recode

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1341738447490000664" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="270953963766663620" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1293707552490525877" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="222923068767188833" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

Core/Src/main.c

@@ -106,7 +106,7 @@ int main(void)
   MX_CAN1_Init();
   MX_USART2_UART_Init();
   MX_USART3_UART_Init();
-  MX_IWDG_Init();
+  // MX_IWDG_Init();
   /* USER CODE BEGIN 2 */
 
   extern void umain();

sdk

@@ -1 +1 @@
-Subproject commit 22d7d685c4a5adaa0e3515a290fdb5c31d594b39
+Subproject commit 5751b8278aab13053c715341d3c1fde48f770280

usrc/device.cpp → usrc.bak/device.cpp

@@ -155,7 +155,7 @@ void device_init() {
   }
 
   OUT_PD14.initAsOutput(PD14, ZGPIO::kMode_nopull, false, true);
-  OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, false, true);
+  OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, true, false);
 }
 
 void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {

usrc.bak/driver/preportional_valve_ctrl.cpp

@@ -0,0 +1,104 @@
+#include "preportional_valve_ctrl.hpp"
+using namespace iflytop;
+
+#define WORK_STATE_REG 0x0000
+#define CTRL_STATE_REG 0x0001
+#define POS_STATE_REG  0x0013
+
+void PreportionalValveCtrl::initialize(UART_HandleTypeDef* huart) { m_modbusBlockHost.initialize(huart); }
+
+int32_t PreportionalValveCtrl::setValvePos(int32_t valueid, int32_t pos) {  //
+
+  /**
+   * @brief 发送失败重发3次
+   */
+  for (size_t i = 0; i < 3; i++) {
+    int32_t err = _setValvePos(valueid, pos);
+    if (err == 0) return 0;
+  }
+  return 1;
+}
+int32_t PreportionalValveCtrl::_setValvePos(int32_t valueid, int32_t pos) {  //
+  if (valueid > 255 || valueid < 1) {
+    return 1;
+  }
+  bool ret = m_modbusBlockHost.writeReg06(valueid, CTRL_STATE_REG, pos, 30);
+  if (!ret) return 1;
+  m_last_set_valve_ticket = HAL_GetTick();
+  m_targetpos[valueid]    = pos;
+  return 0;
+}
+int32_t PreportionalValveCtrl::getValvePos(int32_t valueid, int32_t* pos) {
+  //  return m_modbusBlockHost.readReg03(valueid, POS_STATE_REG, pos, 30);
+  uint16_t pos16 = 0;
+  bool     ret   = m_modbusBlockHost.readReg03(valueid, POS_STATE_REG, &pos16, 30);
+  *pos           = pos16;
+  if (!ret) return 1;
+  return 0;
+}
+int32_t PreportionalValveCtrl::getValveOrderPos(int32_t valueid, int32_t* pos) {
+  uint16_t pos16 = 0;
+  bool     ret   = m_modbusBlockHost.readReg03(valueid, CTRL_STATE_REG, &pos16, 30);
+  *pos           = pos16;
+  if (!ret) return 1;
+  return 0;
+}
+#define TAG "PreportionalValveCtrl"
+
+int32_t PreportionalValveCtrl::isBusy(int32_t valueid, int32_t* busy) {
+#if 1
+  int32_t orderpos = 0;
+  int32_t pos      = 0;
+  int32_t err      = 0;
+
+#if 0
+  err = getValveOrderPos(valueid, &orderpos);
+  if (err != 0) return err;
+#endif
+  orderpos = m_targetpos[valueid];
+
+  err = getValvePos(valueid, &pos);
+  if (err != 0) return err;
+
+  if (abs(m_targetpos[valueid] - pos) <= 11) {
+    *busy = 0;
+  } else {
+    *busy = 1;
+  }
+  return 0;
+#endif
+
+#if 0
+
+  /**
+   * @brief
+   * 比例阀当前状态的更新是有延迟的，例如下发指令控制比例阀开合到90%,下发执行后（收到指令的回执），
+   * 此时读取比例阀状态，比例阀的状态并非运动中，而是stop，需要等待一段时间后，再读取状态，状态才是运动中。
+   */
+  if (haspassedms(m_last_set_valve_ticket) < 300) {
+    *busy = 1;
+    return 0;
+  }
+  int32_t valve1state = 0;
+  int32_t err         = 0;
+
+  err = getValveWorkState(1, &valve1state);
+  if (err != 0) return err;
+
+  if (valve1state == kstate_stop) {
+    *busy = 0;
+  } else {
+    *busy = 1;
+  }
+  return 0;
+
+#endif
+}
+
+int32_t PreportionalValveCtrl::getValveWorkState(int32_t valueid, int32_t* state) {
+  uint16_t state16 = 0;
+  bool     ret     = m_modbusBlockHost.readReg03(valueid, WORK_STATE_REG, &state16, 30);
+  *state           = state16;
+  if (!ret) return 1;
+  return 0;
+}

