diff --git a/a8000_protocol b/a8000_protocol index c6a2a14..1d75c68 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit c6a2a14eb08bbd60018e24b866a874db6d6dff80 +Subproject commit 1d75c687904a843514be39cbb4b379ffc0aa2414 diff --git a/sdk b/sdk index 74ab9d3..e73bbb7 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 74ab9d32d67b4c0b8d1afb63b0421e0c11a924e5 +Subproject commit e73bbb727cbc87ea0ddcd64c0a9a7d48fb7bd8f8 diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp index a913679..74e20eb 100644 --- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp +++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp @@ -133,7 +133,7 @@ void EEPROMService::detect_online() { } } -int32_t EEPROMService::module_read_raw(int32_t index, uint8_t* data, int32_t* len) { +int32_t EEPROMService::a8000_idcard_reader_read_raw(int32_t index, uint8_t* data, int32_t* len) { zlock_guard guard(m_mutex); if (!m_nowonline) return err::kdevice_offline; if (*len < SECTOR_SIZE) return err::kbuffer_not_enough; diff --git a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp index bccd935..8a9ed5a 100644 --- a/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp +++ b/usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp @@ -19,8 +19,8 @@ using namespace std; * 2. eeprom的容积为2kbyte */ -class EEPROMService : public ZIModule { - ENABLE_MODULE(EEPROMService,ka8000_idcard_reader,PC_VERSION) +class EEPROMService : public ZIModule, public ZIA8000IDCardReaderModule { + ENABLE_MODULE(EEPROMService, ka8000_idcard_reader, PC_VERSION) I2C_HandleTypeDef* m_i2c_handle; ZThread m_monitor_thread; bool m_is_online_flag = false; @@ -46,6 +46,8 @@ class EEPROMService : public ZIModule { void initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender); public: + virtual int32_t a8000_idcard_reader_read_raw(int32_t index, uint8_t* data, int32_t* len) override; + int32_t start_monitor_status(); int32_t stop_monitor_status(); @@ -59,7 +61,6 @@ class EEPROMService : public ZIModule { *id = this->id; return 0; } - virtual int32_t module_read_raw(int32_t index, uint8_t* data, int32_t* len); private: virtual int32_t module_get_status(int32_t* status) override; diff --git a/usrc/subboards/subboard90_optical_module/optical_module.cpp b/usrc/subboards/subboard90_optical_module/optical_module.cpp index 6021875..2669fcc 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module.cpp +++ b/usrc/subboards/subboard90_optical_module/optical_module.cpp @@ -83,10 +83,6 @@ int32_t OpticalModule::module_get_status(int32_t* status) { return 0; } -int32_t OpticalModule::module_factory_reset() { return 0; } -int32_t OpticalModule::module_flush_cfg() { return 0; } -int32_t OpticalModule::module_active_cfg() { return 0; } - /** * @brief F光学 采样增益倍数 向 原始寄存器值 转换 * @@ -213,13 +209,8 @@ int32_t OpticalModule::adjust_detector_gain() { int32_t OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) { switch (param_id) { - MODULE_COMMON_PROCESS_REG_CB(); - // PROCESS_REG(kreg_module_version, /* */ REG_GET(0x0001), ACTION_NONE); - // PROCESS_REG(kreg_module_type, /* */ REG_GET(0), ACTION_NONE); - // PROCESS_REG(kreg_module_do_action0, /* */ ACTION_NONE, do_action(val)); - PROCESS_REG(kreg_laster_scaner_raw_sector_size, raw_get_sector_size(&val), ACTION_NONE); - PROCESS_REG(kreg_laster_scaner_raw_sector_num, raw_get_sector_num(&val), ACTION_NONE); - + PROCESS_REG(kreg_boditech_optical_module_raw_sector_size, raw_get_sector_size(&val), ACTION_NONE); + PROCESS_REG(kreg_boditech_optical_module_raw_sector_num, raw_get_sector_num(&val), ACTION_NONE); PROCESS_REG(kreg_boditech_optical_scan_type, REG_GET(m_reg.scan_type), REG_SET(m_reg.scan_type)); PROCESS_REG(kreg_boditech_optical_scan_start_pos, REG_GET(m_reg.scan_start_pos), REG_SET(m_reg.scan_start_pos)); PROCESS_REG(kreg_boditech_optical_scan_direction, REG_GET(m_reg.scan_direction), REG_SET(m_reg.scan_direction)); @@ -236,12 +227,6 @@ int32_t OpticalModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) PROCESS_REG(kreg_boditech_optical_scan_gain_adjust_suggestion, REG_GET(m_reg.scan_gain_adjust_suggestion), ACTION_NONE); PROCESS_REG(kreg_boditech_optical_adc_result_overflow, REG_GET(m_reg.adc_result_overflow), ACTION_NONE); PROCESS_REG(kreg_boditech_optical_laster_intensity, REG_GET(m_reg.laster_intensity), ACTION_NONE); - - // PROCESS_REG(kreg_module_action_param1, /* */ REG_GET(m_reg.module_action_param1), REG_SET(m_reg.module_action_param1)); - // PROCESS_REG(kreg_module_action_param2, /* */ REG_GET(m_reg.module_action_param2), REG_SET(m_reg.module_action_param2)); - // PROCESS_REG(kreg_module_action_param3, /* */ REG_GET(m_reg.module_action_param3), REG_SET(m_reg.module_action_param3)); - // PROCESS_REG(kreg_module_action_ack1, /* */ REG_GET(m_reg.module_action_ack1), ACTION_NONE); - // PROCESS_REG(kreg_module_action_ack2, /* */ REG_GET(m_reg.module_action_ack2), ACTION_NONE); default: return err::kmodule_not_find_reg; break; @@ -257,18 +242,15 @@ int32_t OpticalModule::do_action(int32_t action) { } else if (action == ACTION_CLOSE_LASER) { return a8000_optical_close_laser(m_reg.scan_type); } else if (action == ACTION_READ_SCAN_ADC) { - // TODO: // int32_t ret = a8000_optical_read_scanner_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1); - return 0; + // return ret; + return err::kparam_out_of_range; } else if (action == ACTION_READ_LASTER_ADC) { - // TODO: - // return a8000_optical_read_laster_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1); - return 0; + // return a8000_optical_read_laster_adc_val(m_reg.scan_type, &m_com_reg.module_action_ack1); + return err::kparam_out_of_range; } else if (action == ACTION_READ_ONE_POINT) { - // TODO: - // 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); - return 0; - + // 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); + return err::kparam_out_of_range; } else if (action == ACTION_SET_LASTER_GAIN) { return a8000_optical_set_laster_gain(m_reg.scan_type, m_reg.laster_gain); } else if (action == ACTION_SET_SCANER_GAIN) { @@ -283,18 +265,14 @@ int32_t OpticalModule::do_action(int32_t action) { } else if (action == ACTION_DUMP_RESULT) { return dumpresult(); } - return err::kcmd_not_support; + return err::kparam_out_of_range; } int32_t OpticalModule::module_stop() { m_thread.stop(); return 0; } -int32_t OpticalModule::module_break() { - m_thread.stop(); - return 0; -} -int32_t OpticalModule::module_start() { +int32_t OpticalModule::a8000_optical_start_capture() { 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 @@ -304,6 +282,8 @@ int32_t OpticalModule::module_start() { } return 0; } + // virtual int32_t a8000_optical_start_capture(); + // virtual int32_t a8000_optical_read_raw(int32_t index, uint8_t* data, int32_t* len); int32_t OpticalModule::start_t_optical_scan() { m_thread.stop(); @@ -466,7 +446,7 @@ int32_t OpticalModule::raw_get_sector_num(int32_t* val) { } return 0; } -int32_t OpticalModule::module_read_raw(int32_t index, uint8_t* data, int32_t* len) { +int32_t OpticalModule::a8000_optical_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; diff --git a/usrc/subboards/subboard90_optical_module/optical_module.hpp b/usrc/subboards/subboard90_optical_module/optical_module.hpp index 58b8ffc..9a9692e 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module.hpp +++ b/usrc/subboards/subboard90_optical_module/optical_module.hpp @@ -114,18 +114,14 @@ class OpticalModule : public ZIModule, public ZIA8000OpticalModule { 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 + /*********************************************************************************************************************** + * opt * + ***********************************************************************************************************************/ + virtual int32_t a8000_optical_start_capture() override; + virtual int32_t a8000_optical_read_raw(int32_t index, uint8_t* data, int32_t* len) override; virtual int32_t a8000_optical_open_laser(int32_t type) override; virtual int32_t a8000_optical_close_laser(int32_t type) override; @@ -134,7 +130,6 @@ class OpticalModule : public ZIModule, public ZIA8000OpticalModule { 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(); @@ -146,20 +141,6 @@ class OpticalModule : public ZIModule, public ZIA8000OpticalModule { 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); diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h index 1fd4dc0..52b312c 100644 --- a/usrc/subboards/subboard90_optical_module/pri_board.h +++ b/usrc/subboards/subboard90_optical_module/pri_board.h @@ -3,12 +3,13 @@ /*********************************************************************************************************************** * 板载扩展IO * ***********************************************************************************************************************/ -#define EXT_INPUT_IO0 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true -#define EXT_INPUT_IO1 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true -#define EXT_INPUT_IO2 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true -#define EXT_INPUT_IO3 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true -#define EXT_INPUT_IO4 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true -#define EXT_INPUT_IO5 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true + +#define EXT_INPUT_IO0 PD8, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false +#define EXT_INPUT_IO1 PD9, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false +#define EXT_INPUT_IO2 