8 changed files with 1037 additions and 3 deletions
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2a8000_protocol
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2sdk
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1usrc/public_service/gins.c
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1usrc/public_service/gins.h
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698usrc/subboards/subboard90_optical_module/optical_module.cpp
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185usrc/subboards/subboard90_optical_module/optical_module.hpp
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114usrc/subboards/subboard90_optical_module/subboard90_optical_module.cpp
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37usrc/subboards/subboard90_optical_module/subboard90_optical_module_board.c
@ -1 +1 @@ |
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Subproject commit a85673b9c1b9a54c0e91a3e3f4299106a749e56d |
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Subproject commit c3b66e0656239c61edc573842b420863a5cd3832 |
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@ -1 +1 @@ |
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Subproject commit 9aee8f2a2c26251c921e81bca81abc3a3a2f6927 |
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Subproject commit 49aa1c4693983ad6031f71b0c0b785c6721d9868 |
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#include "optical_module.hpp"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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using namespace iflytop; |
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using namespace std; |
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#define RAW_SECTION_SIZE 128
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#define TAG "OPT"
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#define LOGI(fmt, ...) ZLOGI(TAG, fmt, ##__VA_ARGS__)
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#define ACTION_SELECT_CHANNEL 1 // 选择通道
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#define ACTION_OPEN_LASER 2 // 打开激光器
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#define ACTION_CLOSE_LASER 3 // 关闭激光器
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#define ACTION_READ_SCAN_ADC 4 // 读取扫描放大器adc值
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#define ACTION_READ_LASTER_ADC 5 // 读取激光器adc值
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#define ACTION_READ_ONE_POINT 6 // 读取一个点的数据
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#define ACTION_SET_LASTER_GAIN 7 //
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#define ACTION_SET_SCANER_GAIN 8 //
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#define ACTION_CLOSE_ALL 9 //
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#define ACTION_OPEN_AMP_NEGATIVE_5V 10 // 打开-5V
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#define ACTION_CLOSE_AMP_NEGATIVE_5V 11 // 关闭-5V
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#define ACTION_DUMP_RESULT 12 // 打印结果
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#define ACTION_AUTO_ADJUST_DETECTOR_GAIN 13 // 自动调整增益倍数
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#define UVLED_ON_DURATION_TIME 500 // 500us
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#define UVLED_OFF_DURATION_TIME 100 // 100us
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#define SCAN_DELAY_TIME 400 // 400us
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#define SCAN_DURATION_TIME 1000 // 1000us
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#define TIME_RESOLVING_DENSITY 100
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void OpticalModule::initialize(int32_t moduleid, hardware_config_t* hardwarecfg) { //
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m_id = moduleid; |
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m_hardwarecfg = *hardwarecfg; |
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m_t_optical_amp_mcp41_ohm.initialize(&m_hardwarecfg.t_optical_amp_mcp41); |
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m_t_optical_scaner_mcp41_ohm.initialize(&m_hardwarecfg.t_optical_scaner_mcp41); |
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m_f_optical_amp_mcp41_ohm.initialize(&m_hardwarecfg.f_optical_amp_mcp41); |
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m_f_optical_scaner_mcp41_ohm.initialize(&m_hardwarecfg.f_optical_scaner_mcp41); |
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m_t_laster_enable_io.initAsOutput(&m_hardwarecfg.t_laster_enable_io); |
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// m_t_opt_scan_amp_enable_io.initAsOutput(&m_hardwarecfg.t_opt_scan_amp_enable_io);
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m_f_opt_laster_enable_io.initAsOutput(&m_hardwarecfg.f_opt_laster_enable_io); |
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// m_f_opt_scan_amp_enable_io.initAsOutput(&m_hardwarecfg.f_opt_scan_amp_enable_io);
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m_channel_select_io_red_led3.initAsOutput(&m_hardwarecfg.channel_select_io_red_led3); |
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m_channel_select_io_blue_led1.initAsOutput(&m_hardwarecfg.channel_select_io_blue_led1); |
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m_channel_select_io_green_led1.initAsOutput(&m_hardwarecfg.channel_select_io_green_led1); |
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m_amp_negative_5v_gpio.initAsOutput(&m_hardwarecfg.amp_negative_5v_gpio); |
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m_t_amp_sw_io.initAsOutput(&m_hardwarecfg.t_amp_sw_io); |
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m_f_amp_sw_io.initAsOutput(&m_hardwarecfg.f_amp_sw_io); |
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t_laster_adc.initialize(&m_hardwarecfg.t_laster_adc); |
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t_result_adc.initialize(&m_hardwarecfg.t_result_adc); |
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f_laster_adc.initialize(&m_hardwarecfg.f_laster_adc); |
