p_transmit_disinfection_v3
/
transmit_disinfection_micro_bak
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

update

master
zhaohe 12 months ago
parent
3f81761317
commit
605fcbf13b
13 changed files with 79 additions and 14 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      app_protocols/transmit_disfection_protocol
  2. 9
      usrc/app/dmapp.cpp
  3. 21
      usrc/app/ext_ch_selector_app.cpp
  4. 4
      usrc/app/ext_ch_selector_app.hpp
  5. 2
      usrc/module/air_compressor_controller.hpp
  6. 6
      usrc/module/blower_controller.hpp
  7. 4
      usrc/module/heater_controller.hpp
  8. 29
      usrc/module/tmc_motor_group.cpp
  9. 1
      usrc/module/tmc_motor_group.hpp
  10. 10
      usrc/module/warning_light_driver.hpp
  11. 2
      usrc/protocol_processer_impl/public_cmd_processer.cpp
  12. 1
      usrc/protocol_processer_impl/public_cmd_processer.hpp
  13. 2
      zsdk

2
app_protocols/transmit_disfection_protocol

@ -1 +1 @@
Subproject commit 3cb7df42d6b6d1a3528def1efb837f4b3af3b60f
Subproject commit efcd6e0f0e8a2494886d59305738738c68bb930b

9
usrc/app/dmapp.cpp
View File

@ -133,24 +133,27 @@ void DisinfectionApp::initialize() {
if (isBoardType(kPipeDMLiquidCtrlBoard)) {
static ZGPIO airTightnessTestChGpio;
static ZGPIO eValve;
static bool state = false;
airTightnessTestChGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false);
eValve.initAsOutput(PD14, kxs_gpio_nopull, false, true);
REG_LAMADA_FN(kfn_air_tightness_test_close_off_ch, [&](ProcessContext* cxt) {
REG_LAMADA_FN(kfn_air_tightness_test_cutoff_ch, [&](ProcessContext* cxt) {
airTightnessTestChGpio.write(1); // 内管路,气密性测试
eValve.write(0); // 电磁阀闭合
state = true;
zcanbus_send_ack(cxt->packet, NULL, 0);
});
REG_LAMADA_FN(kfn_air_tightness_test_release_ch, [&](ProcessContext* cxt) {
airTightnessTestChGpio.write(0); // 连接空气
eValve.write(1); // 电磁阀打开
state = false;
zcanbus_send_ack(cxt->packet, NULL, 0);
});
// kfn_air_tightness_test_is_cutoff
REG_LAMADA_FN(kfn_air_tightness_test_is_cutoff, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, state); });
}
}
/***********************************************************************************************************************
* PROTOCOL_BIND *
***********************************************************************************************************************/

21
usrc/app/ext_ch_selector_app.cpp
View File

@ -7,17 +7,28 @@ ExtChSelector* ExtChSelector::ins() {
static ExtChSelector instance;
return &instance;
}
void ExtChSelector::setch(int32_t ch) {
if (ch == kext_ch_disinfection) {
} else if (ch == kext_ch_degradation) {
} else if (ch == kext_ch_dehumidification) {
}
}
void ExtChSelector::initialize() {
ctrl0.initAsOutput(PinNull, kxs_gpio_nopull, false, false);
ctrl1.initAsOutput(PinNull, kxs_gpio_nopull, false, false);
ctrl2.initAsOutput(PinNull, kxs_gpio_nopull, false, false);
setch(ch);
REG_LAMADA_FN(kfn_ext_ch_selector_set_ch, [&](ProcessContext* cxt) {
int ch = GET_PARAM(0);
ch = GET_PARAM(0);
ZLOGI(TAG, "ext_ch_selector_set_ch : %d", ch);
if (ch == kext_ch_disinfection) {
} else if (ch == kext_ch_degradation) {
} else if (ch == kext_ch_dehumidification) {
}
setch(ch);
});
REG_LAMADA_FN(kfn_ext_ch_selector_get_ch, [&](ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, (uint8_t*)&ch, sizeof(ch)); });
// kfn_ext_ch_selector_get_ch
}

4
usrc/app/ext_ch_selector_app.hpp
View File

@ -1,7 +1,7 @@
#pragma once
#include "board/hal/hal.hpp"
#include "board/public_board.hpp"
#include "module/module.hpp"
#include "board/hal/hal.hpp"
/**
* @brief
@ -29,10 +29,12 @@ class ExtChSelector {
ZGPIO ctrl0;
ZGPIO ctrl1;
ZGPIO ctrl2;
int ch = 0;
public:
static ExtChSelector* ins();
void initialize();
void setch(int32_t ch);
};
} // namespace iflytop

