12 changed files with 536 additions and 472 deletions
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4.settings/language.settings.xml
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2sdk
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75usrc/can_cmd_reg_fn_reg.cpp
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225usrc/device.cpp
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69usrc/device.hpp
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0usrc/driver/preportional_valve_ctrl.cpp
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0usrc/driver/preportional_valve_ctrl.hpp
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376usrc/main.cpp
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30usrc/main.hpp
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83usrc/uart_debug_fn_reg.cpp
@ -1 +1 @@ |
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Subproject commit 8ed37f58ad5bf01d82f6c8996e866a6872527e3b |
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Subproject commit 9668eec9f1c1536ed57d72b5a760851455ac5042 |
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@ -0,0 +1,75 @@ |
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#include "device.hpp"
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using namespace iflytop; |
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using namespace std; |
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namespace iflytop { |
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ZCanTrigleWarningLightCtlModule m_warningLightCtlModule; |
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void can_cmd_reg_fn_reg() { |
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// registerListener
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m_warningLightCtlModule.initialize(&m_canReceiver); |
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m_warningLightCtlModule.regSubmodule(1, [&](uint8_t r, uint8_t g, uint8_t b, uint8_t beep) { triple_warning_light_ctl(r, g, b, beep); }); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (IS_CMD(cmdheader, kcmd_set_proportional_valve, 0)) { |
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int32_t valueid = CMD_GET_PARAM(cmdheader, 0); |
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int32_t value = CMD_GET_PARAM(cmdheader, 1); |
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if (valueid == 1) { |
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m_PreportionalValveHost.setValvePos(1, value); |
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m_canReceiver.sendAck(cmdheader, NULL, 0); |
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} else if (valueid == 2) { |
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m_PreportionalValveHost.setValvePos(2, value); |
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m_canReceiver.sendAck(cmdheader, NULL, 0); |
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} |
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} |
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}); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (IS_CMD(cmdheader, kcmd_air_compressor_read_pressure, 0)) { |
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int32_t ack = 0; |
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air_compressor_read_pressure(&ack); |
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m_canReceiver.sendAck(cmdheader, (uint8_t *)&ack, 4); |
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} |
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}); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (IS_CMD(cmdheader, kcmd_air_compressor_ch_select, 0)) { |
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air_compressor_ch_select(CMD_GET_PARAM(cmdheader, 0)); |
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m_canReceiver.sendAck(cmdheader, NULL, 0); |
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} |
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}); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (!IS_CMD(cmdheader, kcmd_air_compressor_valve1_set, 0)) return; |
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air_compressor_valve1_set(CMD_GET_PARAM(cmdheader, 0)); |
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m_canReceiver.sendAck(cmdheader, NULL, 0); |
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}); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (!IS_CMD(cmdheader, kcmd_air_compressor_valve2_set, 0)) return; |
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air_compressor_valve2_set(CMD_GET_PARAM(cmdheader, 0)); |
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m_canReceiver.sendAck(cmdheader, NULL, 0); |
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}); |
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m_canReceiver.registerListener([](CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len) { |
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Cmdheader_t *cmdheader = (Cmdheader_t *)packet; |
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if (!IS_CMD(cmdheader, kcmd_proportional_read_state, 0)) return; |
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int32_t ack = 0; |
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int32_t ecode = preportional_valve_is_busy(&ack); |
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if (ecode != 0) { |
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m_canReceiver.sendErrorAck(cmdheader, ecode); |
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} else { |
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m_canReceiver.sendAck(cmdheader, (uint8_t *)&ack, 4); |
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} |
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}); |
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// int32_t isbusy = 0;
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// int32_t ecode = preportional_valve_is_busy(&isbusy);
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// ZLOGI(TAG, "ackcode:%d ack:%d", ecode, isbusy);
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} |
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} // namespace iflytop
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@ -0,0 +1,225 @@ |
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#include "device.hpp"
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#include <stddef.h>
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#include <stdio.h>
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#define TAG "DEV"
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namespace iflytop { |
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IflytopCanProtocolStackProcesser m_protocolStack; |
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TMC5130 m_motor1; |
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TMC5130 m_motor2; |
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ZGPIO debuglight; |
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ZGPIO triLight_R; |
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ZGPIO triLight_G; |
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ZGPIO triLight_B; |
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ZGPIO triLight_BEEP; |
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ZGPIO m_input1; |
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ZGPIO m_input2; |
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ZGPIO m_input3; |
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ZGPIO m_input4; |
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ZGPIO m_input5; |
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ZGPIO OUT_PD14; |
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ZGPIO OUT_PD15; |
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ZCanReceiver m_canReceiver; |
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ZCanBasicOrderModule m_basicOrderModule; |
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ZCanPumpCtrlModule m_pumpCtrlModule; |
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HuachengPressureSensor m_huachengPressureSensor; |
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PreportionalValveCtrl m_PreportionalValveHost; |
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CmdSchedulerV2 cmdScheduler; |
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void device_init() { |
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debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false); |
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ZHAL_CORE_REG(200, { debuglight.toggleState(); }); |
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ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID); |
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m_canReceiver.init(cfg); |
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// m_canReceiver.registerListener(this);
