13 changed files with 88 additions and 214 deletions
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4.settings/language.settings.xml
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2stm32basic
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2stm32components
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1transmit_disinfection_micro (1).launch
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2ucomponents/preportional_valve/preportional_valve_ctrl.cpp
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8usrc/app/dmapp.cpp
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163usrc/app/dmapp.cpp.bak
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4usrc/app_main.cpp
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3usrc/board/hal/hal.hpp
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40usrc/board/hal/large_space_dm_liquid_ctrl_board_hal.cpp
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1usrc/board/hal/large_space_dm_liquid_ctrl_board_hal.hpp
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59usrc/board/hal/zhal_initer.cpp
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13usrc/board/hal/zhal_initer.hpp
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Subproject commit 7628a01fff313fd263d7de7e93d7d652b4325e59 |
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Subproject commit bed34d48c7e2a5e019af3a567d4de3b47702c4dc |
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@ -1 +1 @@ |
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Subproject commit b3cae2e4945639f0148a5e3034b039f5679151e3 |
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Subproject commit a3069a8005dcb8277f95d0341551c145fac2a046 |
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@ -1,163 +0,0 @@ |
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#include "dmapp.hpp" |
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/** |
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* @brief |
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* 小空间和大空间硬件一样 |
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* 管道式----- |
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* 液路控制板 |
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* 相比于大空间消毒机，不同的点: |
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* 1.增加比例阀控制 |
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* 2.空压机通道控制 |
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* 功率板 |
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* 相比于大空间消毒机，不同的点: |
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* 1. 风机改成鼓风机(可控风速) |
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* 拉杆箱------ |
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* 液路控制板 |
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* 功率板 |
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*/ |
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using namespace iflytop; |
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using namespace transmit_disfection_protocol; |
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#define TAG "DMAPP" |
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DisinfectionApp* DisinfectionApp::ins() { |
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static DisinfectionApp instance; |
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return &instance; |
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} |
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const char* DisinfectionApp::getName() { return "DisinfectionApp"; } |
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void DisinfectionApp::initialize() { |
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int btid = PublicBoard::ins()->getBoardTypeId(); |
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// only support |
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// large space disinfection machine, |
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// small space disinfection machine, |
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// pipe disinfection machine, |
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ZASSERT(PORT::isLargeSpaceDM() || PORT::isLargeSpaceDM() || PORT::isPipeDM()); |
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// 加热片 |
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if (PORT::isPowerCtrlBoard()) { |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_4); |
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} |
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) { |
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} else if (isBoardType(kDrawBarDMPowerCtrlBoard)) { |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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heaterCtrler.initialize(PC7, NULL, 0, &hadc1, ADC_CHANNEL_1); |
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} |
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// 风机 |
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard)) { |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1); |
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} else if (isBoardType(kPipeDMPowerCtrlBoard)) { |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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LargeSpaceDmPowerCtrlBoardHal::HUART2_INIT(9600, UART_STOPBITS_1); |
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blowerCtrler.initializeAsHighPowerUartBlower(&huart2, &hadc1, ADC_CHANNEL_1); |
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} else if (isBoardType(kDrawBarDMPowerCtrlBoard)) { |
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DBDMPowerCtrlBoard::HTIM3_INIT(); |
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blowerCtrler.initializeAsMiniPwmBlower(&htim3, TIM_CHANNEL_3, PC6 /*en*/, PC9 /*fb*/); |
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} |
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// 空压机 |
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) { |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0); |
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} else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) { |
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airComCtrler.initialize(PD14, NULL, 0); |
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} |
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// 气密性测试空压机 |
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// kfn_air_tightness_test_ac_ctrl |
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if (isBoardType(kPipeDMPowerCtrlBoard)) { |
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REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) { |
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airComCtrler.open(GET_PARAM(0)); |
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zcanbus_send_ack(cxt->packet, NULL, 0); |
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}); |
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REG_LAMADA_FN(kfn_air_tightness_test_ac_is_open, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, airComCtrler.isOpen()); }); |
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} else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) { |
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static ZGPIO airCompressorCtrlGpio; |
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airCompressorCtrlGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false); |
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REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) { |
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airCompressorCtrlGpio.write(GET_PARAM(0)); |
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zcanbus_send_ack(cxt->packet, NULL, 0); |
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}); |
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REG_LAMADA_FN(kfn_air_tightness_test_ac_is_open, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, airCompressorCtrlGpio.read()); }); |
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} |
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// H2O2传感器 |
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) { |
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LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2); |
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); |
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osDelay(3000); |
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h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_3); |
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} |
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// 水浸传感器 |
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) { |
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ZLOGI(TAG, "WaterSensor init"); |
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evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/); |
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deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/); |
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REG_LAMADA_FN(kfn_device_bottom_water_sensor_read_state, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, deviceBottomWS.read()); }); |
