diff --git a/.project b/.project index b7aad73..3c18559 100644 --- a/.project +++ b/.project @@ -1,6 +1,6 @@ - dbdb_liquid_path_control_v2 + large_space_disinfection__liquid_ctrl_board diff --git a/iflytop_canbus_protocol b/iflytop_canbus_protocol index 0e47768..eb739c1 160000 --- a/iflytop_canbus_protocol +++ b/iflytop_canbus_protocol @@ -1 +1 @@ -Subproject commit 0e47768d3761fa4926957ad385416dc9410861bc +Subproject commit eb739c10f2971294ee3a12e845e9bfb4cb40f32d diff --git a/dbdb_liquid_path_control_v2 Debug.launch b/large_space_disinfection__liquid_ctrl_board Debug.launch similarity index 93% rename from dbdb_liquid_path_control_v2 Debug.launch rename to large_space_disinfection__liquid_ctrl_board Debug.launch index 2fdd3b8..a2544d6 100644 --- a/dbdb_liquid_path_control_v2 Debug.launch +++ b/large_space_disinfection__liquid_ctrl_board Debug.launch @@ -12,7 +12,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -67,13 +67,13 @@ - - + + - + diff --git a/dbdb_liquid_path_control_v2.cfg b/large_space_disinfection__liquid_ctrl_board.cfg similarity index 100% rename from dbdb_liquid_path_control_v2.cfg rename to large_space_disinfection__liquid_ctrl_board.cfg diff --git a/dbdb_liquid_path_control_v2.ioc b/large_space_disinfection__liquid_ctrl_board.ioc similarity index 98% rename from dbdb_liquid_path_control_v2.ioc rename to large_space_disinfection__liquid_ctrl_board.ioc index 0f5dbb5..abd9746 100644 --- a/dbdb_liquid_path_control_v2.ioc +++ b/large_space_disinfection__liquid_ctrl_board.ioc @@ -213,8 +213,8 @@ ProjectManager.MultiThreaded=true ProjectManager.NoMain=false ProjectManager.PreviousToolchain=STM32CubeIDE ProjectManager.ProjectBuild=false -ProjectManager.ProjectFileName=dbdb_liquid_path_control_v2.ioc -ProjectManager.ProjectName=dbdb_liquid_path_control_v2 +ProjectManager.ProjectFileName=large_space_disinfection__liquid_ctrl_board.ioc +ProjectManager.ProjectName=large_space_disinfection__liquid_ctrl_board ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= ProjectManager.StackSize=0x2000 diff --git a/dbdb_liquid_path_control_v2.launch b/large_space_disinfection__liquid_ctrl_board.launch similarity index 100% rename from dbdb_liquid_path_control_v2.launch rename to large_space_disinfection__liquid_ctrl_board.launch diff --git a/usrc/base/device_info.cpp b/usrc/base/device_info.cpp index fb66dae..3fcf499 100644 --- a/usrc/base/device_info.cpp +++ b/usrc/base/device_info.cpp @@ -4,8 +4,8 @@ uint16_t deviceInfo_init() { return 0; } uint16_t deviceInfo_getBoardId() { return DEVICE_ID; } -uint16_t deviceInfo_getProjectId() { return kdraw_bar_disinfection_box; } -uint16_t deviceInfo_getBoardType() { return kBoardType_LiquidCtrl; } +uint16_t deviceInfo_getProjectId() { return PROJECT_ID; } +uint16_t deviceInfo_getBoardType() { return BOARD_TYPE; } uint16_t deviceInfo_getProtocolVersion() { return PROTOCOL_VERSION; } uint16_t deviceInfo_getSoftwareVersion() { return SOFTWARE_VERSION; } uint16_t deviceInfo_getHardwareVersion() { return HARDWARE_VERSION; } diff --git a/usrc/base/hardware.cpp b/usrc/base/hardware.cpp index 7bcce77..96fc4b4 100644 --- a/usrc/base/hardware.cpp +++ b/usrc/base/hardware.cpp @@ -8,11 +8,16 @@ using namespace iflytop; * EXT * ***********************************************************************************************************************/ void Hardware::init() { - m_motor_spi.init(&MOTOR_SPI); - m_modbusBlockHost.initialize(&huart3); + /*********************************************************************************************************************** + * 水浸传感器初始化 * + ***********************************************************************************************************************/ + m_evaporation_bin_water_sensor.initAsInput(EVAPORATION_BIN_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, EVAPORATION_BIN_WATER_SENSOR_MIRROR /*mirror*/); + m_device_bottom_water_sensor.initAsInput(DEVICE_BOTTOM_WATER_SENSOR_GPIO, kxs_gpio_nopull, kxs_gpio_no_irq, DEVICE_BOTTOM_WATER_SENSOR_MIRROR /*mirror*/); - 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 + /*********************************************************************************************************************** + * 驱动器初始化 * + ***********************************************************************************************************************/ + 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); @@ -38,12 +43,25 @@ void Hardware::init() { ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp); ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp); - gstate0 = m_motor[0].getGState(); - gstate1 = m_motor[1].getGState(); + gstate0 = m_motor[0].getGState(); + gstate1 = m_motor[1].getGState(); ZLOGI(TAG, "motor0: reset:%d drv_err:%d uv_cp:%d", gstate0.reset, gstate0.drv_err, gstate0.uv_cp); ZLOGI(TAG, "motor1: reset:%d drv_err:%d uv_cp:%d", gstate1.reset, gstate1.drv_err, gstate1.uv_cp); - osDelay(1500);//等待传感器上电 + /*********************************************************************************************************************** + * 三色指示灯初始化 * + ***********************************************************************************************************************/ + + triLight_R.initAsOutput(TRI_LIGHT_R, kxs_gpio_nopull, false, false); + triLight_G.initAsOutput(TRI_LIGHT_G, kxs_gpio_nopull, false, false); + triLight_B.initAsOutput(TRI_LIGHT_B, kxs_gpio_nopull, false, false); + triLight_BEEP.initAsOutput(TRI_LIGHT_BEEP, kxs_gpio_nopull, false, false); + + /*********************************************************************************************************************** + * 压力传感器初始化 * + ***********************************************************************************************************************/ + osDelay(1500); // 等待传感器上电 + m_modbusBlockHost.initialize(&PRESSURE_SENSOR_UART); m_pressureSensorBus.init(&m_modbusBlockHost); } diff --git a/usrc/base/hardware.hpp b/usrc/base/hardware.hpp index e244aa6..76b74ab 100644 --- a/usrc/base/hardware.hpp +++ b/usrc/base/hardware.hpp @@ -14,13 +14,20 @@ void hardware_init(); namespace iflytop { class Hardware { - ZSPI m_motor_spi; // - ModbusBlockHost m_modbusBlockHost; // + public: + ZGPIO m_evaporation_bin_water_sensor; // 蒸发仓水浸 + ZGPIO m_device_bottom_water_sensor; // 设备底部水浸 + + ZSPI m_motor_spi; // SPI + TMC5130 m_motor[2]; // 蠕动泵控制 + + ZGPIO triLight_R; + ZGPIO triLight_G; + ZGPIO triLight_B; + ZGPIO triLight_BEEP; - 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 + ModbusBlockHost m_modbusBlockHost; // + PXXPressureSensorBus m_pressureSensorBus; // PXX压力传感器总线 public: static Hardware& ins() { @@ -37,10 +44,29 @@ class Hardware { } 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; } + + void setRGB(int32_t r, int32_t g, int32_t b, int32_t beep) { + if (r > 0) + triLight_R.write(1); + else + triLight_R.write(0); + + if (g > 0) + triLight_G.write(1); + else + triLight_G.write(0); + + if (b > 0) + triLight_B.write(1); + else + triLight_B.write(0); + + if (beep > 0) + triLight_BEEP.write(1); + else + triLight_BEEP.write(0); + } }; } // namespace iflytop diff --git a/usrc/project_configs.h b/usrc/project_configs.h index 9d7a819..d211429 100644 --- a/usrc/project_configs.h +++ b/usrc/project_configs.h @@ -1,5 +1,13 @@ #pragma once #include "iflytop_canbus_protocol/iflytop_canbus_protocol.hpp" +/*********************************************************************************************************************** + * SDK_CONFIG * + ***********************************************************************************************************************/ +#define SDK_DELAY_US_TIMER htim6 // 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置 http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md +#define SDK_IRQ_PREEMPTPRIORITY_DEFAULT 5 // IO中断默认中断等级 +#define SDK_CFG__CFG_FLASH_ADDR 0x080C0000 // +#define SDK_CFG__SN_FLASH_ADDR 0x080E0000 // +#define SDK_MAX_TASK 10 /*********************************************************************************************************************** * PROJECT_CONFIG * @@ -9,13 +17,19 @@ * @brief 基础配置 * */ -#define SOFTWARE_VERSION 5 -#define HARDWARE_VERSION 1 -#define PROJECT "dbdb_liquid_path_control" -#define SN_HEADER "SN" -#define DEVICE_ID (kFixBoardId_LiquidCtrl) -#define DEBUG_UART huart1 // 调试串口 -#define DEBUG_LIGHT_GPIO PE8 // 调试指示灯 +#define SOFTWARE_VERSION 1 // 软件版本 +#define HARDWARE_VERSION 1 // 硬件版本 +#define PROJECT "large_space_disinfection__liquid_ctrl_board" // 工程名称 +#define SN_HEADER "SN" // SN号前缀 +#define DEVICE_ID (kFixBoardId_LiquidCtrl) // 设备ID +#define PROJECT_ID klarge_space_disinfection_machine // 项目ID +#define BOARD_TYPE kBoardType_LiquidCtrl // 板子类型 +#define DEBUG_UART huart1 // 调试串口 +#define DEBUG_LIGHT_GPIO PE8 // 调试指示灯 + +/*********************************************************************************************************************** + * 硬件配置 * + ***********************************************************************************************************************/ /** * @brief 驱动器配置 @@ -27,11 +41,14 @@ #define MOTOR1_CSN PC4 // #define MOTOR1_ENN PE12 -/*********************************************************************************************************************** - * SDK_CONFIG * - ***********************************************************************************************************************/ -#define SDK_DELAY_US_TIMER htim6 // 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置 http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md -#define SDK_IRQ_PREEMPTPRIORITY_DEFAULT 5 // IO中断默认中断等级 -#define SDK_CFG__CFG_FLASH_ADDR 0x080C0000 // -#define SDK_CFG__SN_FLASH_ADDR 0x080E0000 // -#define SDK_MAX_TASK 10 \ No newline at end of file +#define PRESSURE_SENSOR_UART huart3 + +#define TRI_LIGHT_R PD8 +#define TRI_LIGHT_G PD7 +#define TRI_LIGHT_B PD9 +#define TRI_LIGHT_BEEP PD10 + +#define EVAPORATION_BIN_WATER_SENSOR_GPIO PC7 // 消毒加热仓内部水浸 +#define EVAPORATION_BIN_WATER_SENSOR_MIRROR true +#define DEVICE_BOTTOM_WATER_SENSOR_GPIO PD13 // 设备底部水浸 +#define DEVICE_BOTTOM_WATER_SENSOR_MIRROR true \ No newline at end of file diff --git a/usrc/protocol_impl/basic/fn_mgr.cpp b/usrc/protocol_impl/basic/fn_mgr.cpp new file mode 100644 index 0000000..2a6a9bc --- /dev/null +++ b/usrc/protocol_impl/basic/fn_mgr.cpp @@ -0,0 +1,4 @@ +#include "fn_mgr.hpp" + +void fn_map_reg(uint16_t function_id, protocol_impl_func_t funtion) {} +bool fn_map_process(uint16_t function_id, uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) { return true; } \ No newline at end of file diff --git