From fc4f3e972ee2c441cd044dbf76b6d92328a8f880 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 10 Aug 2024 15:18:58 +0800 Subject: [PATCH] update --- Core/Inc/FreeRTOSConfig.h | 2 +- app_protocols/transmit_disfection_protocol | 2 +- usrc/app/dmapp.cpp | 46 ++++++++++------------ .../large_space_dm_liquid_ctrl_board_hal.cpp | 4 +- zsdk | 2 +- 5 files changed, 25 insertions(+), 31 deletions(-) diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 11bf23c..4e6a824 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -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 diff --git a/app_protocols/transmit_disfection_protocol b/app_protocols/transmit_disfection_protocol index bbda34d..8cccc4a 160000 --- a/app_protocols/transmit_disfection_protocol +++ b/app_protocols/transmit_disfection_protocol @@ -1 +1 @@ -Subproject commit bbda34d9edff33e1da63790fe4320fedd2595e30 +Subproject commit 8cccc4a9b3a09f928ac0f4041bbc6107d919dfcc diff --git a/usrc/app/dmapp.cpp b/usrc/app/dmapp.cpp index 78ff815..e10d0e8 100644 --- a/usrc/app/dmapp.cpp +++ b/usrc/app/dmapp.cpp @@ -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() { diff --git a/usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp b/usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp index 480504d..fb371ba 100644 --- a/usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp +++ b/usrc/board_base/baseboard/large_space_dm_liquid_ctrl_board_hal.cpp @@ -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); diff --git a/zsdk b/zsdk index e3bb71d..8070043 160000 --- a/zsdk +++ b/zsdk @@ -1 +1 @@ -Subproject commit e3bb71df415b83ce7e8224dc6b55dc0880d8895a +Subproject commit 8070043a4c639e4a7bfd98578927ddec60c8988a