diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 34e6a9d..79984cc 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 6a8db16..9ac4c07 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -3,88 +3,28 @@
{
"name": "app",
"includePath": [
- "Drivers/STM32F4xx_HAL_Driver/Inc",
- "Drivers/CMSIS/Include",
- "./",
"./Core/Inc",
- "Drivers/CMSIS/Device/ST/STM32F4xx/Include/"
+ "./Drivers/STM32F4xx_HAL_Driver/Inc",
+ "./Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
+ "./Middlewares/Third_Party/FreeRTOS/Source/include",
+ "./Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
+ "./Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
+ "./Drivers/CMSIS/Device/ST/STM32F4xx/Include",
+ "./Drivers/CMSIS/Include",
+ "C:/ST/STM32CubeIDE_1.13.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.11.3.rel1.win32_1.1.0.202305231506/tools/arm-none-eabi/include",
+ "./usrc/",
+ "Middlewares/Third_Party/LwIP/src/include/",
+ "LWIP/Target/",
+ "LWIP/App/",
+ "Middlewares/Third_Party/LwIP/system/",
+ "./"
],
"defines": [
+ "DEBUG",
"USE_HAL_DRIVER",
- "STM32F407xx",
- "__CC_ARM",
- "__arm__",
- "__align(x)=",
- "__ALIGNOF__(x)=",
- "__alignof__(x)=",
- "__asm(x)=",
- "__forceinline=",
- "__restrict=",
- "__global_reg(n)=",
- "__inline=",
- "__int64=long long",
- "__INTADDR__(expr)=0",
- "__irq=",
- "__packed=",
- "__pure=",
- "__smc(n)=",
- "__svc(n)=",
- "__svc_indirect(n)=",
- "__svc_indirect_r7(n)=",
- "__value_in_regs=",
- "__weak=",
- "__writeonly=",
- "__declspec(x)=",
- "__attribute__(x)=",
- "__nonnull__(x)=",
- "__register=",
- "__breakpoint(x)=",
- "__cdp(x,y,z)=",
- "__clrex()=",
- "__clz(x)=0U",
- "__current_pc()=0U",
- "__current_sp()=0U",
- "__disable_fiq()=",
- "__disable_irq()=",
- "__dmb(x)=",
- "__dsb(x)=",
- "__enable_fiq()=",
- "__enable_irq()=",
- "__fabs(x)=0.0",
- "__fabsf(x)=0.0f",
- "__force_loads()=",
- "__force_stores()=",
- "__isb(x)=",
- "__ldrex(x)=0U",
- "__ldrexd(x)=0U",
- "__ldrt(x)=0U",
- "__memory_changed()=",
- "__nop()=",
- "__pld(...)=",
- "__pli(...)=",
- "__qadd(x,y)=0",
- "__qdbl(x)=0",
- "__qsub(x,y)=0",
- "__rbit(x)=0U",
- "__rev(x)=0U",
- "__return_address()=0U",
- "__ror(x,y)=0U",
- "__schedule_barrier()=",
- "__semihost(x,y)=0",
- "__sev()=",
- "__sqrt(x)=0.0",
- "__sqrtf(x)=0.0f",
- "__ssat(x,y)=0",
- "__strex(x,y)=0U",
- "__strexd(x,y)=0",
- "__strt(x,y)=",
- "__swp(x,y)=0U",
- "__usat(x,y)=0U",
- "__wfe()=",
- "__wfi()=",
- "__yield()=",
- "__vfp_status(x,y)=0"
+ "STM32F407xx"
],
+ "compilerPath": "C:/ST/STM32CubeIDE_1.13.0/STM32CubeIDE/plugins/com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.11.3.rel1.win32_1.1.0.202305231506/tools/bin/arm-none-eabi-g++.exe",
"intelliSenseMode": "${default}"
}
],
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index d606e3c..533b0d1 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -41,7 +41,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
- huart1.Init.BaudRate = 115200;
+ huart1.Init.BaudRate = 460800;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
diff --git a/little_disinfection_liquid_path_control Debug.cfg b/little_disinfection_liquid_path_control Debug.cfg
deleted file mode 100644
index ef37116..0000000
--- a/little_disinfection_liquid_path_control Debug.cfg
+++ /dev/null
@@ -1,44 +0,0 @@
-# This is an genericBoard board with a single STM32F407VETx chip
-#
-# Generated by STM32CubeIDE
-# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
-
-source [find interface/stlink-dap.cfg]
-
-
-set WORKAREASIZE 0x8000
-
-transport select "dapdirect_swd"
-
-set CHIPNAME STM32F407VETx
-set BOARDNAME genericBoard
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STlink Debug clock frequency
-set CLOCK_FREQ 8000
-
-# Reset configuration
-# use hardware reset, connect under reset
-# connect_assert_srst needed if low power mode application running (WFI...)