2
usrc/module/air_compressor_controller.hpp
View File

@ -28,6 +28,7 @@ class AirCompressorController {
BIND_FN(AirCompressorController, this, fn_air_compressor_ctrl_safe_valve);
BIND_FN(AirCompressorController, this, fn_air_compressor_read_ei);
BIND_FN(AirCompressorController, this, fn_air_compressor_read_ei_adc_raw);
BIND_FN(AirCompressorController, this, fn_air_compressor_is_open);
}
bool isInitialized() { return m_isInitialized; }
@ -43,6 +44,7 @@ class AirCompressorController {
void fn_air_compressor_ctrl_safe_valve(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, NULL, 0); }
void fn_air_compressor_read_ei(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, airCompressorAdcToCurrent(m_iAdc.getCacheVal())); }
void fn_air_compressor_read_ei_adc_raw(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, m_iAdc.getCacheVal()); }
void fn_air_compressor_is_open(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, m_ctrlGpio.read()); }
private:
void periodTask() { m_iAdc.updateAdcValToCache(); }

6
usrc/module/blower_controller.hpp
View File

@ -29,6 +29,7 @@ class BlowerController {
bool m_iadcIsInit = false;
bool m_isInitialized = false;
bool isopen = false;
public:
void initialize(Pin_t ctrlGpio, ADC_HandleTypeDef* iadc, uint32_t ich) {
@ -67,7 +68,8 @@ class BlowerController {
BIND_FN(BlowerController, this, fn_blower_read_ei);
BIND_FN(BlowerController, this, fn_blower_is_error);
BIND_FN(BlowerController, this, fn_blower_read_ei_adc_raw);
}
BIND_FN(BlowerController, this, fn_blower_is_open);
}
/***********************************************************************************************************************
* FN *
@ -114,6 +116,7 @@ class BlowerController {
void fn_blower_ctrl(ProcessContext* cxt) { //
blower_ctrl(GET_PARAM(0));
zcanbus_send_ack(cxt->packet, NULL, 0);
isopen = GET_PARAM(0) > 0 ? true : false;
}
void fn_blower_ctrl_safe_valve(ProcessContext* cxt) { //
blower_ctrl_safe_valve(GET_PARAM(0));
@ -122,6 +125,7 @@ class BlowerController {
void fn_blower_read_ei(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, blower_read_ei()); }
void fn_blower_read_ei_adc_raw(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, m_iadc.getCacheVal()); }
void fn_blower_is_error(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, blower_is_error()); }
void fn_blower_is_open(ProcessContext* cxt) { zcanbus_send_ack(cxt->packet, isopen); }
private:
void mini_pwm_blower_ctrl(int32_t duty) {

4
usrc/module/heater_controller.hpp
View File

@ -24,6 +24,7 @@ class HeaterController {
BIND_FN(HeaterController, this, fn_heater_read_temperature_data);
BIND_FN(HeaterController, this, fn_heater_read_ei_adc_raw);
BIND_FN(HeaterController, this, fn_heater_read_temperature_data_adc_raw);
BIND_FN(HeaterController, this, fn_heater_is_open);
}
bool isInitialized() { return m_isInitialized; }
@ -62,6 +63,9 @@ class HeaterController {
auto val = m_tempAdc.getCacheVal();
zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
}
void fn_heater_is_open(ProcessContext* cxt) { //
zcanbus_send_ack(cxt->packet, m_ctrlGpio.read());
}
private:
void periodTask() {