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/**
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* @brief 基础模块 |
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*/ |
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m_input1.initAsInput(PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); |
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m_input2.initAsInput(PC5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); |
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m_input3.initAsInput(PD12, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); |
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m_input4.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); |
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m_input5.initAsInput(PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/); |
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m_basicOrderModule.initialize(&m_canReceiver); |
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m_basicOrderModule.regInputCtl([](uint8_t id, bool &val) { |
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if (id == 1) { |
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val = m_input1.getState(); |
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return true; |
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} |
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if (id == 2) { |
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val = m_input2.getState(); |
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return true; |
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} |
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if (id == 3) { |
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val = m_input3.getState(); |
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return true; |
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} |
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if (id == 4) { |
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val = m_input4.getState(); |
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return true; |
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} |
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if (id == 5) { |
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val = m_input5.getState(); |
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return true; |
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} |
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return false; |
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}); |
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m_PreportionalValveHost.initialize(&huart2); |
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/*******************************************************************************
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* 蠕动泵驱动 * |
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*******************************************************************************/ |
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{ |
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TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR1_ENN, .csn_pin = MOTOR1_CSN}; |
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m_motor1.initialize(&cfg); |
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int32_t chipv = m_motor1.readChipVERSION(); |
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ZLOGI(TAG, "m_motor1:%lx", chipv); |
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m_motor1.setIHOLD_IRUN(1, 20, 0); |
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m_motor1.setMotorShaft(true); |
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m_motor1.setAcceleration(300000); |
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m_motor1.setDeceleration(300000); |
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// m_motor1.rotate(1000000);
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} |
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{ |
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TMC5130::cfg_t cfg = {.hspi = &MOTOR_SPI, .enn_pin = MOTOR2_ENN, .csn_pin = MOTOR2_CSN}; |
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m_motor2.initialize(&cfg); |
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int32_t chipv = m_motor2.readChipVERSION(); |
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ZLOGI(TAG, "m_motor2:%lx", chipv); |
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m_motor2.setIHOLD_IRUN(1, 20, 0); // 5W
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m_motor2.setMotorShaft(true); |
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m_motor2.setAcceleration(300000); |
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m_motor2.setDeceleration(300000); |
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// m_motor1.rotate(1000000);
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} |
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m_pumpCtrlModule.initialize(&m_canReceiver); |
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m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { |
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ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm); |
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setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power); |
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}); |
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m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { |
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ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc_rpm2, rpm); |
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setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power); |
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}); |
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/*******************************************************************************
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* 三色指示灯 * |
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*******************************************************************************/ |
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{ |
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triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, true, false); |
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triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, true, false); |
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triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, true, false); |
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triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, true, false); |
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} |
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/*******************************************************************************
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* 压力传感器 * |
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*******************************************************************************/ |
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{ |
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m_huachengPressureSensor.initialize(&m_canReceiver); |
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m_huachengPressureSensor.regSubmodule(1, [](DP600PressureSensor::sensor_data_t *data) { //
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static ModbusBlockHost modbusBlockHost; |
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modbusBlockHost.initialize(&huart3); |
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int16_t val[1] = {0}; |
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bool suc = modbusBlockHost.readReg03Muti(1, 0x00, (uint16_t *)val, 1, 50); |
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if (!suc) { |
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return false; |
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} |
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data->precision = 3; |
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data->pressure_unit = 1; |
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data->value = val[0]; |
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data->zero_point = 0; |
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data->range_full_point = 0; |
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return true; |
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}); |
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m_huachengPressureSensor.regSubmodule(2, &huart3, 2); |
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m_huachengPressureSensor.regSubmodule(3, &huart3, 3); |
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m_huachengPressureSensor.regSubmodule(4, &huart3, 4); |