a/usrc/protocol_impl/basic/fn_mgr.hpp b/usrc/protocol_impl/basic/fn_mgr.hpp new file mode 100644 index 0000000..864b6a0 --- /dev/null +++ b/usrc/protocol_impl/basic/fn_mgr.hpp @@ -0,0 +1,35 @@ +#include +#include + +#include "base/config_service.hpp" +#include "zsdk/zsdk.hpp" + +/*********************************************************************************************************************** + * MARCO * + ***********************************************************************************************************************/ + +#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 > Hardware::ins().motorNum()) { \ + zcanbus_send_errorack(packet, kerr_invalid_param); \ + return; \ + } +#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off])) +#define PRAAM_LEN() ((len - sizeof(zcanbus_packet_t)) / 4) + +#define CLEAR_BIT(val, bit) (val &= ~(1 << bit)) +#define SET_BIT(val, bit) (val |= (1 << bit)) + +/*********************************************************************************************************************** + * FUNC * + ***********************************************************************************************************************/ + +typedef void(protocol_impl_func_t)(uint8_t from, uint8_t to, zcanbus_packet_t* rawpacket, size_t len); + +void fn_map_reg(uint16_t function_id, protocol_impl_func_t funtion); +bool fn_map_process(uint16_t function_id, uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len); diff --git a/usrc/protocol_impl/report_flag_mgr.cpp b/usrc/protocol_impl/basic/report_flag_mgr.cpp similarity index 100% rename from usrc/protocol_impl/report_flag_mgr.cpp rename to usrc/protocol_impl/basic/report_flag_mgr.cpp diff --git a/usrc/protocol_impl/report_flag_mgr.hpp b/usrc/protocol_impl/basic/report_flag_mgr.hpp similarity index 100% rename from usrc/protocol_impl/report_flag_mgr.hpp rename to usrc/protocol_impl/basic/report_flag_mgr.hpp diff --git a/usrc/protocol_impl/function_impl/afunction_impl.hpp b/usrc/protocol_impl/function_impl/afunction_impl.hpp new file mode 100644 index 0000000..e9c5cbd --- /dev/null +++ b/usrc/protocol_impl/function_impl/afunction_impl.hpp @@ -0,0 +1,61 @@ +#pragma ocne +#include +#include + +#include "../basic/fn_mgr.hpp" +#include "../basic/report_flag_mgr.hpp" +// +#include "base/device_info.hpp" +#include "base/hardware.hpp" +#include "zsdk/modbus/modbus_block_host.hpp" +#include "zsdk/zcanreceiver/zcanreceiver.hpp" + +/*********************************************************************************************************************** + * basic_fn * + ***********************************************************************************************************************/ + +void fn_cmd_read_board_info(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_read_sysinfo(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_read_taskinfo(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_heart_ping(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_clear_reset_flag(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); + +void basic_fn_init(); + +/*********************************************************************************************************************** + * pump_fn * + ***********************************************************************************************************************/ + +void fn_cmd_pump_rotate(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_stop(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_set_ihold_irun_idelay(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_set_acc(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_set_subic_reg(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_get_subic_reg(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pump_ping(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); + +void pump_fn_init(); +void pump_fn_report_tmr_start(); + +/*********************************************************************************************************************** + * pressure_fn_impl * + ***********************************************************************************************************************/ +void fn_cmd_pressure_sensor_bus_read_data(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_pressure_sensor_bus_set_report_period_ms(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); + +void pressure_fn_impl_init(); + +/*********************************************************************************************************************** + * triple_warning_light_fn_impl * + ***********************************************************************************************************************/ +void fn_cmd_triple_warning_light_ctl(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); + +/*********************************************************************************************************************** + * water_sensor_report_fn_impl * + ***********************************************************************************************************************/ +void fn_cmd_evaporation_bin_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_device_bottom_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); + +void water_sensor_report_fn_impl_init(); +void water_sensor_report_fn_impl_start_tmr(); +void