update

iflytop_canbus_protocol

@@ -1 +1 @@
-Subproject commit 26cce0d53b0e3332d7a658f0032779a18ce97128
+Subproject commit c01f84e2ad44f02f615ceec55762e9eda995c0a1

usrc/base/config_service.cpp

@@ -10,7 +10,7 @@ static void dump_config(config_t *pcfg) {
   ZLOGI(TAG, "=============== config ===============");
   ZLOGI(TAG, "configMark : %08x", pcfg->configMark);
   ZLOGI(TAG, "placeHolder: %08x", pcfg->placeHolder);
-  ZLOGI(TAG, "======================================");
+  ZLOGI(TAG, "=");
 }
 static void create_default_config(config_t *default_cfg) {  //
   default_cfg->configMark  = FLASH_MASK_VAL;
@@ -20,7 +20,6 @@ static void create_default_config(config_t *default_cfg) {  //
 void config_init(void) {
   ZLOGI(TAG, "config_init");
 
-  // flash��ʼ��
   _default_val_config.configMark  = FLASH_MASK_VAL;
   _default_val_config.placeHolder = 0;
 
@@ -31,7 +30,6 @@ void config_init(void) {
     zflash_factory_reset();
   }
 
-  // ��ӡ������Ϣ
   dump_config(&_config);
 }
 config_t *config_get(void) { return &_config; }

usrc/base/hardware.cpp

@@ -0,0 +1,37 @@
+#include "hardware.hpp"
+
+#include "zsdk/zcanreceiver/zcanreceiver.hpp"
+#define TAG "PROTO"
+using namespace iflytop;
+
+/***********************************************************************************************************************
+ *                                                         EXT                                                         *
+ ***********************************************************************************************************************/
+void Hardware::init() {
+  m_motor_spi.init(&MOTOR_SPI);
+  m_modbusBlockHost.initialize(&huart3);
+
+  m_sl_mini_ac_ctrl.initAsOutput(PD14, kxs_gpio_nopull, true, false);                // m_sl_mini_ac_ctrl
+  m_atta_mini_air_compressor_ctrl.initAsOutput(PD15, kxs_gpio_nopull, true, false);  // m_atta_mini_air_compressor_ctrl
+
+  m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
+  m_motor[0].setIHOLD_IRUN(1, 15, 0);
+  m_motor[0].setMotorShaft(true);
+  m_motor[0].setAcceleration(300000);
+  m_motor[0].setDeceleration(300000);
+
+  m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
+  m_motor[1].setIHOLD_IRUN(1, 15, 0);
+  m_motor[1].setMotorShaft(true);
+  m_motor[1].setAcceleration(300000);
+  m_motor[1].setDeceleration(300000);
+
+  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);
+
+  m_pressureSensorBus.init(&m_modbusBlockHost, nullptr, 1000, 1000);
+}

usrc/base/hardware.hpp

@@ -0,0 +1,46 @@
+#include <stddef.h>
+#include <stdio.h>
+
+#include "base/config_service.hpp"
+#include "base/device_info.hpp"
+#include "spi.h"
+#include "usart.h"
+#include "zsdk/modbus/modbus_block_host.hpp"
+#include "zsdk/pxx_pressure_sensor_driver/pxx_pressure_sensor_bus.hpp"
+#include "zsdk/tmc/ztmc5130.hpp"
+#include "zsdk/zsdk.hpp"
+
+void hardware_init();
+
+namespace iflytop {
+class Hardware {
+  ZSPI            m_motor_spi;        //
+  ModbusBlockHost m_modbusBlockHost;  //
+
+  TMC5130              m_motor[2];                       // 蠕动泵控制
+  ZGPIO                m_sl_mini_ac_ctrl;                // 喷液空压机(MINI)
+  ZGPIO                m_atta_mini_air_compressor_ctrl;  // 气密性测试空压机(MINI)
+  PXXPressureSensorBus m_pressureSensorBus;              // PXX压力传感器总线
+
+ public:
+  static Hardware& ins() {
+    static Hardware ins;
+    return ins;
+  }
+
+  void init();
+
+  int32_t  motorNum() { return ZARRAY_SIZE(m_motor); }
+  TMC5130* motor(int32_t index) {
+    if (index < ZARRAY_SIZE(m_motor)) {
+      return &m_motor[index];
+    }
+    return nullptr;
+  }
+  ZGPIO* sl_mini_ac_ctrl() { return &m_sl_mini_ac_ctrl; }
+  ZGPIO* atta_mini_air_compressor_ctrl() { return &m_atta_mini_air_compressor_ctrl; }
+
+  PXXPressureSensorBus* pressureSensorBus() { return &m_pressureSensorBus; }
+};
+
+}  // namespace iflytop