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} |
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OUT_PD14.initAsOutput(PD14, ZGPIO::kMode_nopull, true, false); |
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OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, true, false); |
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} |
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void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) { |
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int32_t ppm = rpm / 60.0 * 51200; |
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int32_t acc = acc_rpm2 / 60.0 * 51200; |
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int16_t _idlepower = 1; |
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int16_t _power = 31; |
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if (idlepower > 0 && idlepower < 31) { |
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_idlepower = idlepower; |
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} |
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if (power > 0 && power < 31) { |
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_power = power; |
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} |
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motor->setIHOLD_IRUN(_idlepower, _power, 10); // 5W
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motor->setAcceleration(acc); |
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motor->setDeceleration(acc); |
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motor->rotate(ppm); |
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} |
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void air_compressor_ch_select(int32_t val) { |
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if (val == 2) { // 内管路
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OUT_PD15.setState(1); |
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} else if (val == 1) { // 空气
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OUT_PD15.setState(0); |
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} |
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} |
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void air_compressor_valve1_set(int32_t val) { OUT_PD14.setState(val != 0); } |
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void air_compressor_valve2_set(int32_t val) { OUT_PD14.setState(val != 0); } |
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void air_compressor_read_pressure(int32_t *ack) { //
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DP600PressureSensor::sensor_data_t d = m_huachengPressureSensor.readsensordata(2); |
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*ack = d.value; |
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} |
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void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning) { |
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triLight_R.setState(r != 0); |
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triLight_G.setState(g != 0); |
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triLight_B.setState(b != 0); |
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triLight_BEEP.setState(warning != 0); |
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} |
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int32_t preportional_valve_is_busy(int32_t *busy) { |
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int32_t valve1state = 0; |
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int32_t valve2state = 0; |
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int32_t err = 0; |
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*busy = 0; |
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err = m_PreportionalValveHost.getValveWorkState(1, &valve1state); |
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if (err != 0) return err; |
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err = m_PreportionalValveHost.getValveWorkState(2, &valve2state); |
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if (err != 0) return err; |
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if (valve1state == m_PreportionalValveHost.kstate_err_state || valve2state == m_PreportionalValveHost.kstate_err_state) { |
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*busy = 0; |
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return 1; |
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} |
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if (valve1state == m_PreportionalValveHost.kstate_stop && valve2state == m_PreportionalValveHost.kstate_stop) { |
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*busy = 0; |
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} else { |
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*busy = 1; |
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} |
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return 0; |
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} |
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} // namespace iflytop
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#include <stddef.h>
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#include <stdint.h>
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#include <stdio.h>
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#include "main.h"
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#include "project.hpp"
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//
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// #include "sdk/components/single_axis_motor_control_v2/single_axis_motor_control_v2.hpp"
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#include "sdk/components/iflytop_can_slave_modules/idcard_reader_service.hpp"
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#include "sdk/components/single_axis_motor_control/single_axis_motor_control.hpp"
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#include "sdk/hal/zhal.hpp"
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#include "sdk\components\iflytop_can_slave_modules\io_control_service.hpp"
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#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
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#include "sdk\components\m3078\m3078_code_scaner.hpp"
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#include "sdk\components\tmc\ic\ztmc4361A.hpp"
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#include "sdk\components\tmc\ic\ztmc5130.hpp"
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//
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#include "sdk\components\huacheng_sensor\dp600_pressure_sensor.hpp"
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#include "sdk\components\zcan_module\huacheng_pressure_sensor.hpp"
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#include "sdk\components\zcan_module\zcan_basic_order_module.hpp"
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#include "sdk\components\zcan_module\zcan_pump_ctrl_module.hpp"
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#include "sdk\components\zcan_module\zcan_trigle_warning_light_ctl_module.hpp"
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//
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#include "driver/preportional_valve_ctrl.hpp"
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#include "iwdg.h"
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#include "sdk\components\cmdscheduler\cmd_scheduler_v2.hpp"
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#include "sdk\hal\zuart.hpp"
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namespace iflytop { |
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extern IflytopCanProtocolStackProcesser m_protocolStack; |
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extern TMC5130 m_motor1; |
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extern TMC5130 m_motor2; |
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extern ZGPIO debuglight; |
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extern ZGPIO triLight_R; |
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extern ZGPIO triLight_G; |
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extern ZGPIO triLight_B; |
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extern ZGPIO triLight_BEEP; |
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extern ZGPIO m_input1; |
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extern ZGPIO m_input2; |
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extern ZGPIO m_input3; |
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extern ZGPIO m_input4; |
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extern ZGPIO m_input5; |
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extern ZGPIO OUT_PD14; |