usrc.bak/driver/preportional_valve_ctrl.hpp

@@ -0,0 +1,51 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include <stdint.h>
+#include <stdio.h>
+
+#include "sdk/hal/zhal.hpp"
+#include "sdk\components\modbus\modbus_block_host.hpp"
+
+/**
+ * @brief
+ *
+ *  https://iflytop1.feishu.cn/wiki/GQwCwHMqFiaJRwks80ncwaYKnSe
+ */
+
+namespace iflytop {
+using namespace std;
+class PreportionalValveCtrl {
+ public:
+  typedef enum {
+    kstate_stop             = 0x0,
+    kstate_running_forward  = 0xaa,
+    kstate_running_backward = 0xbb,
+    kstate_err_state        = 0xea,
+  } work_state_t;
+
+ private:
+  /* data */
+  ModbusBlockHost m_modbusBlockHost;
+  int32_t         val                     = 0;
+  uint32_t        m_last_set_valve_ticket = 0;
+  uint16_t        m_targetpos[255];
+
+ public:
+  PreportionalValveCtrl(){};
+  ~PreportionalValveCtrl(){};
+
+  void    initialize(UART_HandleTypeDef* huart);
+  int32_t setValvePos(int32_t valueid, int32_t pos);
+  int32_t getValvePos(int32_t valueid, int32_t* pos);
+  int32_t getValveOrderPos(int32_t valueid, int32_t* pos);
+  int32_t isBusy(int32_t valueid, int32_t* busy);
+  int32_t getValveWorkState(int32_t valueid, int32_t* state);
+
+ private:
+  int32_t _setValvePos(int32_t valueid, int32_t pos);
+};
+
+}  // namespace iflytop

usrc.bak/main.cpp

@@ -0,0 +1,29 @@
+#include "device.hpp"
+#define TAG "main"
+namespace iflytop {
+extern void uart_debug_fn_reg();
+extern void can_cmd_reg_fn_reg();
+};  // namespace iflytop
+
+using namespace iflytop;
+extern "C"{
+void umain(void) {
+  ZHALCORE::cfg_t oscfg = {
+      .delayhtim = &DELAY_US_TIMER,
+      .debuguart = &DEBUG_UART,
+  };
+  ZHALCORE::getInstance()->initialize(oscfg);
+
+  ZLOGI(TAG, "pipeline_disinfection_liquid_path_control:%s", VERSION);
+
+  device_init();
+  uart_debug_fn_reg();
+  can_cmd_reg_fn_reg();
+  ZLOGI(TAG, "init done");
+  while (1) {
+    cmdScheduler.schedule();
+    ZHALCORE::getInstance()->loop();
+    HAL_IWDG_Refresh(&hiwdg);
+  }
+}
+}

usrc.bak/project.hpp

@@ -0,0 +1,24 @@
+#pragma once
+
+#define VERSION "v1.2"
+// 设备ID
+#define DEVICE_ID (2)
+// 调试串口
+#define DEBUG_UART huart1
+// 调试指示灯
+#define DEBUG_LIGHT_GPIO PE8
+// 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置
+// http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md
+#define DELAY_US_TIMER  htim6
+#define MICROSWITCH_NUM 6
+//
+#define MOTOR_SPI hspi1
+
+#define TMC5130_MOTOR_NUM 2
+#define MOTOR_CH(n)       (n)
+// FYBJ_PY
+#define MOTOR2_CSN PA4  // 
+#define MOTOR2_ENN PE11
+// FYBJ_TJ_DRV
+#define MOTOR1_CSN PC4  // 
+#define MOTOR1_ENN PE12

