update

app_protocols/transmit_disfection_protocol

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

usrc/app/dmapp.cpp

@@ -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                                                    *
  ***********************************************************************************************************************/
-
-

usrc/app/ext_ch_selector_app.cpp

@@ -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
 }

usrc/app/ext_ch_selector_app.hpp

@@ -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

usrc/module/air_compressor_controller.hpp

@@ -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(); }

usrc/module/blower_controller.hpp

@@ -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) {

usrc/module/heater_controller.hpp

@@ -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() {

usrc/module/tmc_motor_group.cpp

@@ -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);
+}

usrc/module/tmc_motor_group.hpp

@@ -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:
 };

usrc/module/warning_light_driver.hpp

@@ -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

usrc/protocol_processer_impl/public_cmd_processer.cpp

@@ -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(); }

usrc/protocol_processer_impl/public_cmd_processer.hpp

@@ -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

zsdk

@@ -1 +1 @@
-Subproject commit 4b1b1b80df20a5eca96c43f787ac3ee23708065b
+Subproject commit 50565f27ea3e0128518c920d6aa8c98e299e1e54