PD10, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false +#define EXT_INPUT_IO3 PD11, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false +#define EXT_INPUT_IO4 PD12, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false +#define EXT_INPUT_IO5 PD13, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false #define EXT_INPUT_IO6 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true #define EXT_INPUT_IO7 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true #define EXT_INPUT_IO8 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true @@ -28,33 +29,56 @@ #define TMC_MOTOR_SPI hspi1 /*********************************************************************************************************************** - * 推杆电机 * + * 光学电机 * ***********************************************************************************************************************/ #define MOTOR1_CSN PA4 -#define MOTOR1_ENN PE3 +#define MOTOR1_ENN PD5 #define MOTOR1_SPI_MODE_SELECT PinNull -#define MOTOR1_nFREEZE_IO PE12 +#define MOTOR1_nFREEZE_IO PinNull #define MOTOR1_nRESET_IO PinNull -#define MOTOR1_SUB_IC_ENN_IO PE11 +#define MOTOR1_SUB_IC_ENN_IO PinNull -#define MOTOR1_REFL PD2 -#define MOTOR1_REFR PD1 +#define MOTOR1_REFL PD0 +#define MOTOR1_REFR PinNull #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT false -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 80 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 -#define MOTOR1_STEPMOTOR_IHOLD 1 -#define MOTOR1_STEPMOTOR_IRUN 8 -#define MOTOR1_STEPMOTOR_IHOLDDELAY 100 +/** + * @brief + * 这里电机距离换算参数思路是尽量接近甲方设备的换算参数，这样可以减少后期调试的工作量 + * + * 甲方设备: + * 丝杠导程:1.2192mm + * 电机步数:48 + * 细分:2 + * + * 软件中每步距离,1.2192mm/48/2 = 0.0127mm + * + * 我们默认设备: + * 丝杠导轨 2mm + * 电机每圈步数:200 + * 细分:256 + * + * 为了保证两台设备一致: + * 2mm/motor_one_circle_pulse = 0.0127mm (让我们的电机每步距离和甲方设备一致) + * motor_one_circle_pulse = 2mm/0.0127mm = 157.48031496062992125984251968504 + * + * motor_one_circle_pulse = 1574803 + * motor_one_circle_pulse_denominator = 10000 + */ +#define MOTOR1_MOTOR_SHAFT true +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 1574803 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 10000 +#define MOTOR1_STEPMOTOR_IHOLD 3 +#define MOTOR1_STEPMOTOR_IRUN 15 +#define MOTOR1_STEPMOTOR_IHOLDDELAY 1000 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 500 -#define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D -#define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D -#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 50 +#define MOTOR1_MOTOR_DEFAULT_VELOCITY 600 +#define MOTOR1_MIN_D 0 +#define MOTOR1_MAX_D 0 +#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 600 +#define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 100 #define MOTOR1_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART #define MOTOR1_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 #define MOTOR1_MOTOR_AMAX 300 @@ -65,33 +89,33 @@ #define MOTOR1_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT /*********************************************************************************************************************** - * 平移电机 * + * 推杆电机 * ***********************************************************************************************************************/ -#define MOTOR2_CSN PA4 -#define MOTOR2_ENN PE3 +#define MOTOR2_CSN PB1 +#define MOTOR2_ENN PD4 #define MOTOR2_SPI_MODE_SELECT PinNull -#define MOTOR2_nFREEZE_IO PE12 +#define MOTOR2_nFREEZE_IO PinNull #define MOTOR2_nRESET_IO PinNull -#define MOTOR2_SUB_IC_ENN_IO PE11 +#define MOTOR2_SUB_IC_ENN_IO PinNull #define MOTOR2_REFL PD2 -#define MOTOR2_REFR PD1 +#define MOTOR2_REFR PD8 #define MOTOR2_REFL_MIRROR true #define MOTOR2_REFR_MIRROR true -#define MOTOR2_MOTOR_SHAFT false -#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 +#define MOTOR2_MOTOR_SHAFT true +#define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 20 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 -#define MOTOR2_STEPMOTOR_IHOLD 1 -#define MOTOR2_STEPMOTOR_IRUN 8 -#define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY +#define MOTOR2_STEPMOTOR_IHOLD 3 +#define MOTOR2_STEPMOTOR_IRUN 15 +#define MOTOR2_STEPMOTOR_IHOLDDELAY 1000 #define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 +#define MOTOR2_MOTOR_DEFAULT_VELOCITY 600 #define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D -#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 -#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 +#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 600 +#define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 100 #define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART #define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 #define MOTOR2_MOTOR_AMAX 300