usrc/driver/preportional_valve_ctrl.cpp

@@ -67,32 +67,6 @@ int32_t PreportionalValveCtrl::isBusy(int32_t valueid, int32_t* busy) {
   }
   return 0;
 #endif
-
-#if 0
-
-  /**
-   * @brief
-   * 比例阀当前状态的更新是有延迟的，例如下发指令控制比例阀开合到90%,下发执行后（收到指令的回执），
-   * 此时读取比例阀状态，比例阀的状态并非运动中，而是stop，需要等待一段时间后，再读取状态，状态才是运动中。
-   */
-  if (haspassedms(m_last_set_valve_ticket) < 300) {
-    *busy = 1;
-    return 0;
-  }
-  int32_t valve1state = 0;
-  int32_t err         = 0;
-
-  err = getValveWorkState(1, &valve1state);
-  if (err != 0) return err;
-
-  if (valve1state == kstate_stop) {
-    *busy = 0;
-  } else {
-    *busy = 1;
-  }
-  return 0;
-
-#endif
 }
 
 int32_t PreportionalValveCtrl::getValveWorkState(int32_t valueid, int32_t* state) {

usrc/hardware.cpp

@@ -0,0 +1,363 @@
+#include "hardware.hpp"
+
+#include <stddef.h>
+#include <stdio.h>
+
+#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"
+//
+#include "driver/preportional_valve_ctrl.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"
+
+using namespace iflytop;
+#define TAG "main"
+
+TMC5130 m_motor1;
+TMC5130 m_motor2;
+
+ZGPIO triLight_R;
+ZGPIO triLight_G;
+ZGPIO triLight_Y;
+ZGPIO triLight_BEEP;
+
+ZCanBasicOrderModule            m_basicOrderModule;
+ZCanPumpCtrlModule              m_pumpCtrlModule;
+ZCanTrigleWarningLightCtlModule m_warningLightCtlModule;
+HuachengPressureSensor          m_huachengPressureSensor;
+
+DP600PressureSensor m_dp600PressureSensor2;
+DP600PressureSensor m_dp600PressureSensor3;
+DP600PressureSensor m_dp600PressureSensor4;
+
+ZGPIO IO_PD13_IN;
+ZGPIO IO_PC7_IN;
+
+ZGPIO OUT_PD14;
+ZGPIO OUT_PD15;
+
+void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
+  int32_t ppm = rpm / 60.0 * 51200;
+  int32_t acc = acc_rpm2 / 60.0 * 51200;
+
+  int16_t _idlepower = 1;
+  int16_t _power     = 31;
+
+  if (idlepower > 0 && idlepower < 31) {
+    _idlepower = idlepower;
+  }
+  if (power > 0 && power < 31) {
+    _power = power;
+  }
+
+  motor->setIHOLD_IRUN(_idlepower, _power, 10);  // 5W
+  motor->setAcceleration(acc);
+  motor->setDeceleration(acc);
+  motor->rotate(ppm);
+}
+PreportionalValveCtrl m_PreportionalValveHost;
+
+int32_t preportional_valve_is_busy(int32_t *busy) {
+  int32_t valve1state = 0;
+  int32_t valve2state = 0;
+  int32_t err         = 0;
+  *busy               = 1;
+
+  err = m_PreportionalValveHost.isBusy(1, &valve1state);
+  if (err != 0) return err;
+  err = m_PreportionalValveHost.isBusy(2, &valve2state);
+  if (err != 0) return err;
+
+  if (valve1state == 0 && valve2state == 0) {
+    *busy = 0;
+  } else {
+    *busy = 1;
+  }
+  return 0;
+}
+
+void air_compressor_read_pressure(int32_t *ack) {  //
+  DP600PressureSensor::sensor_data_t d = m_huachengPressureSensor.readsensordata(2);
+  *ack                                 = d.value;
+}
+
+void Hardware::initialize(int deviceId) {
+  m_device_id = deviceId;
+  // IO_PD13_IN.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  // IO_PC7_IN.initAsInput(PC7, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false /*mirror*/);
+  {
+    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, 20, 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, 20, 0);  // 5W
+    m_motor2.setMotorShaft(true);
+
+    m_motor2.setAcceleration(300000);
+    m_motor2.setDeceleration(300000);
+    // m_motor2.rotate(1000000);
+  }
+
+  triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, true, false);
+  triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, true, false);
+  triLight_Y.initAsOutput(PD9, ZGPIO::kMode_nopull, true, false);
