diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index c61406d..536a5f7 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index e0f643e..635107c 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -70,7 +70,7 @@ void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 1 */
huart2.Instance = USART2;
- huart2.Init.BaudRate = 115200;
+ huart2.Init.BaudRate = 9600;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..583c218
--- /dev/null
+++ b/README.md
@@ -0,0 +1,10 @@
+```
+1. CAN测试通过 OK
+2. 测试驱动器 OK
+3. 三色报警灯
+4. 测试IO输入
+5. 测试ADC读值 （电流）
+
+
+
+```
\ No newline at end of file
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 38d5724..3cfc14e 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -16,6 +16,12 @@
#include "sdk\components\m3078\m3078_code_scaner.hpp"
#include "sdk\components\tmc\ic\ztmc4361A.hpp"
#include "sdk\components\tmc\ic\ztmc5130.hpp"
+//
+#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
+#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
+#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
+#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
+#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
#define TAG "main"
namespace iflytop {
@@ -26,57 +32,24 @@ using namespace iflytop;
IflytopCanProtocolStackProcesser m_protocolStack;
-TMC5130 m_tj_motor;
-TMC5130 m_py_motor;
+TMC5130 m_motor1;
+TMC5130 m_motor2;
ZGPIO debuglight;
-ZGPIO io_fybh_read1;
-ZGPIO io_fybh_read2;
-ZGPIO io_fybh_read3;
-ZGPIO io_fybh_read4;
-ZGPIO io_fybh_read5;
-ZGPIO io_fybh_read6;
-
-ZGPIO io_fybjl_sensor8;
-ZGPIO io_fybjl_sensor7;
-ZGPIO io_fybjl_sensor6;
-ZGPIO io_fybjl_sensor5;
-ZGPIO io_fybjl_sensor4;
-ZGPIO io_fybjl_sensor3;
-ZGPIO io_fybjl_sensor2;
-ZGPIO io_fybjl_sensor1;
-ZGPIO io_fybjl_sensor0;
-
-M3078CodeScanner m_m3078CodeScanner;
-
-DeviceBaseControlService m_deviceBaseControlService;
-IOControlService m_ioControlService;
-SingleAxisMotorControler m_pyMotorControlService; // 平移电机
-SingleAxisMotorControler m_tjMotorControlService; // 推进电机
-OneDimensionalCodeLaserScanner m_oneDimensionalCodeLaserScanner;
-IDCardReaderService m_idCardReaderService;
-
-ZCanReceiver m_canReceiver;
-
-void input_sensors_init() {
- io_fybh_read1.initAsInput(FYBH_READ1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
- io_fybh_read2.initAsInput(FYBH_READ2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
- io_fybh_read3.initAsInput(FYBH_READ3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
- io_fybh_read4.initAsInput(FYBH_READ4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
- io_fybh_read5.initAsInput(FYBH_READ5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
- io_fybh_read6.initAsInput(FYBH_READ6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
-
- io_fybjl_sensor8.initAsInput(FYBJL_SENSOR8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
- io_fybjl_sensor7.initAsInput(FYBJL_SENSOR7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
- io_fybjl_sensor6.initAsInput(FYBJL_SENSOR6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
- io_fybjl_sensor5.initAsInput(FYBJL_SENSOR5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
- io_fybjl_sensor4.initAsInput(FYBJL_SENSOR4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
- io_fybjl_sensor3.initAsInput(FYBJL_SENSOR3, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
- io_fybjl_sensor2.initAsInput(FYBJL_SENSOR2, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
- io_fybjl_sensor1.initAsInput(FYBJL_SENSOR1, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
- io_fybjl_sensor0.initAsInput(FYBJL_SENSOR0, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/);