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f_result_adc.initialize(&m_hardwarecfg.f_result_adc); |
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motor = (StepMotorCtrlModule*)m_hardwarecfg.motor; |
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m_t_amp_sw_io.setState(true); |
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m_f_amp_sw_io.setState(true); |
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m_reg.module_raw_sector_size = RAW_SECTION_SIZE; |
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m_reg.module_raw_sector_num = 0; |
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m_reg.trf_uvled_on_duration_us = UVLED_ON_DURATION_TIME; |
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m_reg.trf_uvled_off_duration_us = UVLED_OFF_DURATION_TIME; |
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m_reg.trf_scan_delay_us = SCAN_DELAY_TIME; |
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m_reg.trf_scan_duration_us = SCAN_DURATION_TIME; |
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ZLOGI(TAG, "-----------------module info--------------") ZLOGI(TAG, "f_detector max gain : %f", f_detector_raw_gain_to_gain(255)); |
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ZLOGI(TAG, "f_detector min gain : %f", f_detector_raw_gain_to_gain(1)); |
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ZLOGI(TAG, "t_detector max gain : %f", t_detector_raw_gain_to_gain(255)); |
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ZLOGI(TAG, "t_detector min gain : %f", t_detector_raw_gain_to_gain(1)); |
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m_thread.init("optical_module", 1024); |
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} |
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int32_t OpticalModule::module_get_status(int32_t* status) { |
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*status = m_thread.isworking() ? 1 : 0; |
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return 0; |
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} |
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int32_t OpticalModule::module_factory_reset() { return 0; } |
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int32_t OpticalModule::module_flush_cfg() { return 0; } |
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int32_t OpticalModule::module_active_cfg() { return 0; } |
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/**
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* @brief F光学 采样增益倍数 向 原始寄存器值 转换 |
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* |
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* @param scan_gain |
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* @return int32_t |
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*/ |
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int32_t OpticalModule::f_detector_gain_to_raw_gain(float scan_gain) { |
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// int32_t scan_gain = (((100. / 256.) * (float)scan_gain_raw) + 0.125) / 2.15 + 1.;
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int32_t scan_gain_raw = 0; |
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scan_gain_raw = ((scan_gain - 1.0) * 2.15 - 0.125) * 255. / 100. + 0.5; |
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if (scan_gain_raw < 1) scan_gain_raw = 1; |
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if (scan_gain_raw > 255) scan_gain_raw = 255; |
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return scan_gain_raw; |
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} |
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/**
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* @brief F光学 原始寄存器值 向 采样增益倍数 转换 |
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* |
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* @param gain |
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* @return float |
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*/ |
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float OpticalModule::f_detector_raw_gain_to_gain(int32_t gain) { |
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float scan_gain = 0; |
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scan_gain = (((100. / 256.) * (float)gain) + 0.125) / 2.15 + 1.; |
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return scan_gain; |
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} |
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int32_t OpticalModule::t_detector_gain_to_raw_gain(float scan_gain) { |
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// opamp_gain = (((100.0 * (float) scan_gain_raw) / 255) + 2.4) / 4.7;
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int32_t scan_gain_raw = 0; |
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scan_gain_raw = (scan_gain * 4.7 - 2.4) * 256. / 100. + 0.5; |
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if (scan_gain_raw < 1) scan_gain_raw = 1; |
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if (scan_gain_raw > 255) scan_gain_raw = 255; |
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return scan_gain_raw; |
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} |
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float OpticalModule::t_detector_raw_gain_to_gain(int32_t gain) { |
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float scan_gain = 0; |
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scan_gain = (((100.0 * (float)gain) / 256) + 2.4) / 4.7; |
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return scan_gain; |
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} |
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int32_t OpticalModule::adjust_detector_gain() { |
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if (m_reg.scan_type == kf_optical) { |
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// 1. 找到最大的ADC采样数值
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// 2. 计算理论放大倍数
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int32_t adcgoal = 3600; |