+  triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, true, false);
+
+#if 0
+  m_dp600PressureSensor2.initialize(&huart3, 2);
+  m_dp600PressureSensor3.initialize(&huart3, 3);
+  m_dp600PressureSensor4.initialize(&huart3, 4);
+
+  OUT_PD14.initAsOutput(PD14, ZGPIO::kMode_nopull, false, true);
+  OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, true, false);
+#endif
+}
+
+void dumpdp600data(DP600PressureSensor::sensor_data_t *data) {
+  ZLOGI(TAG, "value:%d", data->value);
+  ZLOGI(TAG, "zero_point:%d", data->zero_point);
+  ZLOGI(TAG, "range_full_point:%d", data->range_full_point);
+  ZLOGI(TAG, "precision:%d", data->precision);
+  ZLOGI(TAG, "pressure_unit:%d", data->pressure_unit);
+}
+
+void packet_kcmd_read_huacheng_pressure_sensor_data(int id, DP600PressureSensor::sensor_data_t *dp600data, uint8_t *receipt, int32_t &receiptsize) {
+  receipt[0] = id;
+  receipt[1] = 0;
+  receipt[2] = dp600data->precision;
+  receipt[3] = dp600data->pressure_unit;
+  memcpy(receipt + 4, &dp600data->value, 2);
+  memcpy(receipt + 6, &dp600data->zero_point, 2);
+  memcpy(receipt + 8, &dp600data->range_full_point, 2);
+  receiptsize = 10;
+}
+
+int32_t Hardware::process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching) {
+  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]);
+
+  /**
+   * @brief Ping
+   */
+  PROCESS_CMD(kcmd_ping, 0, m_device_id) {
+    receipt[0]  = cmdheader->data[0];
+    receiptsize = 1;
+    return 0;
+  }
+
+  /**
+   * @brief 控制加液泵
+   */
+  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 1, 1) {
+    int16_t acc       = *(int16_t *)(&cmdheader->data[2]);
+    int16_t rpm       = *(int16_t *)(&cmdheader->data[4]);
+    int16_t idlepower = cmdheader->data[6];
+    int16_t power     = cmdheader->data[7];
+
+    printf("kcmd_peristaltic_pump_ctl 1 acc:%d rpm:%d idlepower:%d power:%d\n", acc, rpm, idlepower, power);
+
+    setmotor(&m_motor1, acc, rpm, idlepower, power);
+    receipt[0]  = cmdheader->data[0];
+    receiptsize = 1;
+    return 0;
+  }
+
+  /**
+   * @brief 控制-喷液泵
+   */
+  PROCESS_CMD(kcmd_peristaltic_pump_ctl, 1, 2) {
+    int16_t acc       = *(int16_t *)(&cmdheader->data[2]);
+    int16_t rpm       = *(int16_t *)(&cmdheader->data[4]);
+    int16_t idlepower = cmdheader->data[6];
+    int16_t power     = cmdheader->data[7];
+    printf("kcmd_peristaltic_pump_ctl 2 acc:%d rpm:%d idlepower:%d power:%d\n", acc, rpm, idlepower, power);
+
+    setmotor(&m_motor2, acc, rpm, idlepower, power);
+    receipt[0]  = cmdheader->data[0];
+    receiptsize = 1;
+    return 0;
+  }
+
+  /**
+   * @brief 三色指示灯控制
+   */
+  PROCESS_CMD(kcmd_triple_warning_light_ctl, 0, 1) {
+    /**
+     * @brief 0:设置状态
+     *  cmd:
+     *     [0]:SENSORID
+     *     [2]:红色灯状态
+     *     [3]:黄色灯状态
+     *     [4]:绿色灯状态
+     *     [5]:蜂鸣器状态
+     *  ack         : b0:id
+     *  ack_datalen : 1
+     */
+    uint8_t id   = cmdheader->data[0];
+    uint8_t r    = cmdheader->data[2];
+    uint8_t g    = cmdheader->data[3];
+    uint8_t b    = cmdheader->data[4];
+    uint8_t beep = cmdheader->data[5];
+
+    triLight_R.setState(r != 0);
+    triLight_G.setState(g != 0);
+    triLight_Y.setState(b != 0);
+    triLight_BEEP.setState(beep != 0);
+
+    receipt[0]  = cmdheader->data[0];
+    receiptsize = 1;
+  }
+
+  if ((cmdheader->cmdid == (uint16_t)kcmd_air_compressor_valve1_set) && (cmdheader->subcmdid == 0)) {
+    uint32_t val = *(uint32_t *)(&cmdheader->data[0]);
+    OUT_PD14.setState(val != 0);