-}
+ZGPIO triLight_R;
+ZGPIO triLight_G;
+ZGPIO triLight_B;
+ZGPIO triLight_BEEP;
+
+ZGPIO m_input1;
+ZGPIO m_input2;
+
+ZCanReceiver m_canReceiver;
+ZCanBasicOrderModule m_basicOrderModule;
+ZCanPumpCtrlModule m_pumpCtrlModule;
+ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;
+HuachengPressureSensor m_huachengPressureSensor;
void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
@@ -103,11 +76,126 @@ void Main::run() {
m_canReceiver.init(cfg);
m_canReceiver.registerListener(this);
- // uint8_t packet[255];
- // for (int i = 0; i < 255; i++) {
- // packet[i] = i;
- // }
- // ZHAL_CORE_REG(200, { m_canReceiver.sendPacket(packet, 255); });
+ /**
+ * @brief 基础模块
+ */
+ m_input1.initAsInput(PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+ m_input2.initAsInput(PC5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
+ m_basicOrderModule.initialize(&m_canReceiver);
+ m_basicOrderModule.regInputCtl([this](uint8_t id, bool &val) {
+ if (id == 1) {
+ val = m_input1.getState();
+ return true;
+ }
+ if (id == 2) {
+ val = m_input2.getState();
+ return true;
+ }
+ return false;
+ });
+ ZHAL_CORE_REG(1000, { ZLOGI(TAG, "IO1:%d IO2:%d", m_input1.getState(), m_input2.getState()); });
+
+ /*******************************************************************************
+ * 蠕动泵驱动 *
+ *******************************************************************************/
+
+ {
+ TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN};
+
+ m_motor1.initialize(&cfg);
+ int32_t chipv = m_motor1.readChipVERSION();
+ ZLOGI(TAG, "m_motor1:%lx", chipv);
+ m_motor1.setIHOLD_IRUN(1, 31, 0);
+ m_motor1.setMotorShaft(true);
+
+ m_motor1.setAcceleration(300000);
+ m_motor1.setDeceleration(300000);
+ m_motor1.rotate(1000000);
+ }
+
+ {
+ TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR2_ENN, .csn_pin = MOTOR2_CSN};
+
+ m_motor2.initialize(&cfg);
+ int32_t chipv = m_motor2.readChipVERSION();
+ ZLOGI(TAG, "m_motor2:%lx", chipv);
+ m_motor2.setIHOLD_IRUN(1, 31, 0);
+ m_motor2.setMotorShaft(true);
+
+ m_motor2.setAcceleration(300000);
+ m_motor2.setDeceleration(300000);
+ // m_motor1.rotate(1000000);
+ }
+
+ m_pumpCtrlModule.initialize(&m_canReceiver);
+ m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm) {
+ ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm);
+ int32_t ppm = rpm / 60.0 * 51200;
+ int32_t acc = acc_rpm2 / 60.0 * 51200;
+ m_motor1.setAcceleration(acc);
+ m_motor1.setDeceleration(acc);
+ m_motor1.rotate(ppm);
+ });
+ m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc, int16_t rpm) {
+ ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc, rpm);
+ int32_t ppm = rpm / 60.0 * 51200;
+ m_motor2.setAcceleration(acc);
+ m_motor2.setDeceleration(acc);
+ m_motor2.rotate(ppm);
+ });
+
+ /*******************************************************************************
+ * 三色指示灯 *
+ *******************************************************************************/
+
+ {
+ triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, false, false);
+ triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, false, false);
+ triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, false, false);
+ triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, false, false);
+
+ // while(true){
+ // triLight_R.setState(true);
+ // HAL_Delay(3000);
+ // triLight_R.setState(false);
+ // HAL_Delay(3000);
+
+ // triLight_G.setState(true);
+ // HAL_Delay(3000);
+ // triLight_G.setState(false);
+ // HAL_Delay(3000);
+
+ // triLight_B.setState(true);
+ // HAL_Delay(3000);
+ // triLight_B.setState(false);