29
usrc/module/tmc_motor_group.cpp
View File

@ -48,12 +48,29 @@ static void onMotorMonitorTimer(void const* argument) {
zcanbus_send_emergency_report(kreport_exception_error, (uint8_t*)&data, sizeof(data), 100);
}
} else {
auto gstate = DEVICE->motor(i)->getGState();
bool flag = gstate.reset || gstate.drv_err || gstate.uv_cp;
auto gstate = DEVICE->motor(i)->getGState();
auto gstatus = DEVICE->motor(i)->getDevStatus();
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);
ZLOGE(TAG, "motor %d sg_result :%d ", i, gstatus.sg_result);
ZLOGE(TAG, "motor %d reserved0 :%d ", i, gstatus.reserved0);
ZLOGE(TAG, "motor %d fsactive :%d ", i, gstatus.fsactive);
ZLOGE(TAG, "motor %d cs_actual :%d ", i, gstatus.cs_actual);
ZLOGE(TAG, "motor %d reserved1 :%d ", i, gstatus.reserved1);
ZLOGE(TAG, "motor %d stallguard :%d ", i, gstatus.stallguard);
ZLOGE(TAG, "motor %d ot :%d ", i, gstatus.ot);
ZLOGE(TAG, "motor %d otpw :%d ", i, gstatus.otpw);
ZLOGE(TAG, "motor %d s2ga :%d ", i, gstatus.s2ga);
ZLOGE(TAG, "motor %d s2gb :%d ", i, gstatus.s2gb);
ZLOGE(TAG, "motor %d ola :%d ", i, gstatus.ola);
ZLOGE(TAG, "motor %d olb :%d ", i, gstatus.olb);
ZLOGE(TAG, "motor %d stst :%d ", i, gstatus.stst);
DEVICE->motor(i)->setdriErr(true);
if (gstate.reset) {
data.ecode = kerr_motor_reset_error;
} else if (gstate.uv_cp) {
@ -120,6 +137,7 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf
BIND_FN(TmcMotorGroup, this, fn_pump_set_subic_reg);
BIND_FN(TmcMotorGroup, this, fn_pump_get_subic_reg);
BIND_FN(TmcMotorGroup, this, fn_pump_ping);
BIND_FN(TmcMotorGroup, this, fn_pump_is_run);
}
#define MOTOR_CHECK() \
@ -225,3 +243,10 @@ void TmcMotorGroup::fn_pump_ping(ProcessContext* cxt) {
MOTOR_CHECK();
zcanbus_send_ack(cxt->packet, NULL, 0);
}
void TmcMotorGroup::fn_pump_is_run(ProcessContext* cxt) {
CHECK_PARAM_LEN(PRAAM_LEN(), 1);
MOTOR_CHECK();
auto state = motor(GET_PARAM(0))->getRampStat();
int32_t isRun = motor(GET_PARAM(0))->isReachTarget(&state);
zcanbus_send_ack(cxt->packet, isRun);
}

1
usrc/module/tmc_motor_group.hpp
View File

@ -32,6 +32,7 @@ class TmcMotorGroup {
void fn_pump_set_subic_reg(ProcessContext* cxt);
void fn_pump_get_subic_reg(ProcessContext* cxt);
void fn_pump_ping(ProcessContext* cxt);
void fn_pump_is_run(ProcessContext* cxt);
public:
};

10
usrc/module/warning_light_driver.hpp
View File

@ -19,6 +19,7 @@ class WarningLightDriver {
triLight_BEEP.initAsOutput(beep, kxs_gpio_nopull, false, false);
m_isInitialized = true;
BIND_FN(WarningLightDriver, this, fn_triple_warning_light_ctl);
BIND_FN(WarningLightDriver, this, fn_triple_warning_light_read_state);
}
bool isInitialized() { return m_isInitialized; }
@ -57,5 +58,14 @@ class WarningLightDriver {
setRGBW(r, g, b, warning);
zcanbus_send_ack(cxt->packet, NULL, 0);
}
// kfn_triple_warning_light_read_state
void fn_triple_warning_light_read_state(ProcessContext* cxt) {
int32_t data[4] = {0};
data[0] = triLight_R.read();
data[1] = triLight_G.read();
data[2] = triLight_B.read();
data[3] = triLight_BEEP.read();
zcanbus_send_ack(cxt->packet, (uint8_t*)&data, sizeof(data));
}
};
} // namespace iflytop

2
usrc/protocol_processer_impl/public_cmd_processer.cpp
View File

@ -12,6 +12,7 @@ void PublicCmdProcesser::initialize() {
REG_FN(fn_heart_ping);
REG_FN(fn_clear_reset_flag);
REG_FN(fn_enable_report);
REG_FN(fn_reset_board);
}
void PublicCmdProcesser::fn_read_board_info(ProcessContext* cxt) {
@ -60,3 +61,4 @@ void PublicCmdProcesser::fn_enable_report(ProcessContext* cxt) {
gEnableReportFlag = GET_PARAM(0);
zcanbus_send_ack(cxt->packet, NULL, 0);
}
void PublicCmdProcesser::fn_reset_board(ProcessContext* cxt) { NVIC_SystemReset(); }

1
usrc/protocol_processer_impl/public_cmd_processer.hpp
View File

@ -26,6 +26,7 @@ class PublicCmdProcesser {
void fn_heart_ping(ProcessContext* cxt);
void fn_clear_reset_flag(ProcessContext* cxt);
void fn_enable_report(ProcessContext* cxt);
void fn_reset_board(ProcessContext* cxt);
};
} // namespace iflytop

2
zsdk

@ -1 +1 @@
Subproject commit 4b1b1b80df20a5eca96c43f787ac3ee23708065b
Subproject commit 50565f27ea3e0128518c920d6aa8c98e299e1e54
Write Preview
Loading…
Cancel
Save