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237 lines
9.7 KiB
237 lines
9.7 KiB
#include "dmapp.hpp"
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/**
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* @brief
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*
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*
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* 小空间和大空间硬件一样
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*
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*
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* 管道式-----
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* 液路控制板
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* 相比于大空间消毒机，不同的点:
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* 1.增加比例阀控制
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* 2.空压机通道控制
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* 功率板
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* 相比于大空间消毒机，不同的点:
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* 1. 风机改成鼓风机(可控风速)
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*
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* 拉杆箱------
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* 液路控制板
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*
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* 功率板
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*
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*/
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using namespace iflytop;
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using namespace transmit_disfection_protocol;
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#define TAG "LargeSpaceDmPowerCtrlBoard"
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DisinfectionApp* DisinfectionApp::ins() {
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static DisinfectionApp instance;
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return &instance;
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}
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const char* DisinfectionApp::getName() { return "DisinfectionApp"; }
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void DisinfectionApp::initialize() {
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int btid = PublicBoard::ins()->getBoardTypeId();
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//
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// 加热片
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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heaterCtrler.initialize(PC7, &hadc1, ADC_CHANNEL_2, &hadc1, ADC_CHANNEL_8);
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bindHeaterCtrler();
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} else if (isBoardType(kDrawBarDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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heaterCtrler.initialize(PC7, NULL, 0, &hadc1, ADC_CHANNEL_1);
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bindHeaterCtrler();
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}
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// 风机
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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blowerCtrler.initialize(PC5, &hadc1, ADC_CHANNEL_1);
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bindBlowerCtrler();
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} else if (isBoardType(kPipeDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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LargeSpaceDmPowerCtrlBoardHal::HUART2_INIT(9600, UART_STOPBITS_1);
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blowerCtrler.initializeAsHighPowerUartBlower(&huart2, &hadc1, ADC_CHANNEL_1);
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bindBlowerCtrler();
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} else if (isBoardType(kDrawBarDMPowerCtrlBoard)) {
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DBDMPowerCtrlBoard::HTIM3_INIT();
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blowerCtrler.initializeAsMiniPwmBlower(&htim3, TIM_CHANNEL_3, PC6 /*en*/, PC9 /*fb*/);
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bindBlowerCtrler();
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}
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// 空压机
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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airComCtrler.initialize(PC3, &hadc1, ADC_CHANNEL_0);
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bindAirComCtrler();
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} else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) {
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airComCtrler.initialize(PD14, NULL, 0);
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}
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// 气密性测试空压机
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// kfn_air_tightness_test_ac_ctrl
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if (isBoardType(kPipeDMPowerCtrlBoard)) {
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REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) {
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airComCtrler.air_compressor_ctrl(GET_PARAM(0));
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airComCtrler.air_compressor_ctrl_safe_valve(GET_PARAM(0));
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zcanbus_send_ack(cxt->packet, NULL, 0);
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});
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} else if (isBoardType(kDrawBarDMLiquidCtrlBoard)) {
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static ZGPIO airCompressorCtrlGpio;
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airCompressorCtrlGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false);
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REG_LAMADA_FN(kfn_air_tightness_test_ac_ctrl, [&](ProcessContext* cxt) {
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airCompressorCtrlGpio.write(GET_PARAM(0));
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zcanbus_send_ack(cxt->packet, NULL, 0);
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});
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}
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// H2O2传感器
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if (isBoardType(kLargeSpaceDMPowerCtrlBoard, kSmallSpaceDMPowerCtrlBoard, kPipeDMPowerCtrlBoard, kDrawBarDMPowerCtrlBoard)) {
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LargeSpaceDmPowerCtrlBoardHal::HUART3_INIT(19200, UART_STOPBITS_2);
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LargeSpaceDmPowerCtrlBoardHal::HADC1_INIT();
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h2o2Sensor.initialize(&huart3, &hadc1, ADC_CHANNEL_10);
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bindH2o2Sensor();
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}
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// 水浸传感器
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) {
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evaporationBinWS.initAsInput(PC7, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
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deviceBottomWS.initAsInput(PC8, kxs_gpio_nopull, kxs_gpio_no_irq, true /*mirror*/);
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bindDeviceBottomWS();
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bindEvaporationBinWS();
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}
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// TMC驱动
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// kfn_pump_rotate = 100, // cmd: index rpm ack:none
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// kfn_pump_stop = 101, // cmd: index rpm ack:none
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// kfn_pump_set_ihold_irun_idelay = 102, // cmd: index irun,ihold,idelay ack:none
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// kfn_pump_set_acc = 104, // cmd: index acc ack:none , delete
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// kfn_pump_ping = 105, // cmd: index, ack:none
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// kfn_pump_set_ramp = 106, // cmd: index,vs,a1,amx,v1 ack:none
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// kfn_pump_set_tzw = 107, // cmd: index,timeZeroWait ack:none
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// kfn_pump_set_subic_reg = 110, // cmd: index,val ack:none
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// kfn_pump_get_subic_reg = 111, // cmd: index, ack:val
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
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// TMC电机初始化
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LargeSpaceDMLiquidCtrlBoardHal::HSPI1_INIT();
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tmcPowerGroup.initialize(PB2, {&hspi1, PC4 /*cs*/, PB13 /*en*/}, {&hspi1, PA4 /*cs*/, PB12 /*en*/});
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bindTmcPowerGroup();