+    matching = true;
+  }
+
+  if ((cmdheader->cmdid == (uint16_t)kcmd_air_compressor_valve2_set) && (cmdheader->subcmdid == 0)) {
+    uint32_t val = *(uint32_t *)(&cmdheader->data[0]);
+    OUT_PD14.setState(val != 0);
+    matching = true;
+  }
+
+  if ((cmdheader->cmdid == (uint16_t)kcmd_proportional_read_state) && (cmdheader->subcmdid == 0)) {
+    matching = true;
+
+    int32_t ack   = 0;
+    int32_t ecode = preportional_valve_is_busy(&ack);
+
+    int32_t *p_receipt_32 = (int32_t *)receipt;
+    *p_receipt_32         = ack;
+    receiptsize           = 4;
+  }
+
+  if ((cmdheader->cmdid == (uint16_t)kcmd_set_proportional_valve) && (cmdheader->subcmdid == 0)) {
+    int32_t para0 = *(int32_t *)(&cmdheader->data[0]);
+    int32_t para1 = *(int32_t *)(&cmdheader->data[4]);
+    if (para0 == 1) {
+      matching = true;
+      m_PreportionalValveHost.setValvePos(1, para1);
+    } else if (para0 == 2) {
+      matching = true;
+      m_PreportionalValveHost.setValvePos(2, para1);
+    }
+  }
+  static DP600PressureSensor::sensor_data_t dp600data;
+  if ((cmdheader->cmdid == (uint16_t)kcmd_air_compressor_read_pressure) && (cmdheader->subcmdid == 0)) {
+    matching = true;
+    bool suc = m_dp600PressureSensor2.readVal(&dp600data);
+    if (!suc) return 1002;
+    int32_t *p_receipt_32 = (int32_t *)receipt;
+    *p_receipt_32         = dp600data.value;
+    receiptsize           = 4;
+  }
+
+#if 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();
+    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();
+    receiptsize             = 4;
+    return 0;
+  }
+
+#endif
+
+  /**
+   * @brief 液位测量压力传感器
+   */
+  PROCESS_CMD(kcmd_read_huacheng_pressure_sensor, 0, 1) {
+    static ModbusBlockHost modbusBlockHost;
+    modbusBlockHost.initialize(&huart3);
+    int16_t val[1] = {0};
+    bool    suc    = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50);
+    if (!suc) return 1002;
+    dp600data.precision        = 3;
+    dp600data.pressure_unit    = 1;
+    dp600data.value            = val[0];
+    dp600data.zero_point       = 0;
+    dp600data.range_full_point = 0;
+    packet_kcmd_read_huacheng_pressure_sensor_data(cmdheader->data[0], &dp600data, receipt, receiptsize);
+    if (fromwhere == kuart) {
+      dumpdp600data(&dp600data);
+    }
+    return 0;
+  }
+  /**
+   * @brief 空压机压力传感器
+   */
+  PROCESS_CMD(kcmd_read_huacheng_pressure_sensor, 0, 2) {
+    bool suc = m_dp600PressureSensor2.readVal(&dp600data);
+    if (!suc) return 1002;
+    packet_kcmd_read_huacheng_pressure_sensor_data(cmdheader->data[0], &dp600data, receipt, receiptsize);
+    if (fromwhere == kuart) {
+      dumpdp600data(&dp600data);
+    }
+    return 0;
+  }
+  /**
+   * @brief 加液蠕动泵压力传感器
+   */
+  PROCESS_CMD(kcmd_read_huacheng_pressure_sensor, 0, 3) {
+    bool suc = m_dp600PressureSensor3.readVal(&dp600data);
+    if (!suc) return 1002;
+    packet_kcmd_read_huacheng_pressure_sensor_data(cmdheader->data[0], &dp600data, receipt, receiptsize);
+    if (fromwhere == kuart) {
+      dumpdp600data(&dp600data);
+    }
+    return 0;
+  }
+  /**
+   * @brief 喷射蠕动泵压力传感器
+   */
+  PROCESS_CMD(kcmd_read_huacheng_pressure_sensor, 0, 4) {
+    bool suc = m_dp600PressureSensor4.readVal(&dp600data);
+    if (!suc) return 1002;
+    packet_kcmd_read_huacheng_pressure_sensor_data(cmdheader->data[0], &dp600data, receipt, receiptsize);
+    if (fromwhere == kuart) {
+      dumpdp600data(&dp600data);
+    }
+    return 0;
+  }
+
+  return 0;
+}
+void Hardware::loop() {}