water_sensor_report_fn_impl_force_report(); diff --git a/usrc/protocol_impl/function_impl/basic_fn.cpp b/usrc/protocol_impl/function_impl/basic_fn.cpp new file mode 100644 index 0000000..3cde232 --- /dev/null +++ b/usrc/protocol_impl/function_impl/basic_fn.cpp @@ -0,0 +1,91 @@ + +#include "afunction_impl.hpp" +using namespace iflytop; + +static uint8_t m_boardflag; // 0: 重启标志 + +/** + * @brief 读取板子信息 + * + * @param from + * @param to + * @param packet + * @param len + */ +void fn_cmd_read_board_info(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + static ack_read_board_info_data_t ack; + ack.boardType = deviceInfo_getBoardType(); + ack.projectId = deviceInfo_getProjectId(); + ack.protcol_version = deviceInfo_getProtocolVersion(); + ack.software_version = deviceInfo_getSoftwareVersion(); + ack.hardware_version = deviceInfo_getHardwareVersion(); + + zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack)); +} +/** + * @brief 读取系统信息 + * + * @param from + * @param to + * @param packet + * @param len + */ +void fn_cmd_read_sysinfo(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + static ack_sysinfo_t ack; + ack.free_heap_size = SysMgr::ins()->osGetMinimumEverFreeHeapSize(); + ack.total_heap_size = SysMgr::ins()->osGetTotalHeapSize(); + ack.taskNum = SysMgr::ins()->getTaskNum(); + ack.sysHasRun = SysMgr::ins()->osGetSysRunTime() / 1000; + zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack)); +} +/** + * @brief 读取线程信息 + * + * @param from + * @param to + * @param packet + * @param len + */ +void fn_cmd_read_taskinfo(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + static ask_taskinfo_t ack; + int32_t taskoff = GET_PARAM(packet->params, 0); + osThreadId taskId = SysMgr::ins()->osGetId(taskoff); + SysMgr::ins()->osTaskName(taskId, (char*)ack.taskName, sizeof(ack.taskName)); + SysMgr::ins()->osTaskStackRemainingSize(taskId, &ack.stackRemindSize); + SysMgr::ins()->osTaskPriority(taskId, &ack.priority); + SysMgr::ins()->osTaskGetState(taskId, (char*)&ack.state); + + zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack)); +} +/** + * @brief PING + * + * @param from + * @param to + * @param packet + * @param len + */ +void fn_cmd_heart_ping(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + static report_heatpacket_data_t heatpacket; + heatpacket.boardType = deviceInfo_getBoardType(); + heatpacket.heartIndex = GET_PARAM(packet->params, 0); + heatpacket.flag = m_boardflag; + zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket), 30); +} +/** + * @brief 清除板子复位标志位 + * + * @param from + * @param to + * @param packet + * @param len + */ +void fn_cmd_clear_reset_flag(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CLEAR_BIT(m_boardflag, 0); + zcanbus_send_ack(packet, NULL, 0); +} + +void basic_fn_init() { + m_boardflag = 0x00; + SET_BIT(m_boardflag, 0); +} \ No newline at end of file diff --git a/usrc/protocol_impl/function_impl/pressure_fn_impl.cpp b/usrc/protocol_impl/function_impl/pressure_fn_impl.cpp new file mode 100644 index 0000000..6a88e9b --- /dev/null +++ b/usrc/protocol_impl/function_impl/pressure_fn_impl.cpp @@ -0,0 +1,72 @@ + +#include "afunction_impl.hpp" +using namespace iflytop; + +#define TAG "PRESSURE_FN" + +static osTimerId PressureSensorDataReportTimerId; // 压力传感器数值上报 +static uint32_t m_pressureSensorDataReportPeriodMs = 3000; + +static void onPressureSensorDataReportTimer(void const* argument) { + // 压力传感器数据上报 + static uint8_t reportcache[100]; + static report_pressure_data_t* report = (report_pressure_data_t*)reportcache; + + int sensorNum = 0; + + for (size_t i = 0; i < PXX_PRESSURE_SENSOR_NUM; i++) { + int16_t val = 0; + bool suc = Hardware::ins().pressureSensorBus()->readData(i, &val); + + if (suc) { + report->data[sensorNum].subid = i; + report->data[sensorNum].pressureVal = val; + sensorNum++; + } + } + + report->sensorDataNum = sensorNum; + zcanbus_send_report(kreport_pressure_data, (uint8_t*)report, // + sizeof(report_pressure_data_t) + sensorNum * sizeof(report->data[0]), 10); +} + + +void fn_cmd_pressure_sensor_bus_read_data(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 1); + int32_t index = GET_PARAM(packet->params, 0); + + int16_t val = 0; + int32_t reportVal = 0; + bool suc = Hardware::ins().pressureSensorBus()->readData(index, &val); + + reportVal = val; + + if (suc) { + zcanbus_send_ack(packet, (uint8_t*)&reportVal, sizeof(reportVal)); + } else { + zcanbus_send_errorack(packet, kerr_subdevice_offline); + } +} +void fn_cmd_pressure_sensor_bus_set_report_period_ms(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 1); + int32_t period = GET_PARAM(packet->params, 0); + + ZLOGI(TAG, "set pressure sensor data report period %d ms", period); + + if (period != 0) { + if (period < 200) period = 200; + osTimerStop(PressureSensorDataReportTimerId); + osTimerStart(PressureSensorDataReportTimerId, period); + m_pressureSensorDataReportPeriodMs = period; + } else { + osTimerStop(PressureSensorDataReportTimerId); + } + + zcanbus_send_ack(packet, NULL, 0); +} + +void pressure_fn_impl_init() { + osTimerDef(PressureSensorDataReportTimer, onPressureSensorDataReportTimer); + PressureSensorDataReportTimerId = osTimerCreate(osTimer(PressureSensorDataReportTimer), osTimerPeriodic, NULL); + // osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs); +} \ No newline at end of file diff --git a/usrc/protocol_impl/function_impl/pump_fn_impl.cpp b/usrc/protocol_impl/function_impl/pump_fn_impl.cpp new file mode 100644 index 0000000..788100f --- /dev/null +++ b/usrc/protocol_impl/function_impl/pump_fn_impl.cpp @@ -0,0 +1,209 @@ + +#include "afunction_impl.hpp" +using namespace iflytop; + +#define TAG "PUMP_FN" + +static osTimerId MotorMonitorTimerId; // 压力传感器数值上报 +static bool motorErrorFlagCache[10]; // 电机异常状态上报标志位 +static zmutex motorErrorFlagCacheLock; + +static bool motorErrorFlag_get(int subindex) { + bool ret; + { + zlock_guard guard(motorErrorFlagCacheLock); + ret = motorErrorFlagCache[subindex]; + } + return ret; +} + +static void motorErrorFlag_set(int subindex, bool val) { + { + zlock_guard guard(motorErrorFlagCacheLock); + motorErrorFlagCache[subindex] = val; + } +} + +void fn_cmd_pump_rotate(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 2); + + int32_t subindex = GET_PARAM(packet->params, 0); + int32_t velocity = GET_PARAM(packet->params, 1); + + if (subindex >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->enableIC(false); + Hardware::ins().motor(subindex)->enableIC(true); + Hardware::ins().motor(subindex)->rotate(velocity); + + zcanbus_send_ack(packet, NULL, 0); + motorErrorFlag_set(subindex, false); +} +void fn_cmd_pump_stop(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 1); + + int32_t subindex = GET_PARAM(packet->params, 0); + + if (subindex >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->stop(); + zcanbus_send_ack(packet, NULL, 0); +} +void fn_cmd_pump_set_ihold_irun_idelay(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 4); + + int32_t subindex = GET_PARAM(packet->params, 0); + int32_t ihold = GET_PARAM(packet->params, 1); + int32_t irun = GET_PARAM(packet->params, 2); + int32_t idelay = GET_PARAM(packet->params, 3); + + if (subindex >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->setIHOLD_IRUN(ihold, irun, idelay); + zcanbus_send_ack(packet, NULL, 0); +} +void fn_cmd_pump_set_acc(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 2); + + int32_t subindex = GET_PARAM(packet->params, 0); + int32_t acc = GET_PARAM(packet->params, 1); + + if (subindex >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->setAcceleration(acc); + Hardware::ins().motor(subindex)->setDeceleration(acc); + zcanbus_send_ack(packet, NULL, 0); +} +void fn_cmd_pump_set_subic_reg(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 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 >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->writeInt(regadd, regval); +} +void fn_cmd_pump_get_subic_reg(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 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 >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + + Hardware::ins().motor(subindex)->writeInt(regadd, regval); +} +void fn_cmd_pump_ping(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 1); + + int32_t subindex = GET_PARAM(packet->params, 0); + + if (subindex >= Hardware::ins().motorNum()) { + zcanbus_send_errorack(packet, kerr_invalid_param); + return; + } + + if (!Hardware::ins().motor(subindex)->ping()) { + zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); + return; + } + zcanbus_send_ack(packet, NULL, 0); +} + +static void onMotorMonitorTimer(void const* argument) { + // 电机异常检查 + + report_exeception_data_t data; + for (size_t i = 0; i < Hardware::ins().motorNum(); i++) { + bool estate = motorErrorFlag_get(i); + + if (!Hardware::ins().motor(i)->ping()) { + data.subid = i; + data.ecode = kerr_motor_subdevice_offline; + + if (!estate) { + motorErrorFlag_set(i, true); + ZLOGE(TAG, "motor %d offline error", i); + zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100); + } + } else { + auto gstate = Hardware::ins().motor(i)->getGState(); + bool flag = gstate.reset || gstate.drv_err || gstate.uv_cp; + if (!flag && estate) { + motorErrorFlag_set(i, false); + } else if (flag && !estate) { + ZLOGE(TAG, "motor %d error, reset %d, drv_err %d, uv_cp %d", i, gstate.reset, gstate.drv_err, gstate.uv_cp); + if (gstate.reset) { + data.ecode = kerr_motor_reset_error; + } else if (gstate.uv_cp) { + data.ecode = kerr_motor_undervoltage_error; + } else if (gstate.drv_err) { + data.ecode = kerr_motor_driver_error; + } else { + data.ecode = kerr_motor_unkown_error; + } + data.subid = i; + motorErrorFlag_set(i, true); + zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100); + } + } + } +} + +void pump_fn_init() { motorErrorFlagCacheLock.init(); } + +void pump_fn_report_tmr_start() { + osTimerDef(MotorMonitorTimer, onMotorMonitorTimer); + MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, NULL); + osTimerStart(MotorMonitorTimerId, 1000); +} \ No newline at end of file diff --git a/usrc/protocol_impl/function_impl/triple_warning_light_ctl.cpp b/usrc/protocol_impl/function_impl/triple_warning_light_ctl.cpp new file mode 100644 index 0000000..ff3dafa --- /dev/null +++ b/usrc/protocol_impl/function_impl/triple_warning_light_ctl.cpp @@ -0,0 +1,18 @@ +#include "afunction_impl.hpp" +using namespace iflytop; + +#define TAG "TRIPLE_WARNING_LIGHT" + +// kcmd_triple_warning_light_ctl + +void fn_cmd_triple_warning_light_ctl(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 