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int32_t maxadc = adc_capture_buf[0]; |
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for (int32_t i = 1; i < adc_capture_point_num; i++) { |
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if (maxadc < adc_capture_buf[i]) { |
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maxadc = adc_capture_buf[i]; |
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} |
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} |
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float nowgain = f_detector_raw_gain_to_gain(m_reg.scan_gain); |
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float gain_adjust = 0; |
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if (maxadc != 0) { |
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gain_adjust = nowgain * ((float)adcgoal / (float)maxadc); |
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} else { |
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gain_adjust = nowgain; |
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} |
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int32_t rawgain = f_detector_gain_to_raw_gain(gain_adjust); |
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m_reg.scan_gain_adjust_suggestion = rawgain; |
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m_reg.adc_result_overflow = maxadc > adcgoal ? 1 : 0; |
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a8000_optical_open_laser(kf_optical); |
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osDelay(100); |
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a8000_optical_read_laster_adc_val(kf_optical, &m_reg.laster_intensity); |
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a8000_optical_close_laser(kf_optical); |
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ZLOGI(TAG, "----------------result info----------------"); |
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ZLOGI(TAG, "maxadc :%d", maxadc); |
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ZLOGI(TAG, "nowgain :%d(%f)", m_reg.scan_gain, nowgain); |
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ZLOGI(TAG, "gain_adjust :%d(%f)", m_reg.scan_gain_adjust_suggestion, gain_adjust); |
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ZLOGI(TAG, "laster_intensity :%d", m_reg.laster_intensity); |
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} else if (m_reg.scan_type == kt_optical) { |
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int32_t adcgoal = 3600; |
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int32_t maxadc = adc_capture_buf[0]; |
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int32_t sumadc = 0; |
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int32_t avg_adc = 0; |
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for (int32_t i = 1; i < adc_capture_point_num; i++) { |
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if (maxadc < adc_capture_buf[i]) { |
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maxadc = adc_capture_buf[i]; |
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} |
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sumadc += adc_capture_buf[i]; |
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} |
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avg_adc = sumadc * 1.0 / adc_capture_point_num; |
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float nowgain = t_detector_raw_gain_to_gain(m_reg.scan_gain); |
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float gain_adjust = 0; |
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if (maxadc != 0) { |
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gain_adjust = nowgain * ((float)adcgoal / (float)maxadc); |
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} else { |
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gain_adjust = nowgain; |
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} |
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int32_t rawgain = 0; |
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if (maxadc > adcgoal) { |
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rawgain = 1; |
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} else if ((avg_adc > 3000) || (avg_adc < 10)) { |
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rawgain = 6; // 这里参考巴迪泰源码，巴迪泰的也没有解释为什么做这个判断
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} else { |
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rawgain = t_detector_gain_to_raw_gain(gain_adjust); |
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} |
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m_reg.scan_gain_adjust_suggestion = rawgain; |
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m_reg.adc_result_overflow = maxadc > adcgoal ? 1 : 0; |
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int32_t lasterval = 0; |
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a8000_optical_open_laser(kt_optical); |
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_open_t_amp_n5v(); |
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osDelay(300); |
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a8000_optical_read_laster_adc_val(kt_optical, &m_reg.laster_intensity); // 读取两次，第一次读取的值不准确
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a8000_optical_close_laser(kt_optical); |
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_close_t_amp_n5v(); |
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ZLOGI(TAG, "----------------result info----------------"); |
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ZLOGI(TAG, "maxadc :%d", maxadc); |
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ZLOGI(TAG, "avgadc :%d", avg_adc); |
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ZLOGI(TAG, "nowgain :%d(%f)", m_reg.scan_gain, nowgain); |
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ZLOGI(TAG, "gain_adjust :%d(%f)", m_reg.scan_gain_adjust_suggestion, gain_adjust); |
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ZLOGI(TAG, "laster_intensity :%d", m_reg.laster_intensity); |
