transmit_disinfection_micro_bak/usrc/app/dmapp.cpp

#include "dmapp.hpp"

/**
 * @brief
 *
 *
 *  小空间和大空间硬件一样
 *
 *  管道式-液路控制板
 *    相比于大空间消毒机，不同的点:
 *      1.增加比例阀控制
 *      2.空压机通道控制
 *  管道式-功率板
 *    相比于大空间消毒机，不同的点:
 *      1. 风机改成鼓风机(可控风速)
 *
 *  拉杆箱-
 *
 */

using namespace iflytop;
using namespace transmit_disfection_protocol;
#define TAG "LargeSpaceDmPowerCtrlBoard"

DisinfectionApp* DisinfectionApp::ins() {
  static DisinfectionApp instance;
  return &instance;
}

const char* DisinfectionApp::getName() { return "DisinfectionApp"; }

void DisinfectionApp::initialize() {
  int btid = PublicBoard::ins()->getBoardTypeId();
  //

  if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8);
    bindHeaterCtrler();
  }

  if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1);
    bindBlowerCtrler();
  } else if (isBoardType(kPipeDMPowerCtrlBoard)) {
    LargeSpaceDmPowerCtrlBoardHal::HUART2_INIT(9600, UART_STOPBITS_1);
    blowerCtrler.initializeAsHighPowerUartBlower(&huart2);
    bindBlowerCtrler();
  }

  if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0);
    bindAirComCtrler();
  }

  if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
    LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
    LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
    h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_10);
    bindH2o2Sensor();
  }

  if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
    evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
    deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
    bindDeviceBottomWS();
    bindEvaporationBinWS();
  }

  if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
    // TMC电机初始化
    LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT();
    tmcPowerGroup.initialize(PB2, {&hspi1, PC4 /*cs*/, PB13 /*en*/}, {&hspi1, PA4 /*cs*/, PB12 /*en*/});
    bindTmcPowerGroup();
  }

  if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
    // 三色指示灯初始化
    wlDriver.initialize(PD8, PD7, PD9, PD10);
    bindWlDriver();
  }

  if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
    // 压力传感器初始化
    osDelay(1500);  // 等待传感器上电
    LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1);
    psBus.initialize(&huart3);
    bindPsBus();
  }
  // 比例阀初始化
  if (isBoardType(kPipeDMLiquidCtrlBoard)) {
    LargeSpaceDMLiquidCtrlBoardHal::HUART2_INIT(9600);
    proportionalValveCtrl.initialize(&huart2);
    bindProportionalValveCtrl();
  }

  // 气密性测试通道
  if (isBoardType(kPipeDMLiquidCtrlBoard)) {
    static ZGPIO airTightnessTestChGpio;
    static ZGPIO eValve;
    airTightnessTestChGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false);
    eValve.initAsOutput(PD14, kxs_gpio_nopull, false, true);

    REG_LAMADA_FN(kfn_air_tightness_test_close_ch, [&](ProcessContext* cxt) {
      airTightnessTestChGpio.write(1);  // 内管路,气密性测试
      eValve.write(0);                  // 电磁阀闭合
      zcanbus_send_ack(cxt->packet, NULL, 0);
    });
    REG_LAMADA_FN(kfn_air_tightness_test_recover_ch, [&](ProcessContext* cxt) {
      airTightnessTestChGpio.write(0);  // 连接空气
      eValve.write(1);                  // 电磁阀打开
      zcanbus_send_ack(cxt->packet, NULL, 0);
    });
  }
}

/***********************************************************************************************************************
 *                                                    PROTOCOL_BIND                                                    *
 ***********************************************************************************************************************/
void DisinfectionApp::bindHeaterCtrler() {
  BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl);
  BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl_safe_valve);
  BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_electric_current);
  BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_temperature_data);
}

void DisinfectionApp::bindBlowerCtrler() {
  BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl);
  BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl_safe_valve);
  BIND_FN(BlowerController, &blowerCtrler, fn_blower_read_electric_current);
}

void DisinfectionApp::bindAirComCtrler() {
  BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl);
  BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl_safe_valve);
  BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_read_electric_current);
}

void DisinfectionApp::bindH2o2Sensor() {
  BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_calibration_date);
  BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_errorcode);
  BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_reg);
}
void DisinfectionApp::bindWlDriver() { BIND_FN(WarningLightDriver, wlDriver, fn_triple_warning_light_ctl); }

void DisinfectionApp::bindTmcPowerGroup() {
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_rotate);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_stop);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ihold_irun_idelay);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_acc);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ramp);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_tzw);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_subic_reg);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_get_subic_reg);
  BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_ping);
}

void DisinfectionApp::bindPsBus() {
  BIND_FN(PXXPSBus, psBus, fn_psbus_read_data);
  BIND_FN(PXXPSBus, psBus, fn_psbus_scan);
}

void DisinfectionApp::bindEvaporationBinWS() {
  ProtocolProcesserMgr::ins()->regCmdProcesser(                   //
      CmdProcesser(kfn_evaporation_tank_water_sensor_read_state,  //
                   [this](ProcessContext* cxt) {
                     int32_t val = evaporationBinWS.read();
                     zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
                   }));
}

void DisinfectionApp::bindDeviceBottomWS() {
  ProtocolProcesserMgr::ins()->regCmdProcesser(                //
      CmdProcesser(kfn_device_bottom_water_sensor_read_state,  //
                   [this](ProcessContext* cxt) {
                     int32_t val = deviceBottomWS.read();
                     zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
                   }));
}

void DisinfectionApp::bindProportionalValveCtrl() {
  BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_set_valve);
  BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_read_pos);
  BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_is_busy);
}