p_transmit_disinfection_v2
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h2o2_ext_sensor_old_protocol
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zhaohe 1 year ago
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58585c77db
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f7db3594b5
6 changed files with 217 additions and 27 deletions
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  1. 2
      iflytop_canbus_protocol
  2. 189
      usrc/protocol_impl/protocol_impl_service.cpp
  3. 3
      usrc/protocol_impl/protocol_impl_service.hpp
  4. 16
      usrc/protocol_impl/report_flag_mgr.cpp
  5. 32
      usrc/protocol_impl/report_flag_mgr.hpp
  6. 2
      zsdk

2
iflytop_canbus_protocol

@ -1 +1 @@
Subproject commit 53b6f92696f607082404448c9f03d39a754c084c
Subproject commit 7cf64770e1e06e66488e778a994d128870852a37

189
usrc/protocol_impl/protocol_impl_service.cpp
View File

@ -1,6 +1,9 @@
#include "protocol_impl_service.hpp"
#include "base/device_info.hpp"
#include "report_flag_mgr.hpp"
#include "spi.h"
#include "zsdk/tmc/ztmc5130.hpp"
#include "zsdk/zcanreceiver/zcanreceiver.hpp"
#define TAG "PROTO"
using namespace iflytop;
@ -8,6 +11,18 @@ using namespace iflytop;
* FUNCTION_LIST *
***********************************************************************************************************************/
#define CHECK_PARAM_LEN(_paramNum, expectNum) \
if (_paramNum != expectNum) { \
zcanbus_send_errorack(packet, kerr_invalid_param_num); \
return; \
}
#define CHECK_MOTOR_INDEX(_subindex) \
if (_subindex > ZARRAY_SIZE(m_motor)) { \
zcanbus_send_errorack(packet, kerr_invalid_param); \
return; \
}
/***********************************************************************************************************************
* VAR_LIST *
***********************************************************************************************************************/
@ -15,18 +30,19 @@ 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 zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) { //
zcanbus_packet_t* packet = (zcanbus_packet_t*)rawpacket;
ZLOGI(TAG, "rx packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);
/***********************************************************************************************************************
* 系统方法 *
***********************************************************************************************************************/
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;
// 读板子信息
if (packet->function_id == kcmd_read_board_info) {
static ack_read_board_info_data_t ack;
@ -61,48 +77,177 @@ static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t l
zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack));
}
// 心跳 ping pong
else if (packet->function_id == kcmd_heart_ping) {
static report_heatpacket_data_t heatpacket;
heatpacket.boardType = deviceInfo_getBoardType();
heatpacket.heartIndex = GET_PARAM(packet->params, 0);
zcanbus_send_report(kreport_heatpacket, (uint8_t*)&heatpacket, sizeof(heatpacket));
zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket));
}
/***********************************************************************************************************************
* 应用实现 *
***********************************************************************************************************************/
// 触发一次强制上报事件
else if (packet->function_id == kcmd_force_report) {
if (packet->function_id == kcmd_force_report) {
ForceReportFlagMgr::ins()->trigger();
if (from != 0xff) zcanbus_send_ack(packet, NULL, 0);
}
}
static void zcanbus_on_connected(bool connected) {
if (connected) {
ZLOGI(TAG, "connected to host");
} else {
ZLOGI(TAG, "disconnected from host");
static void pump_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;
// 泵机转动
if (packet->function_id == kcmd_pump_rotate) {
CHECK_PARAM_LEN(paramNum, 2);
int32_t subindex = GET_PARAM(packet->params, 0);
int32_t velocity = GET_PARAM(packet->params, 1);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
m_motor[subindex].rotate(GET_PARAM(packet->params, velocity));
zcanbus_send_ack(packet, NULL, 0);
}
//
else if (packet->function_id == kcmd_pump_stop) {
CHECK_PARAM_LEN(paramNum, 1);
int32_t subindex = GET_PARAM(packet->params, 0);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
m_motor[subindex].stop();
zcanbus_send_ack(packet, NULL, 0);
}
// 设置电流/保持电流/IDELAY
else if (packet->function_id == kcmd_pump_set_irun_ihold) {
CHECK_PARAM_LEN(paramNum, 4);
int32_t subindex = GET_PARAM(packet->params, 0);
int32_t irun = GET_PARAM(packet->params, 1);
int32_t ihold = GET_PARAM(packet->params, 2);
int32_t idelay = GET_PARAM(packet->params, 3);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
m_motor[subindex].setIHOLD_IRUN(irun, ihold, idelay);
zcanbus_send_ack(packet, NULL, 0);
} else if (packet->function_id == kcmd_pump_set_acc) {
CHECK_PARAM_LEN(paramNum, 2);
int32_t subindex = GET_PARAM(packet->params, 0);
int32_t acc = GET_PARAM(packet->params, 1);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
m_motor[subindex].setAcceleration(acc);
m_motor[subindex].setDeceleration(acc);
zcanbus_send_ack(packet, NULL, 0);
}
// 设置5130寄存器
else if (packet->function_id == kcmd_pump_set_subic_reg) {
CHECK_PARAM_LEN(paramNum, 3);
int32_t subindex = GET_PARAM(packet->params, 0);
int32_t regadd = GET_PARAM(packet->params, 1);
int32_t regval = GET_PARAM(packet->params, 2);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
m_motor[subindex].writeInt(regadd, regval);
}
// 读取5130寄存器
else if (packet->function_id == kcmd_pump_get_subic_reg) {
CHECK_PARAM_LEN(paramNum, 2);
int32_t subindex = GET_PARAM(packet->params, 0);
int32_t regadd = GET_PARAM(packet->params, 1);
if (subindex > ZARRAY_SIZE(m_motor)) {
zcanbus_send_errorack(packet, kerr_invalid_param);
return;
}
int32_t regval = m_motor[subindex].readInt(regadd);
zcanbus_send_ack(packet, (uint8_t*)&regval, sizeof(regval));
}
}
/***********************************************************************************************************************
* SCHEDULER *
***********************************************************************************************************************/
static void onHeartReportTimer(void const* argument) {
static report_heatpacket_data_t heatpacket;
heatpacket.boardType = deviceInfo_getBoardType();
// zcanbus_send_report(kreport_heatpacket, (uint8_t*)&heatpacket, sizeof(heatpacket));
}
static void onPacketRxThreadStart(void const* argument) {
while (true) {
zcanbus_schedule();
osDelay(1);
}
}
static void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) { //
zcanbus_packet_t* packet = (zcanbus_packet_t*)rawpacket;
ZLOGI(TAG, "rx packet from %d to %d, function_id %d, len %d", from, to, packet->function_id, len);
basic_func_impl(from, to, rawpacket, len);
pump_func_impl(from, to, rawpacket, len);
}
static void zcanbus_on_connected(bool connected) {
if (connected) {
ZLOGI(TAG, "connected to host");
} else {
ZLOGI(TAG, "disconnected from host");
}
}
/***********************************************************************************************************************
* 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, 20, 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, 20, 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(1000000);
m_motor[1].rotate(1000000);
ZLOGI(TAG, "chipv0: %x, chipv1: %x", chipv0, chipv1);
}
void protocol_impl_service_init() { //
ForceReportFlagMgr::ins()->init();
hardware_init();
zcanbus_init(deviceInfo_getBoardId());
zcanbus_reglistener(zcanbus_on_rx);
zcanbus_reg_on_connected_listener(zcanbus_on_connected);