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} |
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return 0; |
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} |
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int32_t OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) { |
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switch (param_id) { |
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MODULE_COMMON_PROCESS_REG_CB(); |
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// PROCESS_REG(kreg_module_version, /* */ REG_GET(0x0001), ACTION_NONE);
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// PROCESS_REG(kreg_module_type, /* */ REG_GET(0), ACTION_NONE);
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// PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val));
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PROCESS_REG(kreg_laster_scaner_raw_sector_size, raw_get_sector_size(&val), ACTION_NONE); |
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PROCESS_REG(kreg_laster_scaner_raw_sector_num, raw_get_sector_num(&val), ACTION_NONE); |
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PROCESS_REG(kreg_boditech_optical_scan_type, REG_GET(m_reg.scan_type), REG_SET(m_reg.scan_type)); |
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PROCESS_REG(kreg_boditech_optical_scan_start_pos, REG_GET(m_reg.scan_start_pos), REG_SET(m_reg.scan_start_pos)); |
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PROCESS_REG(kreg_boditech_optical_scan_direction, REG_GET(m_reg.scan_direction), REG_SET(m_reg.scan_direction)); |
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PROCESS_REG(kreg_boditech_optical_scan_step_interval, REG_GET(m_reg.scan_step_interval), REG_SET(m_reg.scan_step_interval)); |
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PROCESS_REG(kreg_boditech_optical_scan_pointnum, REG_GET(m_reg.scan_pointnum), REG_SET(m_reg.scan_pointnum)); |
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PROCESS_REG(kreg_boditech_optical_channel_select_num, REG_GET(m_reg.channel_select_num), REG_SET(m_reg.channel_select_num)); |
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PROCESS_REG(kreg_boditech_optical_laster_gain, REG_GET(m_reg.laster_gain), REG_SET(m_reg.laster_gain)); |
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PROCESS_REG(kreg_boditech_optical_scan_gain, REG_GET(m_reg.scan_gain), REG_SET(m_reg.scan_gain)); |
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PROCESS_REG(kreg_boditech_optical_trf_uvled_on_duration_us, REG_GET(m_reg.trf_uvled_on_duration_us), REG_SET(m_reg.trf_uvled_on_duration_us)); |
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PROCESS_REG(kreg_boditech_optical_trf_uvled_off_duration_us, REG_GET(m_reg.trf_uvled_off_duration_us), REG_SET(m_reg.trf_uvled_off_duration_us)); |
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PROCESS_REG(kreg_boditech_optical_trf_scan_delay_us, REG_GET(m_reg.trf_scan_delay_us), REG_SET(m_reg.trf_scan_delay_us)); |
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PROCESS_REG(kreg_boditech_optical_trf_scan_duration_us, REG_GET(m_reg.trf_scan_duration_us), REG_SET(m_reg.trf_scan_duration_us)); |
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PROCESS_REG(kreg_boditech_optical_scan_gain_adjust_suggestion, REG_GET(m_reg.scan_gain_adjust_suggestion), ACTION_NONE); |
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PROCESS_REG(kreg_boditech_optical_adc_result_overflow, REG_GET(m_reg.adc_result_overflow), ACTION_NONE); |
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PROCESS_REG(kreg_boditech_optical_laster_intensity, REG_GET(m_reg.laster_intensity), ACTION_NONE); |
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// PROCESS_REG(kreg_module_action_param1, /* */ REG_GET(m_reg.module_action_param1), REG_SET(m_reg.module_action_param1));
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// PROCESS_REG(kreg_module_action_param2, /* */ REG_GET(m_reg.module_action_param2), REG_SET(m_reg.module_action_param2));
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// PROCESS_REG(kreg_module_action_param3, /* */ REG_GET(m_reg.module_action_param3), REG_SET(m_reg.module_action_param3));
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// PROCESS_REG(kreg_module_action_ack1, /* */ REG_GET(m_reg.module_action_ack1), ACTION_NONE);
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// PROCESS_REG(kreg_module_action_ack2, /* */ REG_GET(m_reg.module_action_ack2), ACTION_NONE);
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default: |
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return err::kmodule_not_find_config_index; |
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break; |
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} |
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return 0; |
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} |
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int32_t OpticalModule::do_action(int32_t action) { |
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if (action == ACTION_SELECT_CHANNEL) { |
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return select_f_channel(m_reg.channel_select_num); |
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} else if (action == ACTION_OPEN_LASER) { |
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return a8000_optical_open_laser(m_reg.scan_type); |
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} else if (action == ACTION_CLOSE_LASER) { |
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return a8000_optical_close_laser(m_reg.scan_type); |
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} else if (action == ACTION_READ_SCAN_ADC) { |
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// TODO:
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// int32_t ret = a8000_optical_read_scanner_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1);
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return 0; |
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} else if (action == ACTION_READ_LASTER_ADC) { |
