pipeline_disinfection_liquid_path_control/usrc.bak/device.cpp

#include "device.hpp"

#include <stddef.h>
#include <stdio.h>

#define TAG "DEV"
namespace iflytop {
IflytopCanProtocolStackProcesser m_protocolStack;

TMC5130 m_motor1;
TMC5130 m_motor2;

ZGPIO debuglight;

ZGPIO triLight_R;
ZGPIO triLight_G;
ZGPIO triLight_B;
ZGPIO triLight_BEEP;

ZGPIO m_input1;
ZGPIO m_input2;
ZGPIO m_input3;
ZGPIO m_input4;
ZGPIO m_input5;

ZGPIO OUT_PD14;
ZGPIO OUT_PD15;

ZCanReceiver           m_canReceiver;
ZCanBasicOrderModule   m_basicOrderModule;
ZCanPumpCtrlModule     m_pumpCtrlModule;
HuachengPressureSensor m_huachengPressureSensor;
PreportionalValveCtrl  m_PreportionalValveHost;
CmdSchedulerV2         cmdScheduler;

void device_init() {
  debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
  ZHAL_CORE_REG(200, { debuglight.toggleState(); });

  ZCanReceiver::CFG *cfg = m_canReceiver.createCFG(DEVICE_ID);
  m_canReceiver.init(cfg);
  // m_canReceiver.registerListener(this);

  /**
   * @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_input3.initAsInput(PD12, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input4.initAsInput(PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_input5.initAsInput(PC6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true /*mirror*/);
  m_basicOrderModule.initialize(&m_canReceiver);
  m_basicOrderModule.regInputCtl([](uint8_t id, bool &val) {
    if (id == 1) {
      val = m_input1.getState();
      return true;
    }
    if (id == 2) {
      val = m_input2.getState();
      return true;
    }
    if (id == 3) {
      val = m_input3.getState();
      return true;
    }
    if (id == 4) {
      val = m_input4.getState();
      return true;
    }
    if (id == 5) {
      val = m_input5.getState();
      return true;
    }
    return false;
  });

  m_PreportionalValveHost.initialize(&huart2);
  /*******************************************************************************
   *                                 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, 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_motor1.rotate(1000000);
  }

  m_pumpCtrlModule.initialize(&m_canReceiver);
  m_pumpCtrlModule.regSubmodule(1, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
    ZLOGI(TAG, "pump1 acc_rpm2:%d rpm:%d", acc_rpm2, rpm);
    setmotor(&m_motor1, acc_rpm2, rpm, idlepower, power);
  });
  m_pumpCtrlModule.regSubmodule(2, [&](int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
    ZLOGI(TAG, "pump2 acc:%d rpm:%d", acc_rpm2, rpm);
    setmotor(&m_motor2, acc_rpm2, rpm, idlepower, power);
  });

  /*******************************************************************************
   *                                 三色指示灯                                  *
   *******************************************************************************/

  {
    triLight_R.initAsOutput(PD8, ZGPIO::kMode_nopull, true, false);
    triLight_G.initAsOutput(PD7, ZGPIO::kMode_nopull, true, false);
    triLight_B.initAsOutput(PD9, ZGPIO::kMode_nopull, true, false);
    triLight_BEEP.initAsOutput(PD10, ZGPIO::kMode_nopull, true, false);
  }

  /*******************************************************************************
   *                                 压力传感器                                  *
   *******************************************************************************/

  {
    m_huachengPressureSensor.initialize(&m_canReceiver);
    m_huachengPressureSensor.regSubmodule(1, [](DP600PressureSensor::sensor_data_t *data) {  //
      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 false;
      }
      data->precision        = 3;
      data->pressure_unit    = 1;
      data->value            = val[0];
      data->zero_point       = 0;
      data->range_full_point = 0;
      return true;
    });
    m_huachengPressureSensor.regSubmodule(2, &huart3, 2);
    m_huachengPressureSensor.regSubmodule(3, &huart3, 3);
    m_huachengPressureSensor.regSubmodule(4, &huart3, 4);
  }

  OUT_PD14.initAsOutput(PD14, 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) {
  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);
}

void air_compressor_ch_select(int32_t val) {
  if (val == 2) {  // 内管路
    OUT_PD15.setState(1);
  } else if (val == 1) {  // 空气
    OUT_PD15.setState(0);
  }
}
void air_compressor_valve1_set(int32_t val) { OUT_PD14.setState(val != 0); }
void air_compressor_valve2_set(int32_t val) { OUT_PD14.setState(val != 0); }
void air_compressor_read_pressure(int32_t *ack) {  //
  DP600PressureSensor::sensor_data_t d = m_huachengPressureSensor.readsensordata(2);
  *ack                                 = d.value;
}

void triple_warning_light_ctl(uint8_t r, uint8_t g, uint8_t b, uint8_t warning) {
  triLight_R.setState(r != 0);
  triLight_G.setState(g != 0);
  triLight_B.setState(b != 0);
  triLight_BEEP.setState(warning != 0);
}

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;
}

}  // namespace iflytop