+ // HAL_Delay(3000);
+
+ // triLight_BEEP.setState(true);
+ // HAL_Delay(3000);
+ // triLight_BEEP.setState(false);
+ // HAL_Delay(3000);
+ // }
+
+ m_warningLightCtlModule.initialize(&m_canReceiver);
+ m_warningLightCtlModule.regSubmodule(1, [&](uint8_t r, uint8_t g, uint8_t b, uint8_t beep) {
+ ZLOGI(TAG, "warningLightCtlModule r:%d g:%d b:%d beep:%d", r, g, b, beep);
+ triLight_R.setState(r != 0);
+ triLight_G.setState(g != 0);
+ triLight_B.setState(b != 0);
+ triLight_BEEP.setState(beep != 0);
+ });
+ }
+
+ /*******************************************************************************
+ * 压力传感器 *
+ *******************************************************************************/
+ {
+ m_huachengPressureSensor.initialize(&m_canReceiver);
+ m_huachengPressureSensor.regSubmodule(1, &huart2, 1);
+ m_huachengPressureSensor.regSubmodule(2, &huart2, 2);
+ m_huachengPressureSensor.regSubmodule(3, &huart2, 3);
+ m_huachengPressureSensor.regSubmodule(4, &huart2, 4);
+ }
ZLOGI(TAG, "init done");
while (1) {
diff --git a/usrc/project.hpp b/usrc/project.hpp
index 3c85f9a..e2dfad5 100644
--- a/usrc/project.hpp
+++ b/usrc/project.hpp
@@ -12,71 +12,13 @@
#define DELAY_US_TIMER htim6
#define MICROSWITCH_NUM 6
//
-/*******************************************************************************
- * 主从485通讯 *
- *******************************************************************************/
-#define MASTER_SLAVE_485_UART huart2
-/*******************************************************************************
- * 反应盒扫码传感器 *
- *******************************************************************************/
-#define REACTION_BOX_SWEEP_SENSOR_UART huart3
-/*******************************************************************************
- * MOTOR *
- *******************************************************************************/
-/**
- *
- *
- */
#define MOTOR_SPI hspi1
#define TMC5130_MOTOR_NUM 2
#define MOTOR_CH(n) (n)
// FYBJ_PY
-#define MOTOR0_CSN PA4 // 平移电机片选信号
-#define MOTOR0_ENN PE14
+#define MOTOR2_CSN PA4 //
+#define MOTOR2_ENN PE11
// FYBJ_TJ_DRV
-#define MOTOR1_CSN PC4 // 添加电机片选信号
-#define MOTOR1_ENN PE13
-
-/*******************************************************************************
- * REG LIST *
- *******************************************************************************/
-
-#define DEVICE_BASIC_CONTROLLER_ADD_BASE 0
-
-#define GPIO_INPUT_ADD_BASE 1000 // GPIO输入
-
-#define REG_PY_MOTOR_CTRL_ADD_BASE 10000 // 控制 入料电机控制
-#define REG_TJ_MOTOR_CTRL_ADD_BASE 10100 // 控制 转移电机控制
-#define REG_ID_CARD_READER_CTRL_ADD_BASE 20000 // 控制 串口扫码器
-#define REG_LARSER_SCANNER_CTRL_ADD_BASE 30000 // 控制 单点激光扫码器
-
-
-/*******************************************************************************
- * GPIO *
- *******************************************************************************/
-#define BEEP PA1 // 蜂鸣器
-#define FAN1_FB_INT PA15 // 帕尔贴风机反馈
-
-#define HOT_CTR PB1
-
-#define FAN0_POWER PC8 // 外部风机电源
-#define FAN1_POWER PC9 // 帕尔贴风机
-
-#define FYBH_READ1 PD0
-#define FYBH_READ2 PD1
-#define FYBH_READ3 PD2
-#define FYBH_READ4 PD3
-#define FYBH_READ5 PD4
-#define FYBH_READ6 PD5
-#define FYBJL_SENSOR8 PD7 // 开门霍尔
-#define FYBJL_SENSOR7 PD8 // 卡板光电1
-#define FYBJL_SENSOR6 PD9 // 预留光电
-#define FYBJL_SENSOR5 PD10 // 推杆限位光电
-#define FYBJL_SENSOR4 PD11 // 推杆原点光电
-#define FYBJL_SENSOR3 PD12 // 平移计步光电（预留）
-#define FYBJL_SENSOR2 PD13 // 平移限位光电
-#define FYBJL_SENSOR1 PD14 // 平移原点光电
-#define FYBJL_SENSOR0 PD15 // 黑白扫码
-
-#define COLD_CTR PE10
\ No newline at end of file
+#define MOTOR1_CSN PC4 //
+#define MOTOR1_ENN PE12
\ No newline at end of file