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REG_LAMADA_FN(kfn_evaporation_tank_water_sensor_read_state, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, evaporationBinWS.read()); }); |
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} |
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) { |
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// TMC电机初始化 |
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ZLOGI(TAG, "TMCMotorGroup init"); |
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LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT(); |
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tmcPowerGroup.initialize(PB2, {&hspi1, PA4 /*cs*/, PB12 /*en*/}, {&hspi1, PC4 /*cs*/, PB13 /*en*/}); |
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} |
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// 三色指示灯 |
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) { |
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// 三色指示灯初始化 |
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ZLOGI(TAG, "WarningLightDriver init"); |
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wlDriver.initialize(PD8, PD7, PD9, PD10); |
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} |
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// 压力传感器初始化 |
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) { |
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ZLOGI(TAG, "PXXPSBus init"); |
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osDelay(1500); // 等待传感器上电 |
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LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1); |
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psBus.initialize(&huart3); |
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} |
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// 比例阀初始化 |
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if (isBoardType(kPipeDMLiquidCtrlBoard)) { |
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ZLOGI(TAG, "ProportionalValveCtrl init"); |
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LargeSpaceDMLiquidCtrlBoardHal::HUART2_INIT(9600); |
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proportionalValveCtrl.initialize(&huart2); |
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} |
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// 气密性测试通道 |
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if (isBoardType(kPipeDMLiquidCtrlBoard)) { |
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static ZGPIO airTightnessTestChGpio; |
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static ZGPIO eValve; |
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static bool state = false; |
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airTightnessTestChGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false); |
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eValve.initAsOutput(PD14, kxs_gpio_nopull, false, true); |
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REG_LAMADA_FN(kfn_air_tightness_test_cutoff_ch, [&](ProcessContext* cxt) { |
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airTightnessTestChGpio.write(1); // 内管路,气密性测试 |
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eValve.write(0); // 电磁阀闭合 |
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state = true; |
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zcanbus_send_ack(cxt->packet, NULL, 0); |
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}); |
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REG_LAMADA_FN(kfn_air_tightness_test_release_ch, [&](ProcessContext* cxt) { |
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airTightnessTestChGpio.write(0); // 连接空气 |
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eValve.write(1); // 电磁阀打开 |
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state = false; |
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zcanbus_send_ack(cxt->packet, NULL, 0); |
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}); |
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// kfn_air_tightness_test_is_cutoff |
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REG_LAMADA_FN(kfn_air_tightness_test_is_cutoff, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, state); }); |
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} |
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} |
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/*********************************************************************************************************************** |
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* PROTOCOL_BIND * |
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***********************************************************************************************************************/ |
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@ -0,0 +1,59 @@ |
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#include "zhal_initer.hpp"
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#include "base/appdep.hpp"
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using namespace iflytop; |
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void ZHALIniter::HUART2_INIT(Pin_t tx, Pin_t rx, int baudrate, uint32_t StopBits) { |
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__HAL_RCC_USART2_CLK_ENABLE(); |
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__HAL_RCC_DMA1_CLK_ENABLE(); |
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zaf_enable_clock(tx); |
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zaf_enable_clock(rx); |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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huart2.Instance = USART2; |
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huart2.Init.BaudRate = baudrate; |
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huart2.Init.WordLength = UART_WORDLENGTH_8B; |
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huart2.Init.StopBits = StopBits; |
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huart2.Init.Parity = UART_PARITY_NONE; |
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huart2.Init.Mode = UART_MODE_TX_RX; |
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huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; |
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huart2.Init.OverSampling = UART_OVERSAMPLING_16; |
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if (HAL_UART_Init(&huart2) != HAL_OK) { |
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Error_Handler(); |
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} |
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GPIO_InitStruct.Pin = chip_get_pinoff(tx); |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF7_USART2; |
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HAL_GPIO_Init(chip_get_gpio(tx), &GPIO_InitStruct); |
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GPIO_InitStruct.Pin = chip_get_pinoff(rx); |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF7_USART2; |
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HAL_GPIO_Init(chip_get_gpio(rx), &GPIO_InitStruct); |
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/* USART2 interrupt Init */ |
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HAL_NVIC_SetPriority(USART2_IRQn, 5, 0); |
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HAL_NVIC_EnableIRQ(USART2_IRQn); |
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/* USART2 interrupt Init */ |
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HAL_NVIC_SetPriority(USART2_IRQn, 5, 0); |
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HAL_NVIC_EnableIRQ(USART2_IRQn); |
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__HAL_RCC_DMA1_CLK_ENABLE(); |
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HalUtils::uartdmainit(&huart2, &hdma1_stream5, DMA_CHANNEL_4, &hdma1_stream6, DMA_CHANNEL_4); |
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HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0); |
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HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn); |
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HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0); |
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HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn); |
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} |
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@ -0,0 +1,13 @@ |
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#pragma once
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#include <stddef.h>
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#include <stdio.h>
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#include "base/appdep.hpp"
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namespace iflytop { |
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class ZHALIniter { |
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public: |
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static void HUART2_INIT(Pin_t tx, Pin_t rx, int baudrate, uint32_t StopBits); |
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private: |
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}; |
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} // namespace iflytop
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