usrc/hardware.hpp

@@ -0,0 +1,15 @@
+#include <stdint.h>
+
+namespace iflytop {
+class Hardware {
+ public:
+  typedef enum { kcan, kuart } from_where_t;
+  int32_t m_device_id = 0;
+
+ public:
+  void    initialize(int deviceId);
+  int32_t process_rx_packet(from_where_t fromwhere, uint8_t *packet, int32_t len, uint8_t *receipt, int32_t &receiptsize, bool &matching);
+  void    loop();
+};
+
+}  // namespace iflytop

usrc/main.cpp

@@ -1,29 +1,157 @@
-#include "device.hpp"
+#include "main.hpp"
+
+#include <stddef.h>
+#include <stdio.h>
+
+#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"
+//
+#include "hardware.hpp"
+#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
+#include "sdk\components\string_utils.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 {
-extern void uart_debug_fn_reg();
-extern void can_cmd_reg_fn_reg();
-};  // namespace iflytop
+Main gmain;
+};
 
 using namespace iflytop;
-extern "C"{
-void umain(void) {
+
+void dumphexdata(uint8_t *data, int32_t len) {
+  for (int32_t i = 0; i < len; i++) {
+    printf("%02X ", data[i]);
+  }
+  printf("\n");
+}
+
+/*******************************************************************************
+ *                                   GLOBAL                                    *
+ *******************************************************************************/
+
+IflytopCanProtocolStackProcesser m_protocolStack;
+Hardware                         m_hardware;
+ZGPIO                            debuglight;
+ZCanReceiver                     m_canReceiver;
+
+/*******************************************************************************
+ *                               MESSAGE_HANDLER                               *
+ *******************************************************************************/
+/**
+ * @brief 处理CAN接收到消息
+ */
+void Main::onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) {
+  // ZLOGI(TAG, "onRceivePacket from %d %d", rxbuf->id, len);
+  static uint8_t rxdata[1024] = {0};
+  memset(rxdata, 0, sizeof(rxdata));
+  Cmdheader_t *cmdheader    = (Cmdheader_t *)packet;
+  bool         match        = false;
+  int32_t      receipt_size = 0;
+  int32_t      ecode        = m_hardware.process_rx_packet(Hardware::from_where_t::kcan, packet, len, rxdata, receipt_size, match);
+  if (match) {
+    if (ecode != 0) {
+      m_canReceiver.sendErrorAck(cmdheader, ecode);
+    } else {
+      m_canReceiver.sendAck(cmdheader, rxdata, receipt_size);
+    }
+  }
+}
+/**
+ * @brief 处理串口接收到的消息
+ */
+
+static void processUARTEachLine(char *packet, size_t len) {
+  static uint8_t rxdata[1024] = {0};
+  int32_t        receipt_size = 0;
+  bool           match        = false;
+
+  memset(rxdata, 0, sizeof(rxdata));
+
+  //
+  int32_t  bytelen  = 0;
+  uint8_t *hexbytes = StringUtils::hex_str_to_bytes((char *)packet, len, bytelen);
+  if (hexbytes == NULL) {
+    ZLOGE(TAG, "hex_str_to_bytes failed");
+    return;
+  }
+  dumphexdata(hexbytes, bytelen);