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// TODO:
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// return a8000_optical_read_laster_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1);
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return 0; |
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} else if (action == ACTION_READ_ONE_POINT) { |
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// TODO:
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// return a8000_optical_scan_current_point_amp_adc_val(m_reg.scan_type, m_com_reg.module_action_param1, m_com_reg.module_action_param2, &m_com_reg.module_action_ack1, &m_com_reg.module_action_ack2);
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return 0; |
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} else if (action == ACTION_SET_LASTER_GAIN) { |
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return a8000_optical_set_laster_gain(m_reg.scan_type, m_reg.laster_gain); |
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} else if (action == ACTION_SET_SCANER_GAIN) { |
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return a8000_optical_set_scan_amp_gain(m_reg.scan_type, m_reg.scan_gain); |
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} else if (action == ACTION_CLOSE_ALL) { |
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a8000_optical_close_laser(kf_optical); |
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a8000_optical_close_laser(kt_optical); |
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} else if (action == ACTION_OPEN_AMP_NEGATIVE_5V) { |
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return _open_t_amp_n5v(); |
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} else if (action == ACTION_CLOSE_AMP_NEGATIVE_5V) { |
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return _close_t_amp_n5v(); |
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} else if (action == ACTION_DUMP_RESULT) { |
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return dumpresult(); |
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} |
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return err::kmodule_not_support_action; |
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} |
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int32_t OpticalModule::module_stop() { |
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m_thread.stop(); |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::module_break() { |
||||
|
m_thread.stop(); |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::module_start() { |
||||
|
if (m_reg.scan_type == 0) { // main,f光学
|
||||
|
return start_f_optical_scan(); |
||||
|
} else if (m_reg.scan_type == 1) { // trf,t光学
|
||||
|
return start_t_optical_scan(); |
||||
|
} else { |
||||
|
return err::kparam_out_of_range; |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::start_t_optical_scan() { |
||||
|
m_thread.stop(); |
||||
|
m_thread.start([this]() { |
||||
|
ZLOGI(TAG, "--------------start_t_optical_scan-----------"); |
||||
|
ZLOGI(TAG, "scan_start_pos : %d", m_reg.scan_start_pos); |
||||
|
ZLOGI(TAG, "scan_direction : %d", m_reg.scan_direction); |
||||
|
ZLOGI(TAG, "scan_step_interval : %d", m_reg.scan_step_interval); |
||||
|
ZLOGI(TAG, "scan_pointnum : %d", m_reg.scan_pointnum); |
||||
|
ZLOGI(TAG, "channel_select_num : %d", m_reg.channel_select_num); |
||||
|
ZLOGI(TAG, "laster_gain : %d", m_reg.laster_gain); |
||||
|
ZLOGI(TAG, "scan_gain : %d", m_reg.scan_gain); |
||||
|
ZLOGI(TAG, ""); |
||||
|
|
||||
|
move_to_block(m_reg.scan_start_pos); |
||||
|
|
||||
|
// 设置激光亮度增益
|
||||
|
a8000_optical_set_laster_gain(kt_optical, m_reg.laster_gain); |
||||
|
// 设置接收器增益
|
||||
|
a8000_optical_set_scan_amp_gain(kt_optical, m_reg.scan_gain); |
||||
|
// 选通ADC反馈通道
|
||||
|
// select_f_channel(m_reg.channel_select_num);
|
||||
|
// 打开负5v电源
|
||||
|
_open_t_amp_n5v(); |
||||
|
// 打开激光器
|
||||
|
// a8000_optical_open_laser(kt_optical);
|
||||
|
|
||||
|
osDelay(10); |
||||
|
|
||||
|
int step = 0; |
||||
|
int pointnum = 0; |
||||
|
int32_t adcval = 0; |
||||
|
adc_capture_point_num = 0; |
||||
|
|
||||
|
int32_t interval_step = 0; |
||||
|
if (m_reg.scan_direction >= 0) { |
||||
|
interval_step = m_reg.scan_step_interval; |
||||
|
} else { |
||||
|
interval_step = -m_reg.scan_step_interval; |
||||
|
} |
||||
|
motor_prepare(); |
||||
|
while (true) { |
||||
|
// 移动到第一个点
|
||||
|
move_to_block(m_reg.scan_start_pos + step); |
||||
|
// osDelay(1);
|
||||
|
// f_read_one_point(m_reg.laster_gain, m_reg.scan_gain, adcval);
|
||||
|
t_read_one_point(m_reg.laster_gain, m_reg.scan_gain, adcval); |
||||
|
|
||||
|
step += interval_step; |
||||
|
pointnum++; |
||||
|
adc_capture_point_num++; |
||||
|
adc_capture_buf[adc_capture_point_num] = adcval; |
||||
|
|
||||
|
if (pointnum >= m_reg.scan_pointnum) { |
||||
|
break; |
||||
|
} |
||||
|
|
||||
|
if (m_thread.getExitFlag()) { |
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
m_t_laster_enable_io.setState(false); |
||||
|
motor_release(); |
||||
|
_close_t_amp_n5v(); |
||||
|
a8000_optical_close_laser(kf_optical); |
||||
|
if (!m_thread.getExitFlag()) adjust_detector_gain(); |
||||
|
}); |
||||
|
return 0; |
||||
|
|
||||
|
// adc_capture_buf[0]
|
||||
|
} |
||||
|
int32_t OpticalModule::start_f_optical_scan() { |
||||
|
m_thread.stop(); |
||||
|
m_thread.start([this]() { |
||||
|
ZLOGI(TAG, "--------------start_f_optical_scan-----------"); |
||||
|
ZLOGI(TAG, "scan_start_pos : %d", m_reg.scan_start_pos); |
||||
|
ZLOGI(TAG, "scan_direction : %d", m_reg.scan_direction); |
||||
|
ZLOGI(TAG, "scan_step_interval : %d", m_reg.scan_step_interval); |
||||
|
ZLOGI(TAG, "scan_pointnum : %d", m_reg.scan_pointnum); |
||||
|
ZLOGI(TAG, "channel_select_num : %d", m_reg.channel_select_num); |
||||
|
ZLOGI(TAG, "laster_gain : %d", m_reg.laster_gain); |
||||
|
ZLOGI(TAG, "scan_gain : %d", m_reg.scan_gain); |
||||
|
ZLOGI(TAG, ""); |
||||
|
|
||||
|
move_to_block(m_reg.scan_start_pos); |
||||
|
|
||||
|
// 设置激光亮度增益
|
||||
|
