL, 0);
}
//
// 泵机停止
else if (packet->function_id == kcmd_pump_stop) {
CHECK_PARAM_LEN(paramNum, 1);
@ -120,6 +140,11 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
Hardware::ins().motor(subindex)->stop();
zcanbus_send_ack(packet, NULL, 0);
}
@ -138,9 +163,16 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
Hardware::ins().motor(subindex)->setIHOLD_IRUN(ihold, irun, idelay);
zcanbus_send_ack(packet, NULL, 0);
} else if (packet->function_id == kcmd_pump_set_acc) {
}
// 设置加速度
else if (packet->function_id == kcmd_pump_set_acc) {
CHECK_PARAM_LEN(paramNum, 2);
int32_t subindex = GET_PARAM(packet->params, 0);
@ -151,6 +183,11 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
Hardware::ins().motor(subindex)->setAcceleration(acc);
Hardware::ins().motor(subindex)->setDeceleration(acc);
zcanbus_send_ack(packet, NULL, 0);
@ -170,6 +207,11 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
Hardware::ins().motor(subindex)->writeInt(regadd, regval);
}
@ -185,6 +227,11 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
return;
}
if (!Hardware::ins().motor(subindex)->ping()) {
zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
return;
}
int32_t regval = Hardware::ins().motor(subindex)->readInt(regadd);
zcanbus_send_ack(packet, (uint8_t*)&regval, sizeof(regval));
}
@ -298,6 +345,42 @@ static void onPressureSensorDataReportTimer(void const* argument) {
sizeof(report_pressure_data_t) + sensorNum * sizeof(report->data[0]), 10);
}
static void onMotorMonitorTimer(void const* argument) {
// 电机异常检查
static bool motorErrorFlagCache[10];
report_exeception_data_t data;
for (size_t i = 0; i < Hardware::ins().motorNum(); i++) {
if (!Hardware::ins().motor(i)->ping()) {
data.subid = i;
data.ecode = kerr_motor_subdevice_offline;
if (!motorErrorFlagCache[i]) {
motorErrorFlagCache[i] = true;
ZLOGE(TAG, "motor %d offline error", i);
zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
}
} else {
auto gstate = Hardware::ins().motor(i)->getGState();
bool flag = gstate.reset || gstate.drv_err || gstate.uv_cp;
if (!flag && motorErrorFlagCache[i]) {
motorErrorFlagCache[i] = false;
} else if (flag && !motorErrorFlagCache[i]) {
ZLOGE(TAG, "motor %d error, reset %d, drv_err %d, uv_cp %d", i, gstate.reset, gstate.drv_err, gstate.uv_cp);
if (gstate.reset) {
data.ecode = kerr_motor_reset_error;
} else if (gstate.uv_cp) {
data.ecode = kerr_motor_undervoltage_error;
} else if (gstate.drv_err) {
data.ecode = kerr_motor_driver_error;
}
data.subid = i;
zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
}
}
}
}
/***********************************************************************************************************************
* EXT *
***********************************************************************************************************************/
@ -305,6 +388,8 @@ static void onPressureSensorDataReportTimer(void const* argument) {
void protocol_impl_service_init() { //
Hardware::ins().init();
ForceReportFlagMgr::ins()->init();
m_dflag = 0x00;
SET_BIT(m_dflag, 0);
zcanbus_init(deviceInfo_getBoardId());
zcanbus_reglistener(zcanbus_on_rx);
@ -314,6 +399,10 @@ void protocol_impl_service_init() { //
PressureSensorDataReportTimerId = osTimerCreate(osTimer(PressureSensorDataReportTimer), osTimerPeriodic, NULL);
osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs);
osTimerDef(MotorMonitorTimer, onMotorMonitorTimer);
MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, NULL);
osTimerStart(MotorMonitorTimerId, 1000);
osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 0, 1024);
PacketRxThreadId = osThreadCreate(osThread(PacketRxThread), NULL);
}

2
zsdk

@ -1 +1 @@
Subproject commit 2c74701b86a85d9a7658f2e64a34a3f9101a2306
Subproject commit 7951cee7dfc612be73f402914c12933ddffe37cc
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