From 6dc0fde76d91c6ef22e64877376fb0a5ea797dd8 Mon Sep 17 00:00:00 2001 From: haoran Date: Mon, 12 Aug 2024 17:35:11 +0800 Subject: [PATCH] fix some bug --- .settings/language.settings.xml | 4 ++-- usrc/app/dmapp.cpp | 12 +++--------- usrc/base/utils/formula.hpp | 7 ++++--- usrc/module/heater_controller.hpp | 3 ++- usrc/module/tmc_motor_group.cpp | 4 ++-- 5 files changed, 13 insertions(+), 17 deletions(-) diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 02e817d..89dd226 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/usrc/app/dmapp.cpp b/usrc/app/dmapp.cpp index a1f8d50..e73bc71 100644 --- a/usrc/app/dmapp.cpp +++ b/usrc/app/dmapp.cpp @@ -2,11 +2,7 @@ /** * @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: @@ -15,12 +11,9 @@ * 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------ * 液路控制板 - * * 功率板 - * */ using namespace iflytop; @@ -41,7 +34,7 @@ void DisinfectionApp::initialize() { // 加热片 if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); - heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8); + heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_4); } else if (isBoardType(kDrawBarDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); heaterCtrler.initialize(PC7, NULL, 0, &hadc1, ADC_CHANNEL_1); @@ -91,6 +84,7 @@ void DisinfectionApp::initialize() { if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2); LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); + osDelay(3000); h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_3); } @@ -108,7 +102,7 @@ void DisinfectionApp::initialize() { // TMC电机初始化 ZLOGI(TAG, "TMCMotorGroup init"); LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT(); - tmcPowerGroup.initialize(PB2, {&hspi1, PC4 /*cs*/, PB13 /*en*/}, {&hspi1, PA4 /*cs*/, PB12 /*en*/}); + tmcPowerGroup.initialize(PB2, {&hspi1, PA4 /*cs*/, PB12 /*en*/}, {&hspi1, PC4 /*cs*/, PB13 /*en*/}); } // 三色指示灯 diff --git a/usrc/base/utils/formula.hpp b/usrc/base/utils/formula.hpp index 1489e1c..9bd2ec1 100644 --- a/usrc/base/utils/formula.hpp +++ b/usrc/base/utils/formula.hpp @@ -27,7 +27,8 @@ static inline int32_t airCompressorAdcToCurrent(int32_t adcv) { } static inline int32_t heaterAdc2Temp(int32_t adcv) { - int32_t ma = (adcv / 4095.0 * 3.3 * 1000) / 150.0; - int32_t temp = (ma - 4) / (20 - 4) * (4000 - 0) + 0; // 4000:是量程 + double ma = (adcv / 4095.0 * 3.3 * 1000) / 150.0; + int32_t temp = (ma - 4)*1.0 / (20.0 - 4.0) * (4000 - 0) + 0; // 4000:是量程 + return temp; // C*10 -} \ No newline at end of file +} diff --git a/usrc/module/heater_controller.hpp b/usrc/module/heater_controller.hpp index 673237e..192d6ba 100644 --- a/usrc/module/heater_controller.hpp +++ b/usrc/module/heater_controller.hpp @@ -51,6 +51,7 @@ class HeaterController { } void fn_heater_read_temperature_data(ProcessContext* cxt) { // auto val = heater_read_temperature_data(); + zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val)); } @@ -73,4 +74,4 @@ class HeaterController { m_tempAdc.updateAdcValToCache(); } }; -} // namespace iflytop \ No newline at end of file +} // namespace iflytop diff --git a/usrc/module/tmc_motor_group.cpp b/usrc/module/tmc_motor_group.cpp index 45625fd..c4bcbc3 100644 --- a/usrc/module/tmc_motor_group.cpp +++ b/usrc/module/tmc_motor_group.cpp @@ -95,11 +95,11 @@ void TmcMotorGroup::initialize(Pin_t tmcPowerPin, TMC51X0Cfg cfg0, TMC51X0Cfg cf // PB2 m_motor[0].initialize(cfg0); - m_motor[0].setIHOLD_IRUN(1, 28, 0); + m_motor[0].setIHOLD_IRUN(1, 20, 0); m_motor[0].setMotorShaft(true); m_motor[1].initialize(cfg1); - m_motor[1].setIHOLD_IRUN(1, 28, 0); + m_motor[1].setIHOLD_IRUN(1, 20, 0); m_motor[1].setMotorShaft(true); int32_t chipv0 = m_motor[0].readICVersion(); // 5130:0x11