a8000_optical_set_laster_gain(kf_optical, m_reg.laster_gain); |
||||
|
// 设置接收器增益
|
||||
|
a8000_optical_set_scan_amp_gain(kf_optical, m_reg.scan_gain); |
||||
|
// 选通ADC反馈通道
|
||||
|
select_f_channel(m_reg.channel_select_num); |
||||
|
// 打开负5v电源
|
||||
|
_close_t_amp_n5v(); |
||||
|
// 打开激光器
|
||||
|
a8000_optical_open_laser(kf_optical); |
||||
|
|
||||
|
osDelay(10); |
||||
|
|
||||
|
int step = 0; |
||||
|
int pointnum = 0; |
||||
|
int32_t adcval = 0; |
||||
|
adc_capture_point_num = 0; |
||||
|
|
||||
|
int32_t interval_step = 0; |
||||
|
if (m_reg.scan_direction >= 0) { |
||||
|
interval_step = m_reg.scan_step_interval; |
||||
|
} else { |
||||
|
interval_step = -m_reg.scan_step_interval; |
||||
|
} |
||||
|
motor_prepare(); |
||||
|
while (true) { |
||||
|
// 移动到第一个点
|
||||
|
move_to_block(m_reg.scan_start_pos + step); |
||||
|
f_read_one_point(m_reg.laster_gain, m_reg.scan_gain, adcval); |
||||
|
|
||||
|
step += interval_step; |
||||
|
pointnum++; |
||||
|
adc_capture_point_num++; |
||||
|
adc_capture_buf[adc_capture_point_num] = adcval; |
||||
|
|
||||
|
if (pointnum >= m_reg.scan_pointnum) { |
||||
|
break; |
||||
|
} |
||||
|
|
||||
|
if (m_thread.getExitFlag()) { |
||||
|
break; |
||||
|
} |
||||
|
osDelay(1); |
||||
|
} |
||||
|
motor_release(); |
||||
|
a8000_optical_close_laser(kf_optical); |
||||
|
adjust_detector_gain(); |
||||
|
}); |
||||
|
|
||||
|
// adc_capture_buf[0]
|
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::dumpresult() { |
||||
|
for (int32_t i = 0; i < adc_capture_point_num; i++) { |
||||
|
printf("%d,%d,%d", i, (i * m_reg.scan_step_interval * m_reg.scan_direction + m_reg.scan_start_pos), adc_capture_buf[i]); |
||||
|
if (i != 0 && i % 5 == 0) |
||||
|
printf("\n"); |
||||
|
else { |
||||
|
printf("|"); |
||||
|
} |
||||
|
} |
||||
|
printf("\n"); |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::raw_get_sector_size(int32_t* val) { |
||||
|
*val = RAW_SECTION_SIZE; |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::raw_get_sector_num(int32_t* val) { |
||||
|
*val = adc_capture_point_num * 2 / RAW_SECTION_SIZE; |
||||
|
if (adc_capture_point_num * 2 % RAW_SECTION_SIZE != 0) { |
||||
|
*val += 1; |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::module_read_raw(int32_t index, uint8_t* data, int32_t* len) { |
||||
|
int32_t sector_size = RAW_SECTION_SIZE; |
||||
|
int32_t rawsize = adc_capture_point_num * 2; |
||||
|
|
||||
|
if (sector_size > *len) return err::kbuffer_not_enough; |
||||
|
uint16_t add = index * sector_size; |
||||
|
|
||||
|
if (add >= rawsize) return err::kparam_out_of_range; |
||||
|
|
||||
|
if (add + sector_size > rawsize) { // rawsize 127 sector_size 128 add = 0
|
||||
|
*len = rawsize - add; |
||||
|
} else { |
||||
|
*len = sector_size; |
||||
|
} |
||||
|
memcpy(data, (uint8_t*)adc_capture_buf + add, *len); |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
void OpticalModule::opt_module_power_ctrl(bool on) { m_amp_negative_5v_gpio.setState(on); } |
||||
|
int32_t OpticalModule::a8000_optical_module_power_ctrl(int32_t state) { |
||||
|
opt_module_power_ctrl(state > 0 ? true : false); |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
/*******************************************************************************
|
||||
|
* DEBUG_INTERFACE * |
||||
|
*******************************************************************************/ |
||||
|
|
||||
|
int32_t OpticalModule::select_f_channel(int32_t channel) { |
||||
|
ZLOGI(TAG, "CAHNNEL select %d", channel); |
||||
|
if (channel == 1) { // MAIN_DETECTOR_SEL
|
||||
|
m_channel_select_io_red_led3.setState(true); |
||||
|
m_channel_select_io_blue_led1.setState(false); |
||||
|
m_channel_select_io_green_led1.setState(false); |
||||
|
} else if (channel == 2) { // HBA1C_DETECTOR
|
||||
|
m_channel_select_io_red_led3.setState(false); |
||||
|
m_channel_select_io_blue_led1.setState(true); |
||||
|
m_channel_select_io_green_led1.setState(false); |
||||
|
} else if (channel == 3) { // BARCODE_DETECTOR
|
||||
|
m_channel_select_io_red_led3.setState(false); |
||||
|
m_channel_select_io_blue_led1.setState(false); |
||||
|
m_channel_select_io_green_led1.setState(true); |
||||
|
} else { |
||||
|
m_channel_select_io_red_led3.setState(false); |
||||
|
m_channel_select_io_blue_led1.setState(false); |
||||
|
m_channel_select_io_green_led1.setState(false); |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::a8000_optical_open_laser(int32_t type) { //
|
||||
|
// LOGI("a8000_optical_open_laser %d", type);
|
||||
|
if (type == kf_optical) { |
||||
|
m_f_opt_laster_enable_io.setState(true); |
||||
|
} else if (type == kt_optical) { |
||||
|
m_t_laster_enable_io.setState(true); |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::a8000_optical_close_laser(int32_t type) { //
|
||||
|
// LOGI("a8000_optical_close_laser %d", type);
|
||||
|
if (type == kf_optical) { |
||||
|
m_f_opt_laster_enable_io.setState(false); |
||||
|
} else if (type == kt_optical) { |
||||
|
m_t_laster_enable_io.setState(false); |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::a8000_optical_set_laster_gain(int32_t type, int32_t gain) { //
|
||||
|
// LOGI("a8000_optical_set_laster_gain %d %d", type, gain);
|
||||
|
if (type == kf_optical) { |
||||
|
m_f_optical_amp_mcp41_ohm.setPotentiometerValue_0((uint8_t)gain); |
||||
|
} else if (type == kt_optical) { |
||||
|
m_t_optical_amp_mcp41_ohm.setPotentiometerValue_0((uint8_t)gain); |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) { //
|
||||
|
// LOGI("a8000_optical_set_scan_amp_gain %d %d", type, gain);
|
||||
|
if (type == kf_optical) { |
||||
|
ZLOGI(TAG, "set f scan gain %d %.2f", gain, f_detector_raw_gain_to_gain(gain)); |
||||
|
m_f_optical_scaner_mcp41_ohm.setPotentiometerValue_0((uint8_t)gain); |
||||
|
} else if (type == kt_optical) { |
||||
|
ZLOGI(TAG, "set t scan gain %d %.2f", gain, t_detector_raw_gain_to_gain(gain)); |
||||
|
m_t_optical_scaner_mcp41_ohm.setPotentiometerValue_0((uint8_t)gain); |
||||
|
} |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) { //
|
||||
|
// LOGI("a8000_optical_read_laster_adc_val %d", m_reg.scan_type);
