#include "dmapp.hpp" /** * @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: * 1.增加比例阀控制 * 2.空压机通道控制 * 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; using namespace transmit_disfection_protocol; #define TAG "DMAPP" DisinfectionApp* DisinfectionApp::ins() { static DisinfectionApp instance; return &instance; } const char* DisinfectionApp::getName() { return "DisinfectionApp"; } void DisinfectionApp::initialize() { int btid = PublicBoard::ins()->getBoardTypeId(); // // 加热片 if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8); bindHeaterCtrler(); } else if (isBoardType(kDrawBarDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); heaterCtrler.initialize(PC7, NULL, 0, &hadc1, ADC_CHANNEL_1); bindHeaterCtrler(); } // 风机 if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1); bindBlowerCtrler(); } else if (isBoardType(kPipeDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); LargeSpaceDmPowerCtrlBoardHal::HUART2_INIT(9600, UART_STOPBITS_1); blowerCtrler.initializeAsHighPowerUartBlower(&huart2, &hadc1, ADC_CHANNEL_1); bindBlowerCtrler(); } else if (isBoardType(kDrawBarDMPowerCtrlBoard)) { DBDMPowerCtrlBoard::HTIM3_INIT(); blowerCtrler.initializeAsMiniPwmBlower(&htim3, TIM_CHANNEL_3, PC6 /*en*/, PC9 /*fb*/); bindBlowerCtrler(); } // 空压机 if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0); bindAirComCtrler(); } else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) { airComCtrler.initialize(PD14, NULL, 0); } // 气密性测试空压机 // kfn_air_tightness_test_ac_ctrl if (isBoardType(kPipeDMPowerCtrlBoard)) { REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) { airComCtrler.air_compressor_ctrl(GET_PARAM(0)); airComCtrler.air_compressor_ctrl_safe_valve(GET_PARAM(0)); zcanbus_send_ack(cxt->packet, NULL, 0); }); } else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) { static ZGPIO airCompressorCtrlGpio; airCompressorCtrlGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false); REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) { airCompressorCtrlGpio.write(GET_PARAM(0)); zcanbus_send_ack(cxt->packet, NULL, 0); }); } // H2O2传感器 if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) { LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2); LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT(); 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(); } 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(); } // 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); bindPsBus(); } // 比例阀初始化 if (isBoardType(kPipeDMLiquidCtrlBoard)) { ZLOGI(TAG, "ProportionalValveCtrl init"); LargeSpaceDMLiquidCtrlBoardHal::HUART2_INIT(9600); proportionalValveCtrl.initialize(&huart2); bindProportionalValveCtrl(); } // 气密性测试通道 if (isBoardType(kPipeDMLiquidCtrlBoard)) { static ZGPIO airTightnessTestChGpio; static ZGPIO eValve; 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) { 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_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); }); } } /*********************************************************************************************************************** * PROTOCOL_BIND * ***********************************************************************************************************************/ void DisinfectionApp::bindHeaterCtrler() { BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl); BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl_safe_valve); BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_electric_current); BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_temperature_data); } void DisinfectionApp::bindBlowerCtrler() { BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl); BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl_safe_valve); BIND_FN(BlowerController, &blowerCtrler, fn_blower_read_electric_current); BIND_FN(BlowerController, &blowerCtrler, fn_blower_is_error); } void DisinfectionApp::bindAirComCtrler() { BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl); BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl_safe_valve); BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_read_electric_current); } void DisinfectionApp::bindH2o2Sensor() { BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_calibration_date); 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::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); } void DisinfectionApp::bindPsBus() { BIND_FN(PXXPSBus, &psBus, fn_psbus_read_data); BIND_FN(PXXPSBus, &psBus, fn_psbus_scan); } void DisinfectionApp::bindEvaporationBinWS() { ProtocolProcesserMgr::ins()->regCmdProcesser( // CmdProcesser(kfn_evaporation_tank_water_sensor_read_state, // [this](ProcessContext* cxt) { int32_t val = evaporationBinWS.read(); zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val)); })); } void DisinfectionApp::bindDeviceBottomWS() { ProtocolProcesserMgr::ins()->regCmdProcesser( // CmdProcesser(kfn_device_bottom_water_sensor_read_state, // [this](ProcessContext* cxt) { int32_t val = deviceBottomWS.read(); zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val)); })); } void DisinfectionApp::bindProportionalValveCtrl() { BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_set_valve); BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_read_pos); BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_is_busy); }