update

a8000_protocol

@@ -1 +1 @@
-Subproject commit d7a693c2c9a71a2e3b2aa3b7aefc22c8e97d4a11
+Subproject commit c6a2a14eb08bbd60018e24b866a874db6d6dff80

usrc/main.cpp

@@ -7,6 +7,8 @@
 #include "sdk/os/zos.hpp"
 #include "sysmgr/sys_mgr.hpp"
 //
+#include "subboards/subboard100_idcard_reader/subboard100_id_card_reader.hpp"
+#include "subboards/subboard100_idcard_reader/subboard100_id_card_reader_board.h"
 #include "subboards/subboard10_hbot/subboard10_hbot.hpp"
 #include "subboards/subboard10_hbot/subboard10_hbot_board.h"
 #include "subboards/subboard200_ext_tmc5160/subboard200_ext_tmc5160.hpp"
@@ -66,9 +68,13 @@ static void board_init() {
     case 90:
       subboard90_optical_module_board_init();
       break;
+    case 100:
+      subboard100_id_card_reader_board_init();
+      break;
     case 200:
       subboard200_ext_tmc5160_board_init();
       break;
+
     default:
       common_hardware_init();
       break;
@@ -100,6 +106,9 @@ static void board_post_init() {
     case 80:
       Subboard80Cliptip::ins()->initialize();
       break;
+    case 100:
+      Subboard100IdCardReader::ins()->initialize();
+      break;
     case 200:
       Subboard200ExtTmc5160::ins()->initialize();
       break;

usrc/public_service/gservice.cpp

@@ -1,7 +1,7 @@
 #include "gservice.hpp"
 
+#include "a8000_protocol\protocol_event_bus_sender.hpp"
 #include "configs/device_id_mgr.hpp"
-
 using namespace iflytop;
 
 void GService::initialize() {  //
@@ -9,6 +9,7 @@ void GService::initialize() {  //
   ZCanReceiver::CFG* zcanreceiver_cfg = zcanreceiver.createCFG(zdevice_id_mgr_get_device_id());
   zcanreceiver.initialize(zcanreceiver_cfg);
   zcan_protocol_parser.initialize(&zcanreceiver);
+  ProtocolEventBusSender::inst()->initialize(&zcanreceiver);
 }
 
 GService* GService::inst() {

usrc/public_service/gservice.hpp

@@ -9,8 +9,9 @@
 namespace iflytop {
 
 class GService {
-  ZCanReceiver       zcanreceiver;
-  ZCanProtocolParser zcan_protocol_parser;
+  ZCanReceiver           zcanreceiver;
+  ZCanProtocolParser     zcan_protocol_parser;
+  ProtocolEventBusSender evenSender;
 
  public:
   void initialize();