3
usrc/protocol_impl/protocol_impl_service.hpp
View File

@ -5,6 +5,3 @@
#include "zsdk/zsdk.hpp"
void protocol_impl_service_init();
// void zcanbus_on_rx(uint8_t from, uint8_t to, uint8_t *packet, size_t len);
// void zcanbus_on_connected(bool connected);

16
usrc/protocol_impl/report_flag_mgr.cpp
View File

@ -0,0 +1,16 @@
#include "report_flag_mgr.hpp"
using namespace iflytop;
ForceReportFlagMgr* ForceReportFlagMgr::ins() {
static ForceReportFlagMgr instance;
return &instance;
}
void ForceReportFlagMgr::init() {
m_lock.init();
memset(&m_flag, 0, sizeof(m_flag));
}
void ForceReportFlagMgr::trigger() {
zlock_guard lock(m_lock);
memset(&m_flag, 1, sizeof(m_flag));
}

32
usrc/protocol_impl/report_flag_mgr.hpp
View File

@ -0,0 +1,32 @@
#include <stdbool.h>
#include <stddef.h>
#include <stdio.h>
#include "base/config_service.hpp"
#include "zsdk/zsdk.hpp"
namespace iflytop {
class ForceReportFlagMgr {
private:
typedef struct {
bool pad;
} flag_t;
zmutex m_lock;
flag_t m_flag;
public:
static ForceReportFlagMgr* ins();
void init();
void trigger();
void clearPad() {
zlock_guard lock(m_lock);
m_flag.pad = false;
}
};
} // namespace iflytop

2
zsdk

@ -1 +1 @@
Subproject commit 0baf700046417b087f93669a8110f607e8d349d4
Subproject commit a8bd506724276da87d8a186d8cc0e1f072492355
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