usrc/main.cpp

@@ -39,18 +39,23 @@ void umain() {
 
   config_init();
   deviceInfo_init();
-
-  ZLOGI(TAG, "%s     ", PROJECT);
+  ZLOGI(TAG, "======================= boardinfo ==================== ");
+  ZLOGI(TAG, "project : %s ", PROJECT);
   ZLOGI(TAG, "version : %d ", SOFTWARE_VERSION);
   ZLOGI(TAG, "pversion: %d", deviceInfo_getProtocolVersion());
   ZLOGI(TAG, "sn      : %s", sn_get_str());
   ZLOGI(TAG, "boardId : %d", deviceInfo_getBoardId());
+  ZLOGI(TAG, "=");
 
+  ZLOGI(TAG, "======================= init info ==================== ");
   protocol_impl_service_init();
+  ZLOGI(TAG, "=");
 
-  ZLOGI(TAG, "system init done");
+  ZLOGI(TAG, "======================= sysinfo ======================= ");
   SysMgr::ins()->initedFinished();
   SysMgr::ins()->dumpSysInfo();
+  ZLOGI(TAG, "=");
+
   while (true) {
     osDelay(1);
     debug_light_ctrl();

usrc/protocol_impl/protocol_impl_service.cpp

@@ -1,9 +1,9 @@
 #include "protocol_impl_service.hpp"
 
 #include "base/device_info.hpp"
+#include "base/hardware.hpp"
 #include "report_flag_mgr.hpp"
-#include "spi.h"
-#include "zsdk/tmc/ztmc5130.hpp"
+#include "zsdk/modbus/modbus_block_host.hpp"
 #include "zsdk/zcanreceiver/zcanreceiver.hpp"
 #define TAG "PROTO"
 using namespace iflytop;
@@ -18,10 +18,11 @@ using namespace iflytop;
   }
 
 #define CHECK_MOTOR_INDEX(_subindex)                   \
-  if (_subindex > ZARRAY_SIZE(m_motor)) {              \
+  if (_subindex > Hardware::ins().motorNum()) {        \
     zcanbus_send_errorack(packet, kerr_invalid_param); \
     return;                                            \
   }
+#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off]))
 
 /***********************************************************************************************************************
  *                                                      VAR_LIST                                                       *
@@ -30,15 +31,10 @@ using namespace iflytop;
 static osTimerId  HeartReportTimerId;
 static osThreadId PacketRxThreadId;
 
-static ZSPI    m_motor_spi;
-static TMC5130 m_motor[2];
-
 /***********************************************************************************************************************
  *                                                    FUNCTION_IMPL                                                    *
  ***********************************************************************************************************************/
 
-#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off]))
-
 static void basic_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {
   zcanbus_packet_t* packet   = (zcanbus_packet_t*)rawpacket;
   int32_t           paramLen = (len - sizeof(zcanbus_packet_t)) / 4;
@@ -102,11 +98,11 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t subindex = GET_PARAM(packet->params, 0);
     int32_t velocity = GET_PARAM(packet->params, 1);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
-    m_motor[subindex].rotate(velocity);
+    Hardware::ins().motor(subindex)->rotate(velocity);
     zcanbus_send_ack(packet, NULL, 0);
   }
 
@@ -116,12 +112,12 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
 
     int32_t subindex = GET_PARAM(packet->params, 0);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
 
-    m_motor[subindex].stop();
+    Hardware::ins().motor(subindex)->stop();
     zcanbus_send_ack(packet, NULL, 0);
   }
 
@@ -134,12 +130,12 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t irun     = GET_PARAM(packet->params, 2);
     int32_t idelay   = GET_PARAM(packet->params, 3);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
 
-    m_motor[subindex].setIHOLD_IRUN(ihold, irun, idelay);
+    Hardware::ins().motor(subindex)->setIHOLD_IRUN(ihold, irun, idelay);
     zcanbus_send_ack(packet, NULL, 0);
   } else if (packet->function_id == kcmd_pump_set_acc) {
     CHECK_PARAM_LEN(paramNum, 2);
@@ -147,13 +143,13 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t subindex = GET_PARAM(packet->params, 0);
     int32_t acc      = GET_PARAM(packet->params, 1);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
 