usrc/subboards/subboard100_idcard_reader/eeprom_service.cpp

@@ -0,0 +1,189 @@
+#include "eeprom_service.hpp"
+
+#include <stdio.h>
+#include <string.h>
+
+using namespace std;
+using namespace iflytop;
+
+#define SECTOR_SIZE (128)
+#define SECTOR_NUM  (2 * 8)  // 2k
+#define MAX_SIZE    (SECTOR_SIZE * SECTOR_NUM)
+
+#define TAG "EEPROMService"
+
+/*******************************************************************************
+ *                                   PRIVATE                                   *
+ *******************************************************************************/
+static __unused void dumpbuf(uint8_t* buf, size_t len) {
+  for (size_t i = 0; i < len;) {
+    printf("%04x: ", i);
+    for (size_t j = 0; j < 32; j++) {
+      printf("%02x ", buf[i + j]);
+    }
+
+    printf("|");
+    for (size_t j = 0; j < 32; j++) {
+      if (buf[i + j] >= 0x20 && buf[i + j] <= 0x7e) {
+        printf("%c", buf[i + j]);
+      } else {
+        printf(".");
+      }
+    }
+    printf("\n");
+    i += 32;
+  }
+}
+
+/*******************************************************************************
+ *                                    CODE                                     *
+ *******************************************************************************/
+
+void EEPROMService::initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender) {
+  m_i2c_handle = i2c_handle;
+  ZASSERT(m_i2c_handle);
+  m_mutex.init();
+  m_monitor_thread.init(TAG, 1024, osPriorityNormal);
+  this->id = id;
+
+  m_event_bus_sender = event_bus_sender;
+  m_subdevice_p24c16.initialize(m_i2c_handle);    // 小ID卡
+  m_subdevice_m24lrxxe.initialize(m_i2c_handle);  // 大ID卡（旧）
+
+  // write_test_data_rom(&m_subdevice_p24c16);
+  // write_test_data_rom(&m_subdevice_m24lrxxe);
+
+  start_monitor_status();
+}
+
+int32_t EEPROMService::start_monitor_status() {
+  ZLOGI(TAG, "start_monitor_status");
+  m_monitor_thread.start([this]() {
+    // eeprom_status_t status;
+    while (!m_monitor_thread.getExitFlag()) {
+      detect_online();
+      osDelay(100);
+    }
+  });
+  return 0;
+};
+int32_t EEPROMService::stop_monitor_status() {
+  ZLOGI(TAG, "stop_monitor_status");
+  m_monitor_thread.stop();
+  return 0;
+};
+
+void EEPROMService::scan_i2c() {
+  HAL_I2C_DeInit(m_i2c_handle);
+  HAL_I2C_Init(m_i2c_handle);
+
+  memset(i2c_ping_state, 0, sizeof(i2c_ping_state));
+  for (uint16_t i = 0; i < 255; i++) {
+    HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(m_i2c_handle, i << 1, 1, 1);
+    if (status == HAL_OK) {
+      i2c_ping_state[i] = true;
+    } else {
+      i2c_ping_state[i] = false;
+    }
+  }
+}
+
+void EEPROMService::dump_i2c_scan_result() {
+  ZLOGI_NOT_END_LINE(TAG, "dump_i2c_scan_result:");
+  for (uint16_t i = 0; i < 255; i++) {
+    if (i2c_ping_state[i]) {
+      printf("%02x ", i);
+    }
+  }
+  printf("\n");
+}
+
+void EEPROMService::detect_online() {
+  zlock_guard guard(m_mutex);
+  if (!m_nowonline) {
+    scan_i2c();
+
+    /**
+     * @brief
+     *
+     *    这里只是简单的判断eeprom的类型，并不是通用的判断逻辑， 仅仅是为了巴迪泰A8000设备而设计
+     * 巴迪泰项目中，eeprom只有两种，p24c16和m24lrxxe，且容积都是2kbyte
+     *    这里的判断逻辑:
+     *        p24c16  :地址包换  0x50,0x51,0x52,0x53,0x54,0x55,0x56,0x57
+     *        m24lrxxe:地址只包换 0x53,0x57
+     *
+     * @param i2c_ping_state
+     */
+
+    if (i2c_ping_state[0x50] && i2c_ping_state[0x51] && i2c_ping_state[0x52]) {
+      m_nowonline = &m_subdevice_p24c16;
+      change_is_online_flag(true);
+      ZLOGI(TAG, "detect eerpom p24c16");
+    } else if (!i2c_ping_state[0x50] && i2c_ping_state[0x53] && i2c_ping_state[0x57]) {
+      m_nowonline = &m_subdevice_m24lrxxe;
+      change_is_online_flag(true);
+      ZLOGI(TAG, "detect eerpom m24lrxxe");
+    }
+
+  } else {
+    if (!m_nowonline->isOnline()) {
+      m_nowonline = nullptr;
+      change_is_online_flag(false);
+    }
+  }
+}
+
+int32_t EEPROMService::module_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;
+
+  uint16_t add = index * SECTOR_SIZE;
+  *len         = SECTOR_SIZE;
+
+  ZLOGI(TAG, "read: %d, %d", add, *len);
+  int32_t val = m_nowonline->read(add, data, len);
+  // dumpbuf(data, *len);
+  return val;
+}
+
+int32_t EEPROMService::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
+  switch (param_id) {
+    PROCESS_REG(kreg_id_card_reader_raw_sector_size, /*    */ REG_GET(SECTOR_SIZE), ACTION_NONE);
+    PROCESS_REG(kreg_id_card_reader_raw_sector_num, /*     */ REG_GET(SECTOR_NUM), ACTION_NONE);
+    PROCESS_REG(kreg_id_card_reader_is_online, /*          */ REG_GET(m_is_online_flag), ACTION_NONE);
+    default:
+      return err::kmodule_not_find_reg;
+      break;
+  }
+  return 0;
+}
+
+void EEPROMService::change_is_online_flag(bool state) {
+  if (m_is_online_flag != state) {
+    ZLOGI(TAG, "change_is_online_flag: %d", state);
+    m_is_online_flag = state;
+    if (m_event_bus_sender) {
+      m_event_bus_sender->push_reg_state_change_event(id, kreg_id_card_reader_is_online, !m_is_online_flag, m_is_online_flag);
+    }
+  }
+}
+int32_t EEPROMService::module_get_status(int32_t* status) {
+  if (!m_monitor_thread.isworking()) {
+    return 0;
+  }
+  return 1;
+}
+void EEPROMService::write_test_data_rom(ZI_EEPROM* rom) {
+  uint32_t data     = 0;
+  uint32_t readdata = 0;
+  for (uint16_t i = 0; i < 2 * 1024;) {
+    int32_t wlen = 4;
+    rom->write(i, (uint8_t*)&data, &wlen);
+    rom->read(i, (uint8_t*)&readdata, &wlen);
+
+    ZLOGI(TAG, "off:%x w:%d,r:%d", i, data, readdata);
+    data += 1;
+    i += 4;
+  }
+}

