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239 lines
12 KiB
239 lines
12 KiB
#include "dmapp.hpp"
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#include "board/hal/zhal_initer.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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// DT600B,
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ZASSERT(PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B());
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/***********************************************************************************************************************
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* 加热片 *
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***********************************************************************************************************************/
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if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_9);
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}
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/***********************************************************************************************************************
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* 风机 *
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***********************************************************************************************************************/
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if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isDT600B())) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1);
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} //
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else if (PORT::isPowerCtrlBoard() && (PORT::isPipeDM())) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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LargeSpaceDmPowerCtrlBoardHal::HUART2_INIT(9600, UART_STOPBITS_1);
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blowerCtrler.initializeAsHighPowerUartBlower(PC5, &huart2, &hadc1, ADC_CHANNEL_1);
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}
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/***********************************************************************************************************************
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* 空压机 *
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***********************************************************************************************************************/
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if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0);
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}
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/***********************************************************************************************************************
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* 气密性测试空压机 *
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***********************************************************************************************************************/
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// null
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//
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/***********************************************************************************************************************
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* H2O2传感器 *
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***********************************************************************************************************************/
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if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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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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/***********************************************************************************************************************
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* 水浸传感器 *
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***********************************************************************************************************************/
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if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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ZLOGI(TAG, "WaterSensor init");
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evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, false /*mirror*/);
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deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, false /*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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/***********************************************************************************************************************
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* TMC电机初始化 *
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***********************************************************************************************************************/
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if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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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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/***********************************************************************************************************************
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* 三色指示灯 *
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***********************************************************************************************************************/
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if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM() || PORT::isDT600B())) {
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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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/***********************************************************************************************************************
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* 压力传感器初始化 *
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***********************************************************************************************************************/
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if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM())) {
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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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/***********************************************************************************************************************
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* 比例阀初始化 *
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***********************************************************************************************************************/
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if (PORT::isLiquidCtrlBoard() && (PORT::isPipeDM())) {
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ZLOGI(TAG, "ProportionalValveCtrl init");
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ZHALIniter::HUART2_INIT(PD5, PD6, 9600, UART_STOPBITS_1);
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proportionalValveCtrl.initialize(&huart2);
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}
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/***********************************************************************************************************************
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* 气密性测试通道 *
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***********************************************************************************************************************/
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// kAirLeakTestMode_disinfection
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// kAirLeakTestMode_inflation
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// kAirLeakTestMode_leakTest
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if (PORT::isLiquidCtrlBoard() && (PORT::isPipeDM())) {
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static air_leak_test_mode_t airLeakTestMode = kAirLeakTestMode_disinfection;
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static ZGPIO eValve0;
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static ZGPIO eValve1;
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static ZGPIO eValve2;
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eValve0.initAsOutput(PD14, kxs_gpio_nopull, true, false);
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eValve1.initAsOutput(PD15, kxs_gpio_nopull, true, false);
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eValve2.initAsOutput(PC6, kxs_gpio_nopull, true, false); // 空气通道电磁阀
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REG_LAMADA_FN(kfn_air_leak_test_set_mode, [&](ProcessContext* cxt) {
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if (GET_PARAM(0) == kAirLeakTestMode_disinfection) {
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eValve2.write(0); // 内管路
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eValve0.write(0); // 联通
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eValve1.write(0); // 联通
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} else if (GET_PARAM(0) == kAirLeakTestMode_inflation) {
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eValve2.write(1); // 联通空气
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eValve0.write(0); // 联通
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eValve1.write(0); // 联通
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} else if (GET_PARAM(0) == kAirLeakTestMode_leakTest) {
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eValve2.write(0); // 内管路
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eValve0.write(1); // 封闭
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eValve1.write(1); // 封闭
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}
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airLeakTestMode = (air_leak_test_mode_t)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_leak_test_get_mode, [&](ProcessContext* cxt) {
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int32_t mode = airLeakTestMode;
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zcanbus_send_ack(cxt->packet, mode);
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});
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}
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/**
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* @brief
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* 小空间低配版 和 拉杆箱 均不支持排液功能
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*/
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if (PORT::isLiquidCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isPipeDM())) {
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static ZGPIO valve;
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valve.initAsOutput(PB3, kxs_gpio_nopull, true, false);
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REG_LAMADA_FN(kfn_set_add_fluid_channel_selector_valve, [&](ProcessContext* cxt) {
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if (GET_PARAM(0) == 0) {
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valve.write(0);
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} else {
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valve.write(1);
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}
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zcanbus_send_ack(cxt->packet, NULL, 0);
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});
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}
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/**
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* @brief 液位状态
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*/
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if (PORT::isLiquidCtrlBoard() && (PORT::isDT600B())) {
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// 初始化
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static ZGPIO io0;
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static bool io0enable = false;
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static ZGPIO io1;
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static bool io1enable = false;
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static ZGPIO io2;
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static bool io2enable = false;
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if (PORT::isDT600B()) {
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io0.initAsInput(PD11, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
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io0enable = true;
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}
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if (io0enable || io1enable || io2enable) {
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REG_LAMADA_FN(kfn_disinfectant_bucket_level_sensor_read_level, [&](ProcessContext* cxt) {
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int32_t liquid_level_state = 0;
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bool io0state = false;
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bool io1state = false;
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bool io2state = false;
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if (io0enable) io0state = io0.read();
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if (io1enable) io1state = io1.read();
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if (io2enable) io2state = io2.read();
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if (io2state) {
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liquid_level_state = 3; // 液位最高
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} else if (io1state) {
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liquid_level_state = 2; // 液位中等
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} else if (io0state) {
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liquid_level_state = 1; // 液位最低
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} else {
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liquid_level_state = 0; // 无液位
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}
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zcanbus_send_ack(cxt->packet, liquid_level_state);
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});
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}
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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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