+  int32_t ecode = m_hardware.process_rx_packet(Hardware::kuart, hexbytes, bytelen, rxdata, receipt_size, match);
+  if (match) {
+    printf("match\n");
+    if (ecode < 0) {
+      printf("ecode :%d\n", ecode);
+      return;
+    }
+    dumphexdata(rxdata, receipt_size);
+  }
+  printf("\n");
+}
+
+static void processUartRX(uint8_t *packet, size_t len) {
+  for (size_t i = 0; i < len; i++) {
+    if (packet[i] == '\n' || packet[i] == '\r') {
+      packet[i] = '\0';
+    }
+  }
+
+  for (size_t i = 0; i < len; i++) {
+    if (i == 0) {
+      processUARTEachLine((char *)packet, strlen((char *)packet));
+    } else if (packet[i - 1] == '\0' && packet[i] != '\0') {
+      processUARTEachLine((char *)packet + i, strlen((char *)packet + i));
+    }
+  }
+}
+
+/*******************************************************************************
+ *                                    MAIN                                     *
+ *******************************************************************************/
+void Main::run() {
   ZHALCORE::cfg_t oscfg = {
       .delayhtim = &DELAY_US_TIMER,
       .debuguart = &DEBUG_UART,
   };
   ZHALCORE::getInstance()->initialize(oscfg);
 
-  ZLOGI(TAG, "pipeline_disinfection_liquid_path_control:%s", VERSION);
+  ZLOGI(TAG, "little_disinfection_liquid_path_control:%s", VERSION);
+
+  debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
+  ZHAL_CORE_REG(200, { debuglight.toggleState(); });
+
+  m_hardware.initialize(DEVICE_ID);
+
+  static ZUART        uartreceiver;
+  static ZUART::cfg_t uartreceiver_cfg = {
+      .name          = "uartreceiver",
+      .huart         = &DEBUG_UART,
+      .rxbuffersize  = 512,
+      .rxovertime_ms = 30,
+  };
+  uartreceiver.initialize(&uartreceiver_cfg);
+  uartreceiver.setrxcb([this](uint8_t *data, size_t len) { processUartRX(data, len); });
+  uartreceiver.startRxIt();
+
+  ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID);
+  m_canReceiver.init(cfg);
+  m_canReceiver.registerListener(this);
 
-  device_init();
-  uart_debug_fn_reg();
-  can_cmd_reg_fn_reg();
   ZLOGI(TAG, "init done");
   while (1) {
-    cmdScheduler.schedule();
     ZHALCORE::getInstance()->loop();
-    HAL_IWDG_Refresh(&hiwdg);
+    m_hardware.loop();
+    uartreceiver.forceCchedule();
   }
 }
-}

usrc/main.hpp

@@ -0,0 +1,27 @@
+#pragma once
+#include <stdint.h>
+#include <stdio.h>
+
+#include <functional>
+
+#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;
+class Main : public ZCanRceiverListener {
+ private:
+  /* data */
+ public:
+  virtual void onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len);
+
+  Main(/* args */){};
+  ~Main(){};
+  void run();
+};
+extern Main gmain;
+}  // namespace iflytop
+
+extern "C" {
+void umain(void) { iflytop::gmain.run(); }
+}

usrc/project.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#define VERSION "v1.2"
+#define VERSION "v1.1"
 // 设备ID
 #define DEVICE_ID (2)
 // 调试串口
@@ -21,4 +21,4 @@
 #define MOTOR2_ENN PE11
 // FYBJ_TJ_DRV
 #define MOTOR1_CSN PC4  // 
-#define MOTOR1_ENN PE12
+#define MOTOR1_ENN PE12