|
||||
|
if (type == kf_optical) { |
||||
|
f_laster_adc.get_adc_value(*adcval); |
||||
|
} else if (type == kt_optical) { |
||||
|
t_laster_adc.get_adc_value(*adcval); |
||||
|
} |
||||
|
ZLOGI(TAG, "read laster adc %d %fv", *adcval, *adcval / 4096.0 * 3.3); |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) { |
||||
|
if (type == kf_optical) { |
||||
|
f_result_adc.get_adc_value(*adcval); |
||||
|
} else if (type == kt_optical) { |
||||
|
t_result_adc.get_adc_value(*adcval); |
||||
|
} |
||||
|
ZLOGI(TAG, "read scan adc %d %fv", *adcval, *adcval / 4096.0 * 3.3); |
||||
|
return 0; |
||||
|
} |
||||
|
// int32_t OpticalModule::a8000_optical_scan_current_point_amp_adc_val(int32_t type, int32_t lastergain, int32_t ampgain, int32_t* laster_fb_val, int32_t* adcval) { //
|
||||
|
// // LOGI("a8000_optical_scan_current_point_amp_adc_val %d %d %d", type, lastergain, ampgain);
|
||||
|
// if (type == kf_optical) {
|
||||
|
// return f_read_one_point(lastergain, ampgain, *laster_fb_val, *adcval);
|
||||
|
// } else if (type == kt_optical) {
|
||||
|
// return t_read_one_point(lastergain, ampgain, *laster_fb_val, *adcval);
|
||||
|
// }
|
||||
|
// return err::kparam_out_of_range;
|
||||
|
// }
|
||||
|
|
||||
|
#define MAX_SAMPLING_NUM 14
|
||||
|
|
||||
|
int32_t OpticalModule::f_read_one_point(int32_t lastergain, int32_t ampgain, int32_t& adcval) { //
|
||||
|
for (int32_t i = 0; i < MAX_SAMPLING_NUM; i++) { |
||||
|
f_result_adc.get_adc_value(f_adc_cache[i]); |
||||
|
} |
||||
|
// a8000_optical_close_laser(kf_optical);
|
||||
|
|
||||
|
// 对采样值进行排序
|
||||
|
for (int32_t i = 0; i < MAX_SAMPLING_NUM; i++) { |
||||
|
for (int32_t j = i + 1; j < MAX_SAMPLING_NUM; j++) { |
||||
|
if (f_adc_cache[i] > f_adc_cache[j]) { |
||||
|
int32_t temp = f_adc_cache[i]; |
||||
|
f_adc_cache[i] = f_adc_cache[j]; |
||||
|
f_adc_cache[j] = temp; |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
int32_t adcsumval = 0; |
||||
|
for (int32_t i = 3; i < (MAX_SAMPLING_NUM - 3); i++) { |
||||
|
adcsumval += f_adc_cache[i]; |
||||
|
} |
||||
|
|
||||
|
adcval = (((float)adcsumval / (float)(MAX_SAMPLING_NUM - 6)) + 0.5L); |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::t_read_one_point(int32_t lastergain, int32_t ampgain, int32_t& adcval) { |
||||
|
// a8000_optical_set_laster_gain(kt_optical, lastergain);
|
||||
|
// a8000_optical_set_scan_amp_gain(kt_optical, ampgain);
|
||||
|
|
||||
|
GPIO_TypeDef* tlaster_port = m_t_laster_enable_io.getPort(); |
||||
|
uint16_t tlaster_pin = m_t_laster_enable_io.getPin(); |
||||
|
uint32_t openstate = 0; |
||||
|
uint32_t closestate = 0; |
||||
|
|
||||
|
if (m_t_laster_enable_io.isMirror()) { |
||||
|
openstate = tlaster_pin << 16U; |
||||
|
closestate = tlaster_pin; |
||||
|
} else { |
||||
|
openstate = tlaster_pin; |
||||
|
closestate = tlaster_pin << 16U; |
||||
|
} |
||||
|
|
||||
|
/**
|
||||
|
* @brief |
||||
|
* 1.以下延迟需要精准控制，需要临时禁制操作系统的调度 |
||||
|
* 2.以下操作禁止打印任何日志，以防止时间错乱 |
||||
|
* 3.由于延时属于us级别延迟，这里直接操作GPIO寄存器 |
||||
|
*/ |
||||
|
chip_critical_enter(); |
||||
|
tlaster_port->BSRR = closestate; |
||||
|
zchip_clock_early_delayus2(UVLED_OFF_DURATION_TIME); |
||||
|
tlaster_port->BSRR = openstate; |
||||
|
zchip_clock_early_delayus2(UVLED_ON_DURATION_TIME); |
||||
|
tlaster_port->BSRR = closestate; |
||||
|
zchip_clock_early_delayus2(SCAN_DELAY_TIME); |
||||
|
zchip_clock_early_delayus_timer_start(); |
||||
|
|
||||
|
int32_t sumadcval = 0; |
||||
|
int32_t currentadcval = 0; |
||||
|
|
||||
|
// t_laster_adc.get_adc_value(laster_fb_val);
|
||||
|
for (int32_t i = 0; i < TIME_RESOLVING_DENSITY; i++) { |
||||
|
t_result_adc.get_adc_value(currentadcval); |
||||
|
sumadcval += currentadcval; |
||||
|
} |
||||
|
adcval = (sumadcval / TIME_RESOLVING_DENSITY); |
||||
|
|
||||
|
uint32_t haspassed = zchip_clock_early_delayus_timer_haspassed(); |
||||
|
zchip_clock_early_delayus_timer_stop(); |
||||
|
// if (haspassed < SCAN_DURATION_TIME) zchip_clock_early_delayus2(SCAN_DURATION_TIME - haspassed);
|
||||
|
chip_critical_exit(); |
||||
|
if (!(haspassed < 700 && haspassed > 400)) { |
||||
|
ZLOGW(TAG, "t capture adc time out of range %d", haspassed); |
||||
|
} |
||||
|
// tlaster_port->BSRR = openstate;
|
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::_open_t_amp_n5v() { |
||||
|
m_amp_negative_5v_gpio.setState(true); |
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::_close_t_amp_n5v() { |
||||
|
m_amp_negative_5v_gpio.setState(false); |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::motor_prepare() { |
||||
|
auto _motor = motor->getMotor(); |
||||
|
// _motor->setNoAccLimit(true);
|
||||
|
return 0; |
||||
|
} |
||||
|
int32_t OpticalModule::motor_release() { |
||||
|
auto _motor = motor->getMotor(); |
||||
|
// _motor->setNoAccLimit(false);
|
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
int32_t OpticalModule::move_to_block(int32_t pos) { |
||||
|
auto _motor = motor->getMotor(); |
||||
|
_motor->setAcceleration(3600); |
||||
|
_motor->setDeceleration(3600); |
||||
|
_motor->moveTo(pos, motor->getCfg()->motor_default_velocity); |
||||
|
while (!_motor->isReachTarget() && !m_thread.getExitFlag()) { |
||||
|
// zos_early_delayus(100);
|
||||
|
// osDelay(1);
|
||||
|
} |
||||
|
_motor->stop(); |
||||
|
return 0; |
||||
|
} |
||||
@ -0,0 +1,185 @@ |
|||||
|
#pragma once
|
||||
|
#include "sdk\components\sensors\mcp41xxx\mcp41xxx.hpp"
|
||||
|
#include "sdk\os\zos.hpp"
|
||||
|
//
|
||||
|
#include "a8000_protocol\protocol.hpp"
|
||||
|
#include "sdk\chip\api\zi_adc.hpp"
|
||||
|
#include "sdk\components\hardware\adc\z_simple_adc.hpp"
|
||||
|
#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
|
||||
|
|
||||
|
namespace iflytop { |
||||
|
using namespace std; |
||||
|
|
||||
|
class OpticalModule : public ZIModule, public ZIA8000OpticalModule { |
||||
|
ENABLE_MODULE(OpticalModule, ka8000_optical_module, 1); |
||||
|
|
||||
|
public: |
||||
|
typedef struct { |
||||
|
ZGPIO::OutputGpioCfg_t amp_negative_5v_gpio; |
||||
|
|
||||
|
ZADC::adc_config_t t_laster_adc; |
||||
|
ZADC::adc_config_t t_result_adc; |