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extern ZGPIO OUT_PD15; |
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extern ZCanReceiver m_canReceiver; |
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extern ZCanBasicOrderModule m_basicOrderModule; |
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extern ZCanPumpCtrlModule m_pumpCtrlModule; |
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extern HuachengPressureSensor m_huachengPressureSensor; |
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extern CmdSchedulerV2 cmdScheduler; |
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// 比例阀
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extern PreportionalValveCtrl m_PreportionalValveHost; |
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void device_init(); |
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void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power); |
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void air_compressor_ch_select(int32_t val); |
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void air_compressor_valve1_set(int32_t val); |
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void air_compressor_valve2_set(int32_t val); |
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void air_compressor_read_pressure(int32_t *ack); |
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void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning); |
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int32_t preportional_valve_is_busy(int32_t *busy); |
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}; // namespace iflytop
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@ -1,30 +0,0 @@ |
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#pragma once
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#include <stdint.h>
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#include <stdio.h>
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#include <functional>
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#include "sdk\components\iflytop_can_slave_modules\device_base_control_service.hpp"
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#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
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#include "sdk\components\zcanreceiver\zcanreceiver.hpp"
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namespace iflytop { |
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using namespace std; |
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class Main : public ZCanRceiverListener { |
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private: |
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/* data */ |
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public: |
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virtual void onRceivePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len); |
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Main(/* args */){}; |
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~Main(){}; |
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void run(); |
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void reg_debug_fn(); |
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void reg_cancmd_fn(); |
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}; |
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extern Main gmain; |
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} // namespace iflytop
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extern "C" { |
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void umain(void) { iflytop::gmain.run(); } |
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} |
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@ -0,0 +1,83 @@ |
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#include "device.hpp"
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#define TAG "UART_D"
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namespace iflytop { |
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using namespace std; |
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void uart_debug_fn_reg() { |
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static ZUART uartreceiver; |
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static ZUART::cfg_t uartreceiver_cfg = { |
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.name = "uartreceiver", |
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.huart = &DEBUG_UART, |
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.rxbuffersize = 512, |
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.rxovertime_ms = 30, |
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}; |
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uartreceiver.initialize(&uartreceiver_cfg); |
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cmdScheduler.initialize(&uartreceiver); |
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cmdScheduler.regCMD("setmotor1", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4, |
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[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
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int16_t acc_rpm2 = atoi(paraV[0]); |
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int16_t rpm = atoi(paraV[1]); |
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int16_t idlepower = atoi(paraV[2]); |
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int16_t power = atoi(paraV[3]); |
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setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power); |
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ack->setNoneAck(0); |
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}); |
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cmdScheduler.regCMD("setmotor2", "(int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power)", 4, |
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[](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
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int16_t acc_rpm2 = atoi(paraV[0]); |
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int16_t rpm = atoi(paraV[1]); |
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int16_t idlepower = atoi(paraV[2]); |
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int16_t power = atoi(paraV[3]); |
|||
setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("setlight", "(uint8_t r, uint8_t g, uint8_t b, uint8_t beep)", 4, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
uint8_t r = atoi(paraV[0]); |
|||
uint8_t g = atoi(paraV[1]); |
|||
uint8_t b = atoi(paraV[2]); |
|||
uint8_t beep = atoi(paraV[3]); |
|||
triple_warning_light_ctl(r, g, b, beep); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("readio", "()", 0, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
uint8_t sensorid = atoi(paraV[0]); |
|||
ZLOGI(TAG, "IO1:%d IO2:%d IO3:%d IO4:%d IO5:%d", m_input1.getState(), m_input2.getState(), m_input3.getState(), m_input4.getState(), m_input5.getState()); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
|
|||
cmdScheduler.regCMD("air_compressor_ch_ctrl", "(id,val)", 2, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
air_compressor_ch_select(atoi(paraV[0])); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
|
|||
cmdScheduler.regCMD("set_proportional_valve", "(uint8_t id,uint8_t val)", 2, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
uint8_t id = atoi(paraV[0]); |
|||
uint8_t val = atoi(paraV[1]); |
|||
m_PreportionalValveHost.setValvePos(id, val); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("pressure_sensor_read", "(id)", 1, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
uint8_t id = atoi(paraV[0]); |
|||
DP600PressureSensor::sensor_data_t d = m_huachengPressureSensor.readsensordata(id); |
|||
ZLOGI(TAG, "pressure_sensor_read id:%d precision:%d pressure_unit:%d value:%d zero_point:%d range_full_point:%d", //
|
|||
id, d.precision, d.pressure_unit, d.value, d.zero_point, d.range_full_point); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("air_compressor_valve1_set", "(value)", 1, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
air_compressor_valve1_set(atoi(paraV[0])); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("air_compressor_valve2_set", "(value)", 1, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
air_compressor_valve2_set(atoi(paraV[0])); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
cmdScheduler.regCMD("preportional_valve_is_busy", "()", 0, [](int32_t paramN, const char **paraV, ICmdParserACK *ack) { |
|||
int32_t isbusy = 0; |
|||
int32_t ecode = preportional_valve_is_busy(&isbusy); |
|||
ZLOGI(TAG, "ackcode:%d ack:%d", ecode, isbusy); |
|||
ack->setNoneAck(0); |
|||
}); |
|||
} |
|||
} // namespace iflytop
|
|||
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