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}
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// 三色指示灯
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard)) {
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// 三色指示灯初始化
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wlDriver.initialize(PD8, PD7, PD9, PD10);
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bindWlDriver();
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}
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// 压力传感器初始化
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if (isBoardType(kLargeSpaceDMLiquidCtrlBoard, kSmallSpaceDMLiquidCtrlBoard, kPipeDMLiquidCtrlBoard, kDrawBarDMLiquidCtrlBoard)) {
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osDelay(1500); // 等待传感器上电
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LargeSpaceDMLiquidCtrlBoardHal::HUART3_INIT(9600, UART_STOPBITS_1);
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psBus.initialize(&huart3);
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bindPsBus();
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}
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// 比例阀初始化
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if (isBoardType(kPipeDMLiquidCtrlBoard)) {
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LargeSpaceDMLiquidCtrlBoardHal::HUART2_INIT(9600);
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proportionalValveCtrl.initialize(&huart2);
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bindProportionalValveCtrl();
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}
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// 气密性测试通道
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if (isBoardType(kPipeDMLiquidCtrlBoard)) {
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static ZGPIO airTightnessTestChGpio;
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static ZGPIO eValve;
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airTightnessTestChGpio.initAsOutput(PD15, kxs_gpio_nopull, true, false);
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eValve.initAsOutput(PD14, kxs_gpio_nopull, false, true);
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REG_LAMADA_FN(kfn_air_tightness_test_close_ch, [&](ProcessContext* cxt) {
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airTightnessTestChGpio.write(1); // 内管路,气密性测试
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eValve.write(0); // 电磁阀闭合
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zcanbus_send_ack(cxt->packet, NULL, 0);
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});
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REG_LAMADA_FN(kfn_air_tightness_test_recover_ch, [&](ProcessContext* cxt) {
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airTightnessTestChGpio.write(0); // 连接空气
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eValve.write(1); // 电磁阀打开
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zcanbus_send_ack(cxt->packet, NULL, 0);
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});
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}
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}
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/***********************************************************************************************************************
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* PROTOCOL_BIND *
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***********************************************************************************************************************/
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void DisinfectionApp::bindHeaterCtrler() {
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BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl);
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BIND_FN(HeaterController, &heaterCtrler, fn_heater_ctrl_safe_valve);
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BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_electric_current);
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BIND_FN(HeaterController, &heaterCtrler, fn_heater_read_temperature_data);
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}
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void DisinfectionApp::bindBlowerCtrler() {
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BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl);
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BIND_FN(BlowerController, &blowerCtrler, fn_blower_ctrl_safe_valve);
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BIND_FN(BlowerController, &blowerCtrler, fn_blower_read_electric_current);
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BIND_FN(BlowerController, &blowerCtrler, fn_blower_is_error);
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}
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void DisinfectionApp::bindAirComCtrler() {
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BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl);
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BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_ctrl_safe_valve);
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BIND_FN(AirCompressorController, &airComCtrler, fn_air_compressor_read_electric_current);
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}
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void DisinfectionApp::bindH2o2Sensor() {
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BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_calibration_date);
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BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_errorcode);
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BIND_FN(H2O2SensorDriver, &h2o2Sensor, fn_h2o2_sensor_read_sub_ic_reg);
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}
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void DisinfectionApp::bindWlDriver() { BIND_FN(WarningLightDriver, wlDriver, fn_triple_warning_light_ctl); }
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void DisinfectionApp::bindTmcPowerGroup() {
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_rotate);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_stop);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ihold_irun_idelay);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_acc);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_ramp);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_tzw);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_set_subic_reg);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_get_subic_reg);
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BIND_FN(TmcMotorGroup, tmcPowerGroup, fn_pump_ping);
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}
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void DisinfectionApp::bindPsBus() {
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BIND_FN(PXXPSBus, psBus, fn_psbus_read_data);
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BIND_FN(PXXPSBus, psBus, fn_psbus_scan);
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}
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void DisinfectionApp::bindEvaporationBinWS() {
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ProtocolProcesserMgr::ins()->regCmdProcesser( //
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CmdProcesser(kfn_evaporation_tank_water_sensor_read_state, //
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[this](ProcessContext* cxt) {
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int32_t val = evaporationBinWS.read();
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zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
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}));
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}
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void DisinfectionApp::bindDeviceBottomWS() {
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ProtocolProcesserMgr::ins()->regCmdProcesser( //
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CmdProcesser(kfn_device_bottom_water_sensor_read_state, //
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[this](ProcessContext* cxt) {
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int32_t val = deviceBottomWS.read();
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zcanbus_send_ack(cxt->packet, (uint8_t*)&val, sizeof(val));
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}));
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}
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void DisinfectionApp::bindProportionalValveCtrl() {
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BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_set_valve);
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BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_read_pos);
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BIND_FN(ProportionalValveCtrl, &proportionalValveCtrl, fn_proportional_is_busy);
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}
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