||||
|
MCP41XXX::hardware_config_t t_optical_amp_mcp41; |
||||
|
MCP41XXX::hardware_config_t t_optical_scaner_mcp41; |
||||
|
ZGPIO::OutputGpioCfg_t t_laster_enable_io; |
||||
|
ZGPIO::OutputGpioCfg_t t_amp_sw_io; |
||||
|
|
||||
|
MCP41XXX::hardware_config_t f_optical_amp_mcp41; |
||||
|
MCP41XXX::hardware_config_t f_optical_scaner_mcp41; |
||||
|
ZADC::adc_config_t f_laster_adc; |
||||
|
ZADC::adc_config_t f_result_adc; |
||||
|
ZGPIO::OutputGpioCfg_t f_opt_laster_enable_io; |
||||
|
ZGPIO::OutputGpioCfg_t f_amp_sw_io; |
||||
|
|
||||
|
ZGPIO::OutputGpioCfg_t channel_select_io_red_led3; // 引脚命名来源于巴迪泰原理图
|
||||
|
ZGPIO::OutputGpioCfg_t channel_select_io_blue_led1; // 引脚命名来源于巴迪泰原理图
|
||||
|
ZGPIO::OutputGpioCfg_t channel_select_io_green_led1; // 引脚命名来源于巴迪泰原理图
|
||||
|
|
||||
|
StepMotorCtrlModule* motor; |
||||
|
|
||||
|
} hardware_config_t; |
||||
|
|
||||
|
typedef struct { |
||||
|
int32_t module_raw_sector_size; |
||||
|
int32_t module_raw_sector_num; |
||||
|
|
||||
|
int32_t scan_type; |
||||
|
int32_t scan_start_pos; |
||||
|
int32_t scan_direction; |
||||
|
int32_t scan_step_interval; |
||||
|
int32_t scan_pointnum; |
||||
|
int32_t channel_select_num; |
||||
|
int32_t laster_gain; |
||||
|
int32_t scan_gain; |
||||
|
|
||||
|
/*******************************************************************************
|
||||
|
* TRF_DELAY_TIME * |
||||
|
*******************************************************************************/ |
||||
|
int32_t trf_uvled_on_duration_us; |
||||
|
int32_t trf_uvled_off_duration_us; |
||||
|
int32_t trf_scan_delay_us; |
||||
|
int32_t trf_scan_duration_us; |
||||
|
|
||||
|
int32_t scan_gain_adjust_suggestion; |
||||
|
int32_t adc_result_overflow; |
||||
|
int32_t laster_intensity; |
||||
|
|
||||
|
} reg_table_t; |
||||
|
|
||||
|
private: |
||||
|
int32_t m_id = 0; |
||||
|
hardware_config_t m_hardwarecfg; |
||||
|
reg_table_t m_reg = {0}; |
||||
|
|
||||
|
MCP41XXX m_t_optical_amp_mcp41_ohm; |
||||
|
MCP41XXX m_t_optical_scaner_mcp41_ohm; |
||||
|
MCP41XXX m_f_optical_amp_mcp41_ohm; |
||||
|
MCP41XXX m_f_optical_scaner_mcp41_ohm; |
||||
|
// amp_negative_5v
|
||||
|
ZGPIO m_amp_negative_5v_gpio; |
||||
|
|
||||
|
ZGPIO m_t_laster_enable_io; |
||||
|
// ZGPIO m_t_opt_scan_amp_enable_io;
|
||||
|
ZGPIO m_f_opt_laster_enable_io; |
||||
|
// ZGPIO m_f_opt_scan_amp_enable_io;
|
||||
|
ZGPIO m_channel_select_io_red_led3; |
||||
|
ZGPIO m_channel_select_io_blue_led1; |
||||
|
ZGPIO m_channel_select_io_green_led1; |
||||
|
|
||||
|
ZGPIO m_t_amp_sw_io; |
||||
|
ZGPIO m_f_amp_sw_io; |
||||
|
|
||||
|
ZADC t_laster_adc; |
||||
|
ZADC t_result_adc; |
||||
|
ZADC f_laster_adc; |
||||
|
ZADC f_result_adc; |
||||
|
|
||||
|
StepMotorCtrlModule* motor = nullptr; |
||||
|
|
||||
|
ZThread m_thread; |
||||
|
|
||||
|
int16_t adc_capture_buf[4096] = {0}; |
||||
|
int32_t adc_capture_point_num = 0; |
||||
|
|
||||
|
int32_t f_adc_cache[20]; |
||||
|
|
||||
|
public: |
||||
|
virtual ~OpticalModule(){}; |
||||
|
|
||||
|
void initialize(int32_t moduleid, hardware_config_t* hardwarecfg); |
||||
|
|
||||
|
public: |
||||
|
virtual int32_t getid(int32_t* id) { |
||||
|
*id = m_id; |
||||
|
return 0; |
||||
|
} |
||||
|
|
||||
|
virtual int32_t module_ping() { return 0; } |
||||
|
|
||||
|
virtual int32_t module_stop() override; |
||||
|
virtual int32_t module_break(); // TODO
|
||||
|
virtual int32_t module_start(); // TODO
|
||||
|
|
||||
|
virtual int32_t module_factory_reset(); // TODO
|
||||
|
virtual int32_t module_flush_cfg(); //
|
||||
|
virtual int32_t module_active_cfg() override; |
||||
|
virtual int32_t module_get_status(int32_t* status) override; |
||||
|
|
||||
|
virtual int32_t module_read_raw(int32_t index, uint8_t* data, int32_t* len); // TODO
|
||||
|
|
||||
|
virtual int32_t a8000_optical_open_laser(int32_t type) override; |
||||
|
virtual int32_t a8000_optical_close_laser(int32_t type) override; |
||||
|
virtual int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain) override; |
||||
|
virtual int32_t a8000_optical_set_scan_amp_gain(int32_t type, int32_t gain) override; |
||||
|
virtual int32_t a8000_optical_read_scanner_adc_val(int32_t type, int32_t* adcval) override; |
||||
|
virtual int32_t a8000_optical_read_laster_adc_val(int32_t type, int32_t* adcval) override; |
||||
|
virtual int32_t a8000_optical_module_power_ctrl(int32_t state) override; |
||||
|
|
||||
|
private: |
||||
|
int32_t start_t_optical_scan(); |
||||
|
int32_t start_f_optical_scan(); |
||||
|
|
||||
|
int32_t f_read_one_point(int32_t lastergain, int32_t ampgain, int32_t& adcval); |
||||
|
int32_t t_read_one_point(int32_t lastergain, int32_t ampgain, int32_t& adcval); |
||||
|
|
||||
|
int32_t adjust_detector_gain(); |
||||
|
|
||||
|
int32_t dumpresult(); |
||||
|
|
||||
|
#if 0
|
||||
|
void t_open_laser(); |
||||
|
void t_close_laser(); |
||||
|
void t_set_laster_gain(int32_t gain); |
||||
|
void t_set_scan_amp_gain(int32_t gain); |
||||
|
|
||||
|
void f_open_laser(); |
||||
|
void f_close_laser(); |
||||
|
void f_set_laster_gain(int32_t gain); |
||||
|
void f_set_scan_amp_gain(int32_t gain); |
||||
|
void select_f_channel(); |
||||
|
|
||||
|
#endif
|
||||
|
|
||||
|
int32_t move_to_block(int32_t pos); |
||||
|
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override; |
||||
|
void opt_module_power_ctrl(bool on); |
||||
|
|
||||
|
int32_t select_f_channel(int32_t channel); |
||||
|
virtual int32_t do_action(int32_t action); |
||||
|
|
||||
|
int32_t _open_t_amp_n5v(); |
||||
|
int32_t _close_t_amp_n5v(); |
||||
|
|
||||
|
int32_t motor_prepare(); |
||||
|
int32_t motor_release(); |
||||
|
|
||||
|
int32_t f_detector_gain_to_raw_gain(float gain); |
||||
|
int32_t t_detector_gain_to_raw_gain(float gain); |
||||
|
|
||||
|
float f_detector_raw_gain_to_gain(int32_t gain); |
||||
|
float t_detector_raw_gain_to_gain(int32_t gain); |
||||
|
|
||||
|
int32_t raw_get_sector_size(int32_t* val); |
||||
|
int32_t raw_get_sector_num(int32_t* val); |
||||
|
}; |
||||
|
} // namespace iflytop
|
||||
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