p_transmit_disinfection_v3
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transmit_disinfection_micro_bak
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update

master
zhaohe 1 year ago
parent
9a3d0b716e
commit
fc4f3e972e
5 changed files with 25 additions and 31 deletions
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  1. 2
      Core/Inc/FreeRTOSConfig.h
  2. 2
      app_protocols/transmit_disfection_protocol
  3. 46
      usrc/app/dmapp.cpp
  4. 4
      usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp
  5. 2
      zsdk

2
Core/Inc/FreeRTOSConfig.h
View File

@ -68,7 +68,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)512)
#define configTOTAL_HEAP_SIZE ((size_t)40000)
#define configTOTAL_HEAP_SIZE ((size_t)50000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1

2
app_protocols/transmit_disfection_protocol

@ -1 +1 @@
Subproject commit bbda34d9edff33e1da63790fe4320fedd2595e30
Subproject commit 8cccc4a9b3a09f928ac0f4041bbc6107d919dfcc

46
usrc/app/dmapp.cpp
View File

@ -25,7 +25,7 @@
using namespace iflytop;
using namespace transmit_disfection_protocol;
#define TAG "LargeSpaceDmPowerCtrlBoard"
#define TAG "DMAPP"
DisinfectionApp* DisinfectionApp::ins() {
static DisinfectionApp instance;
@ -95,30 +95,22 @@ void DisinfectionApp::initialize() {
if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_10);
h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_3);
bindH2o2Sensor();
}
// 水浸传感器
if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) {
ZLOGI(TAG, "WaterSensor init");
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();
}
// TMC驱动
// kfn_pump_rotate = 100, // cmd: index rpm ack:none
// kfn_pump_stop = 101, // cmd: index rpm ack:none
// kfn_pump_set_ihold_irun_idelay = 102, // cmd: index irun,ihold,idelay ack:none
// kfn_pump_set_acc = 104, // cmd: index acc ack:none , delete
// kfn_pump_ping = 105, // cmd: index, ack:none
// kfn_pump_set_ramp = 106, // cmd: index,vs,a1,amx,v1 ack:none
// kfn_pump_set_tzw = 107, // cmd: index,timeZeroWait ack:none
// kfn_pump_set_subic_reg = 110, // cmd: index,val ack:none
// kfn_pump_get_subic_reg = 111, // cmd: index, ack:val
if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
// 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*/});
bindTmcPowerGroup();
@ -127,12 +119,14 @@ void DisinfectionApp::initialize() {
// 三色指示灯
if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) {
// 三色指示灯初始化
ZLOGI(TAG, "WarningLightDriver init");
wlDriver.initialize(PD8, PD7, PD9, PD10);
bindWlDriver();
}
// 压力传感器初始化
if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
ZLOGI(TAG, "PXXPSBus init");
osDelay(1500); // 等待传感器上电
LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1);
psBus.initialize(&huart3);
@ -152,12 +146,12 @@ void DisinfectionApp::initialize() {
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) {
REG_LAMADA_FN(kfn_air_tightness_test_close_off_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_open_ch, [&](ProcessContext* cxt) {
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
zcanbus_send_ack(cxt->packet, NULL, 0);
@ -193,23 +187,23 @@ void DisinfectionApp::bindH2o2Sensor() {
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::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);
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);
BIND_FN(PXXPSBus, &psBus, fn_psbus_read_data);
BIND_FN(PXXPSBus, &psBus, fn_psbus_scan);
}
void DisinfectionApp::bindEvaporationBinWS() {

4
usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp
View File

@ -108,8 +108,8 @@ void LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(int baudrate, uint32_t StopBits
__HAL_LINKDMA(uartHandle, hdmatx, hdma1_stream3);
HAL_NVIC_SetPriority(USART3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);

2
zsdk

@ -1 +1 @@
Subproject commit e3bb71df415b83ce7e8224dc6b55dc0880d8895a
Subproject commit 8070043a4c639e4a7bfd98578927ddec60c8988a
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