4); + + int32_t r = GET_PARAM(packet->params, 0); + int32_t g = GET_PARAM(packet->params, 1); + int32_t b = GET_PARAM(packet->params, 2); + int32_t warning = GET_PARAM(packet->params, 3); + + Hardware::ins().setRGB(r, g, b, warning); + zcanbus_send_ack(packet, NULL, 0); +} \ No newline at end of file diff --git a/usrc/protocol_impl/function_impl/water_sensor_report_fn_impl.cpp b/usrc/protocol_impl/function_impl/water_sensor_report_fn_impl.cpp new file mode 100644 index 0000000..10a5df4 --- /dev/null +++ b/usrc/protocol_impl/function_impl/water_sensor_report_fn_impl.cpp @@ -0,0 +1,64 @@ + +#include "afunction_impl.hpp" +using namespace iflytop; + +#define TAG "WATER_SENSOR_REPORT_FN" + +static osTimerId WaterSensorReportTimerId; // +static bool m_force_report = false; + +static void onWaterSensorReportTimer(void const* argument) { + // 水浸传感器数据上报 + static uint8_t reportcache[50]; + static report_water_sensor_state_t* report = (report_water_sensor_state_t*)reportcache; + + static bool state = true; + + int16_t val = 0; + static bool evaporation_bin_water_sensor_state; + { + bool state = Hardware::ins().m_evaporation_bin_water_sensor.read(); + if (m_force_report || state != evaporation_bin_water_sensor_state) { + evaporation_bin_water_sensor_state = state; + ZLOGI(TAG, "evaporation_bin_water_sensor state %d", state); + report->state = val; + zcanbus_send_report(kreport_evaporation_bin_water_sensor, (uint8_t*)report, sizeof(report_water_sensor_state_t), 10); + } + } + + static bool device_bottom_water_sensor_state; + { + bool state = Hardware::ins().m_device_bottom_water_sensor.read(); + if (m_force_report || state != device_bottom_water_sensor_state) { + device_bottom_water_sensor_state = state; + ZLOGI(TAG, "device_bottom_water_sensor state %d", state); + report->state = val; + zcanbus_send_report(kreport_device_bottom_water_sensor, (uint8_t*)report, sizeof(report_water_sensor_state_t), 10); + } + } + + m_force_report = false; +} + +void fn_cmd_evaporation_bin_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 0); + + int32_t val = Hardware::ins().m_evaporation_bin_water_sensor.read(); + zcanbus_send_ack(packet, (uint8_t*)&val, sizeof(val)); +} + +void fn_cmd_device_bottom_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len) { + CHECK_PARAM_LEN(PRAAM_LEN(), 0); + + int32_t val = Hardware::ins().m_device_bottom_water_sensor.read(); + zcanbus_send_ack(packet, (uint8_t*)&val, sizeof(val)); +} + +void water_sensor_report_fn_impl_init() { + osTimerDef(WaterSensorReportTimer, onWaterSensorReportTimer); + WaterSensorReportTimerId = osTimerCreate(osTimer(WaterSensorReportTimer), osTimerPeriodic, NULL); +} + +void water_sensor_report_fn_impl_start_tmr() { osTimerStart(WaterSensorReportTimerId, 20); } + +void water_sensor_report_fn_impl_force_report() { m_force_report = true; } diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp index abb898b..589ba07 100644 --- a/usrc/protocol_impl/protocol_impl_service.cpp +++ b/usrc/protocol_impl/protocol_impl_service.cpp @@ -1,453 +1,95 @@ #include "protocol_impl_service.hpp" -#include "base/device_info.hpp" -#include "base/hardware.hpp" -#include "report_flag_mgr.hpp" -#include "zsdk/modbus/modbus_block_host.hpp" -#include "zsdk/zcanreceiver/zcanreceiver.hpp" +#include "function_impl/afunction_impl.hpp" + #define TAG "PROTO" 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 > Hardware::ins().motorNum()) { \ - zcanbus_send_errorack(packet, kerr_invalid_param); \ - return; \ - } -#define GET_PARAM(buff, off) ((((int32_t*)(buff))[off])) - -#define CLEAR_BIT(val, bit) (val &= ~(1 << bit)) -#define SET_BIT(val, bit) (val |= (1 << bit)) /*********************************************************************************************************************** * VAR_LIST * ***********************************************************************************************************************/ -static osTimerId HeartReportTimerId; static osThreadId PacketRxThreadId; -static osTimerId PressureSensorDataReportTimerId; // 压力传感器数值上报 -static uint32_t m_pressureSensorDataReportPeriodMs = 3000; - -static osTimerId MotorMonitorTimerId; // 压力传感器数值上报 -static bool motorErrorFlagCache[10]; // 电机异常状态上报标志位 -static zmutex motorErrorFlagCacheLock; -static uint8_t m_dflag; - -static bool motorErrorFlag_get(int subindex) { - bool ret; - { - zlock_guard guard(motorErrorFlagCacheLock); - ret = motorErrorFlagCache[subindex]; - } - return ret; -} - -static void motorErrorFlag_set(int subindex, bool val) { - { - zlock_guard guard(motorErrorFlagCacheLock); - motorErrorFlagCache[subindex] = val; - } -} - -/*********************************************************************************************************************** - * FUNCTION_IMPL * - ***********************************************************************************************************************/ - -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; - ack.boardType = deviceInfo_getBoardType(); - ack.projectId = deviceInfo_getProjectId(); - ack.protcol_version = deviceInfo_getProtocolVersion(); - ack.software_version = deviceInfo_getSoftwareVersion(); - ack.hardware_version = deviceInfo_getHardwareVersion(); - - zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack)); - } - - // 