-reset_config srst_only srst_nogate connect_assert_srst
-set CONNECT_UNDER_RESET 1
-set CORE_RESET 0
-
-# ACCESS PORT NUMBER
-set AP_NUM 0
-# GDB PORT
-set GDB_PORT 3333
-
-
-
-
-
-# BCTM CPU variables
-
-source [find target/stm32f4x.cfg]
-
diff --git a/little_disinfection_liquid_path_control Debug.launch b/little_disinfection_liquid_path_control Debug.launch
deleted file mode 100644
index f5a5e19..0000000
--- a/little_disinfection_liquid_path_control Debug.launch
+++ /dev/null
@@ -1,96 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/little_disinfection_liquid_path_control.ioc b/little_disinfection_liquid_path_control.ioc
index 116970b..153eea2 100644
--- a/little_disinfection_liquid_path_control.ioc
+++ b/little_disinfection_liquid_path_control.ioc
@@ -219,7 +219,8 @@ TIM6.IPParameters=Prescaler
TIM6.Prescaler=71
TIM7.IPParameters=Prescaler
TIM7.Prescaler=81
-USART1.IPParameters=VirtualMode
+USART1.BaudRate=460800
+USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART2.IPParameters=VirtualMode
USART2.VirtualMode=VM_ASYNC
diff --git a/little_disinfection_liquid_path_control.launch b/little_disinfection_liquid_path_control.launch
index 71cb833..970bc56 100644
--- a/little_disinfection_liquid_path_control.launch
+++ b/little_disinfection_liquid_path_control.launch
@@ -5,7 +5,7 @@
-
+
@@ -20,10 +20,11 @@
-
-
+
+
+
@@ -46,7 +47,7 @@
-
+
@@ -54,6 +55,7 @@
+
@@ -64,9 +66,9 @@
-
+
-
+
diff --git a/sdk b/sdk
index f6f7900..b20f4cc 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit f6f7900b876e6a4a6b2c5ebe6bd26b5f1b1fbe0a
+Subproject commit b20f4cc2e42244d6dd21566dd1a4b1a48ddc64a9
diff --git a/transmit_disinfection_protocol_v1 b/transmit_disinfection_protocol_v1
index e6635f8..c39bd36 160000
--- a/transmit_disinfection_protocol_v1
+++ b/transmit_disinfection_protocol_v1
@@ -1 +1 @@
-Subproject commit e6635f820ca96611424e10c2b79b4014e28d3c7e
+Subproject commit c39bd364d809a9a6ad965c83fd3ea28c67514317
diff --git a/usrc/hardware.cpp b/usrc/hardware.cpp
index d87a237..f04e190 100644
--- a/usrc/hardware.cpp
+++ b/usrc/hardware.cpp
@@ -2,16 +2,14 @@
#include
#include
+#include
#include "main.h"
#include "project.hpp"
//
// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
-#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
-#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
+
#include "sdk/hal/zhal.hpp"
-#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
-#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
@@ -131,6 +129,8 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
Cmdheader_t *cmdheader = (Cmdheader_t *)packet;
if (fromwhere == kuart) printf("rx: cmdid:%d subcmdid:%d id:%d\n", cmdheader->cmdid, cmdheader->subcmdid, cmdheader->data[0]);
+ // printf("rx: cmdid:%d subcmdid:%d id:%d\n", cmdheader->cmdid, cmdheader->subcmdid, cmdheader->data[0]);
+
/**
* @brief Ping
*/
@@ -140,20 +140,17 @@ int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int
return 0;
}
- /**
- * @brief 获取蒸发仓水浸状态
- */
- PROCESS_CMD(kcmd_proportional_read_water_immersion_sensor, 0, 0) {
- ((int32_t *)receipt)[0] = !IO_PC7_IN.getState();
+ if ((cmdheader->cmdid == (uint16_t)kcmd_read_evaporation_bin_water_detection)) {
+ matching = true;
+
+ ((int32_t *)receipt)[0] = IO_PC7_IN.getState(); // 高有效
receiptsize = 4;
return 0;
}
- /**
- * @brief 获取设备底盘水浸传感器
- */
- PROCESS_CMD(kcmd_proportional_read_water_immersion_sensor, 0, 1) {
- ((int32_t *)receipt)[0] = !IO_PD13_IN.getState();
+ if ((cmdheader->cmdid == (uint16_t)kcmd_read_device_bottom_water_detection_sensor)) {
+ matching = true;
+ ((int32_t *)receipt)[0] = !IO_PD13_IN.getState(); // 低有效
receiptsize = 4;
return 0;
}
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 41c5549..73b659e 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -2,16 +2,15 @@
#include
#include
+#include
#include "main.h"
#include "project.hpp"
//
// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
-#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
-#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
+
#include "sdk/hal/zhal.hpp"
-#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
-#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
+
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
@@ -42,7 +41,6 @@ void dumphexdata(uint8_t *data, int32_t len) {
* GLOBAL *
*******************************************************************************/
-IflytopCanProtocolStackProcesser m_protocolStack;
Hardware m_hardware;
ZGPIO debuglight;
ZCanReceiver m_canReceiver;
diff --git a/usrc/main.hpp b/usrc/main.hpp
index 5767d46..0f39f0e 100644
--- a/usrc/main.hpp
+++ b/usrc/main.hpp
@@ -4,8 +4,7 @@
#include
-#include "sdk\components\iflytop_can_slave_modules\device_base_control_service.hpp"
-#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
+
#include "sdk\components\zcanreceiver\zcanreceiver.hpp"
namespace iflytop {
using namespace std;