-    m_motor[subindex].setAcceleration(acc);
-    m_motor[subindex].setDeceleration(acc);
+    Hardware::ins().motor(subindex)->setAcceleration(acc);
+    Hardware::ins().motor(subindex)->setDeceleration(acc);
     zcanbus_send_ack(packet, NULL, 0);
 
   }
@@ -166,12 +162,12 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t regadd   = GET_PARAM(packet->params, 1);
     int32_t regval   = GET_PARAM(packet->params, 2);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
 
-    m_motor[subindex].writeInt(regadd, regval);
+    Hardware::ins().motor(subindex)->writeInt(regadd, regval);
   }
 
   // 读取5130寄存器
@@ -181,16 +177,43 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t subindex = GET_PARAM(packet->params, 0);
     int32_t regadd   = GET_PARAM(packet->params, 1);
 
-    if (subindex > ZARRAY_SIZE(m_motor)) {
+    if (subindex >= Hardware::ins().motorNum()) {
       zcanbus_send_errorack(packet, kerr_invalid_param);
       return;
     }
 
-    int32_t regval = m_motor[subindex].readInt(regadd);
+    int32_t regval = Hardware::ins().motor(subindex)->readInt(regadd);
     zcanbus_send_ack(packet, (uint8_t*)&regval, sizeof(regval));
   }
 }
 
+static void others_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {
+  zcanbus_packet_t* packet   = (zcanbus_packet_t*)rawpacket;
+  int32_t           paramNum = (len - sizeof(zcanbus_packet_t)) / 4;
+
+  // m_atta_mini_air_compressor_ctrl
+
+  // 喷液MINI真空泵
+  if (packet->function_id == kcmd_sl_mini_ac_ctrl) {
+    CHECK_PARAM_LEN(paramNum, 1);
+    Hardware::ins().sl_mini_ac_ctrl()->write(GET_PARAM(packet->params, 0));
+    zcanbus_send_ack(packet, NULL, 0);
+  }
+  // 气密性测试MINI真空泵
+  else if (packet->function_id == kcmd_atta_mini_air_compressor_ctrl) {
+    CHECK_PARAM_LEN(paramNum, 1);
+    Hardware::ins().atta_mini_air_compressor_ctrl()->write(GET_PARAM(packet->params, 0));
+    zcanbus_send_ack(packet, NULL, 0);
+  }
+
+  // 压力传感器数据上报
+  else if (packet->function_id == kcmd_read_pressure_data) {
+  }
+  // 压力传感器数据上报
+  else if (packet->function_id == kcmd_set_pressure_data_report_period_ms) {
+  }
+}
+
 /***********************************************************************************************************************
  *                                                      SCHEDULER                                                      *
  ***********************************************************************************************************************/
@@ -206,6 +229,7 @@ static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t l
 
   basic_func_impl(from, to, rawpacket, len);
   pump_func_impl(from, to, rawpacket, len);
+  others_func_impl(from, to, rawpacket, len);
 
   ZLOGI(TAG, "process end");
 }
@@ -221,33 +245,9 @@ static void zcanbus_on_connected(bool connected) {
  *                                                         EXT                                                         *
  ***********************************************************************************************************************/
 
-void hardware_init() {
-  m_motor_spi.init(&MOTOR_SPI);
-  m_motor[0].initialize(&m_motor_spi, MOTOR1_ENN, MOTOR1_CSN);
-  m_motor[0].setIHOLD_IRUN(1, 15, 0);
-  m_motor[0].setMotorShaft(true);
-  m_motor[0].setAcceleration(300000);
-  m_motor[0].setDeceleration(300000);
-
-  m_motor[1].initialize(&m_motor_spi, MOTOR2_ENN, MOTOR2_CSN);
-  m_motor[1].setIHOLD_IRUN(1, 15, 0);
-  m_motor[1].setMotorShaft(true);
-  m_motor[1].setAcceleration(300000);
-  m_motor[1].setDeceleration(300000);
-
-  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);
-}
-
 void protocol_impl_service_init() {  //
-
+  Hardware::ins().init();
   ForceReportFlagMgr::ins()->init();
-  hardware_init();
 
   zcanbus_init(deviceInfo_getBoardId());
   zcanbus_reglistener(zcanbus_on_rx);

zsdk

@@ -1 +1 @@
-Subproject commit de4e73aa05048332167a744fe64118ca4bc6b0d7
+Subproject commit b8f10eae25ded517701a56b1e609f6608ed04f7a