读系统信息 - else if (packet->function_id == kcmd_read_sysinfo) { - static ack_sysinfo_t ack; - ack.free_heap_size = SysMgr::ins()->osGetMinimumEverFreeHeapSize(); - ack.total_heap_size = SysMgr::ins()->osGetTotalHeapSize(); - ack.taskNum = SysMgr::ins()->getTaskNum(); - ack.sysHasRun = SysMgr::ins()->osGetSysRunTime() / 1000; - zcanbus_send_ack(packet, (uint8_t*)&ack, sizeof(ack)); - } - - // 读任务信息 - else if (packet->function_id == kcmd_read_taskinfo) { - static ask_taskinfo_t ack; - int32_t taskoff = GET_PARAM(packet->params, 0); - osThreadId taskId = SysMgr::ins()->osGetId(taskoff); - SysMgr::ins()->osTaskName(taskId, (char*)ack.taskName, sizeof(ack.taskName)); - SysMgr::ins()->osTaskStackRemainingSize(taskId, &ack.stackRemindSize); - SysMgr::ins()->osTaskPriority(taskId, &ack.priority); - SysMgr::ins()->osTaskGetState(taskId, (char*)&ack.state); - - 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); - heatpacket.flag = m_dflag; - zcanbus_send_report(kreport_heatpacket_pong, (uint8_t*)&heatpacket, sizeof(heatpacket), 30); - } - - else if (packet->function_id == kcmd_clear_reset_flag) { - CLEAR_BIT(m_dflag, 0); - zcanbus_send_ack(packet, NULL, 0); - } - // 触发一次强制上报事件 - if (packet->function_id == kcmd_force_report) { - ForceReportFlagMgr::ins()->trigger(); - if (from != 0xff) zcanbus_send_ack(packet, NULL, 0); - } -} - -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 >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - Hardware::ins().motor(subindex)->enableIC(false); - Hardware::ins().motor(subindex)->enableIC(true); - Hardware::ins().motor(subindex)->rotate(velocity); - - zcanbus_send_ack(packet, NULL, 0); - motorErrorFlag_set(subindex, false); - } - - // 泵机停止 - else if (packet->function_id == kcmd_pump_stop) { - CHECK_PARAM_LEN(paramNum, 1); - - int32_t subindex = GET_PARAM(packet->params, 0); - - if (subindex >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - Hardware::ins().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_ihold_irun_idelay) { - CHECK_PARAM_LEN(paramNum, 4); - - int32_t subindex = GET_PARAM(packet->params, 0); - int32_t ihold = GET_PARAM(packet->params, 1); - int32_t irun = GET_PARAM(packet->params, 2); - int32_t idelay = GET_PARAM(packet->params, 3); - - if (subindex >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - Hardware::ins().motor(subindex)->setIHOLD_IRUN(ihold, irun, idelay); - zcanbus_send_ack(packet, NULL, 0); - } - // 设置加速度 - 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 >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - Hardware::ins().motor(subindex)->setAcceleration(acc); - Hardware::ins().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 >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - Hardware::ins().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 >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - - int32_t regval = Hardware::ins().motor(subindex)->readInt(regadd); - zcanbus_send_ack(packet, (uint8_t*)®val, sizeof(regval)); - } - - // ping - else if (packet->function_id == kcmd_pump_get_subic_reg) { - CHECK_PARAM_LEN(paramNum, 1); - - int32_t subindex = GET_PARAM(packet->params, 0); - - if (subindex >= Hardware::ins().motorNum()) { - zcanbus_send_errorack(packet, kerr_invalid_param); - return; - } - - if (!Hardware::ins().motor(subindex)->ping()) { - zcanbus_send_errorack(packet, kerr_motor_subdevice_offline); - return; - } - zcanbus_send_ack(packet, NULL, 0); - } -} - -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_pressure_sensor_bus_read_data) { - CHECK_PARAM_LEN(paramNum, 1); - int32_t index = GET_PARAM(packet->params, 0); - - int16_t val = 0; - int32_t reportVal = 0; - bool suc = Hardware::ins().pressureSensorBus()->readData(index, &val); - - reportVal = val; - - if (suc) { - zcanbus_send_ack(packet, (uint8_t*)&reportVal, sizeof(reportVal)); - } else { - zcanbus_send_errorack(packet, kerr_subdevice_offline); - } - } -#if 0 - // 压力传感器数据上报 - else if (packet->function_id == kcmd_pressure_sensor_bus_set_report_period_ms) { - CHECK_PARAM_LEN(paramNum, 1); - int32_t period = GET_PARAM(packet->params, 0); - - ZLOGI(TAG, "set pressure sensor data report period %d ms", period); - - if (period != 0) { - if (period < 200) period = 200; - osTimerStop(PressureSensorDataReportTimerId); - osTimerStart(PressureSensorDataReportTimerId, period); - m_pressureSensorDataReportPeriodMs = period; - } else { - osTimerStop(PressureSensorDataReportTimerId); - } - - zcanbus_send_ack(packet, NULL, 0); - } -#endif -} - -/*********************************************************************************************************************** - * SCHEDULER * - ***********************************************************************************************************************/ 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, "process 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); - others_func_impl(from, to, rawpacket, len); - + bool processed = fn_map_process(packet->function_id, from, to, rawpacket, len); + if (!processed) { + zcanbus_send_errorack(packet, kerr_function_not_support); + } ZLOGI(TAG, "process end"); } static void zcanbus_on_connected(bool connected) { if (connected) { ZLOGI(TAG, "connected to host"); + water_sensor_report_fn_impl_force_report(); } else { ZLOGI(TAG, "disconnected from host"); } } -#if 0 -static void onPressureSensorDataReportTimer(void const* argument) { - // 压力传感器数据上报 - static uint8_t reportcache[100]; - static report_pressure_data_t* report = (report_pressure_data_t*)reportcache; - int sensorNum = 0; +void fn_cmd_triple_warning_light_ctl(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); - for (size_t i = 0; i < PXX_PRESSURE_SENSOR_NUM; i++) { - int16_t val = 0; - bool suc = Hardware::ins().pressureSensorBus()->readData(i, &val); - - if (suc) { - report->data[sensorNum].subid = i; - report->data[sensorNum].pressureVal = val; - sensorNum++; - } - } - - report->sensorDataNum = sensorNum; - zcanbus_send_report(kreport_pressure_data, (uint8_t*)report, // - sizeof(report_pressure_data_t) + sensorNum * sizeof(report->data[0]), 10); -} -#endif - -static void onMotorMonitorTimer(void const* argument) { - // 电机异常检查 - - report_exeception_data_t data; - for (size_t i = 0; i < Hardware::ins().motorNum(); i++) { - bool estate = motorErrorFlag_get(i); - - if (!Hardware::ins().motor(i)->ping()) { - data.subid = i; - data.ecode = kerr_motor_subdevice_offline; - - if (!estate) { - motorErrorFlag_set(i, true); - ZLOGE(TAG, "motor %d offline error", i); - zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100); - } - } else { - auto gstate = Hardware::ins().motor(i)->getGState(); - bool flag = gstate.reset || gstate.drv_err || gstate.uv_cp; - if (!flag && estate) { - motorErrorFlag_set(i, false); - } else if (flag && !estate) { - ZLOGE(TAG, "motor %d error, reset %d, drv_err %d, uv_cp %d", i, gstate.reset, gstate.drv_err, gstate.uv_cp); - if (gstate.reset) { - data.ecode = kerr_motor_reset_error; - } else if (gstate.uv_cp) { - data.ecode = kerr_motor_undervoltage_error; - } else if (gstate.drv_err) { - data.ecode = kerr_motor_driver_error; - } else { - data.ecode = kerr_motor_unkown_error; - } - data.subid = i; - motorErrorFlag_set(i, true); - zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100); - } - } - } -} +void fn_cmd_evaporation_bin_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); +void fn_cmd_device_bottom_water_sensor_read_state(uint8_t from, uint8_t to, zcanbus_packet_t* packet, size_t len); -/*********************************************************************************************************************** - * EXT * - ***********************************************************************************************************************/ +void water_sensor_report_fn_impl_init(); +void water_sensor_report_fn_impl_start_tmr(); +void water_sensor_report_fn_impl_force_report(); void protocol_impl_service_init() { // Hardware::ins().init(); ForceReportFlagMgr::ins()->init(); - motorErrorFlagCacheLock.init(); - m_dflag = 0x00; - SET_BIT(m_dflag, 0); zcanbus_init(deviceInfo_getBoardId()); zcanbus_reglistener(zcanbus_on_rx); zcanbus_reg_on_connected_listener(zcanbus_on_connected); -#if 0 - osTimerDef(PressureSensorDataReportTimer, onPressureSensorDataReportTimer); - PressureSensorDataReportTimerId = osTimerCreate(osTimer(PressureSensorDataReportTimer), osTimerPeriodic, NULL); - osTimerStart(PressureSensorDataReportTimerId, m_pressureSensorDataReportPeriodMs); -#endif + { + basic_fn_init(); + fn_map_reg(kcmd_read_board_info, fn_cmd_read_board_info); + fn_map_reg(kcmd_read_sysinfo, fn_cmd_read_sysinfo); + fn_map_reg(kcmd_read_taskinfo, fn_cmd_read_taskinfo); + fn_map_reg(kcmd_heart_ping, fn_cmd_heart_ping); + fn_map_reg(kcmd_clear_reset_flag, fn_cmd_clear_reset_flag); + } + + { + water_sensor_report_fn_impl_init(); + fn_map_reg(kcmd_evaporation_bin_water_sensor_read_state, fn_cmd_evaporation_bin_water_sensor_read_state); + fn_map_reg(kcmd_device_bottom_water_sensor_read_state, fn_cmd_device_bottom_water_sensor_read_state); + water_sensor_report_fn_impl_start_tmr(); + } - osTimerDef(MotorMonitorTimer, onMotorMonitorTimer); - MotorMonitorTimerId = osTimerCreate(osTimer(MotorMonitorTimer), osTimerPeriodic, NULL); - osTimerStart(MotorMonitorTimerId, 1000); + { + pump_fn_init(); + pump_fn_report_tmr_start(); + + fn_map_reg(kcmd_pump_rotate, fn_cmd_pump_rotate); + fn_map_reg(kcmd_pump_stop, fn_cmd_pump_stop); + fn_map_reg(kcmd_pump_set_ihold_irun_idelay, fn_cmd_pump_set_ihold_irun_idelay); + fn_map_reg(kcmd_pump_set_acc, fn_cmd_pump_set_acc); + fn_map_reg(kcmd_pump_set_subic_reg, fn_cmd_pump_set_subic_reg); + fn_map_reg(kcmd_pump_get_subic_reg, fn_cmd_pump_get_subic_reg); + fn_map_reg(kcmd_pump_ping, fn_cmd_pump_ping); + } + + { fn_map_reg(kcmd_triple_warning_light_ctl, fn_cmd_triple_warning_light_ctl); } + + { + pressure_fn_impl_init(); + fn_map_reg(kcmd_pressure_sensor_bus_read_data, fn_cmd_pressure_sensor_bus_read_data); + fn_map_reg(kcmd_pressure_sensor_bus_set_report_period_ms, fn_cmd_pressure_sensor_bus_set_report_period_ms); + } osThreadDef(PacketRxThread, onPacketRxThreadStart, osPriorityNormal, 0, 1024); PacketRxThreadId = osThreadCreate(osThread(PacketRxThread), NULL); diff --git a/usrc/protocol_impl/protocol_impl_service.hpp b/usrc/protocol_impl/protocol_impl_service.hpp index 2d7419c..8ee77b7 100644 --- a/usrc/protocol_impl/protocol_impl_service.hpp +++ b/usrc/protocol_impl/protocol_impl_service.hpp @@ -5,3 +5,4 @@ #include "zsdk/zsdk.hpp" void protocol_impl_service_init(); +