usrc/subboards/subboard100_idcard_reader/eeprom_service.hpp

@@ -0,0 +1,74 @@
+
+
+#include "sdk\components\sensors\i2ceeprom\m24lrxxe_i2c_eeprom.hpp"
+#include "sdk\components\sensors\i2ceeprom\p24c16_eeprom.hpp"
+//
+#include "sdk\os\zos.hpp"
+
+#ifdef HAL_I2C_MODULE_ENABLED
+namespace iflytop {
+using namespace std;
+// ref:https://iflytop1.feishu.cn/wiki/PO1LwwvaNi4F10kiobMcjSK4nBg
+
+/**
+ * @brief
+ *
+ * @Warning
+ *  此服务专门为巴迪泰A8000设备完成，代码其中存在一些默认条件
+ *    1. eeprom只有两种，p24c16和m24lrxxe
+ *    2. eeprom的容积为2kbyte
+ */
+
+class EEPROMService : public ZIModule {
+  ENABLE_MODULE(EEPROMService,ka8000_idcard_reader,PC_VERSION)
+  I2C_HandleTypeDef* m_i2c_handle;
+  ZThread            m_monitor_thread;
+  bool               m_is_online_flag = false;
+  zmutex             m_mutex;
+  ZIEventBusSender*  m_event_bus_sender;
+
+  int32_t id = 0;
+
+  bool       i2c_ping_state[255] = {0};
+  ZI_EEPROM* m_nowonline         = nullptr;
+
+ public:
+  /*******************************************************************************
+   *                                  SUBDEVICE                                  *
+   *******************************************************************************/
+  P24C16              m_subdevice_p24c16;
+  M24LRXXE_I2C_EEPROM m_subdevice_m24lrxxe;
+
+ public:
+  EEPROMService(){};
+  ~EEPROMService(){};
+
+  void initialize(int id, I2C_HandleTypeDef* i2c_handle, ZIEventBusSender* event_bus_sender);
+
+ public:
+  int32_t start_monitor_status();
+  int32_t stop_monitor_status();
+
+ private:
+  void scan_i2c();
+  void dump_i2c_scan_result();
+  void detect_online();
+
+ public:
+  virtual int32_t getid(int32_t* id) override {
+    *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;
+  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& param_value) override;
+
+ private:
+  void change_is_online_flag(bool state);
+  void write_test_data_rom(ZI_EEPROM* rom);
+};
+}  // namespace iflytop
+
+#endif

usrc/subboards/subboard100_idcard_reader/pri_board.h

@@ -0,0 +1,58 @@
+#pragma once
+
+/***********************************************************************************************************************
+ *                                                     板载扩展IO                                                      *
+ ***********************************************************************************************************************/
+#define EXT_INPUT_IO0 PD4, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
+#define EXT_INPUT_IO1 PD5, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
+#define EXT_INPUT_IO2 PD6, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
+#define EXT_INPUT_IO3 PD7, 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_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
+#define EXT_INPUT_IO9 PinNull, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true
+
+#define EXT_OUTPUT_IO0 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO1 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO2 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO3 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO4 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO5 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO6 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO7 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO8 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+#define EXT_OUTPUT_IO9 PinNull, ZGPIO::kMode_nopull, false /*mirror*/, true /*init val*/
+
+#define TMC_MOTOR_SPI hspi1
+
+/***********************************************************************************************************************
+ *                                                    左右移动                                                          *
+ ***********************************************************************************************************************/
+
+// MOTOR1
+#define TMC_MOTOR1_CHANNEL        1
+#define TMC_MOTOR1_SPI_SELECT1_IO PA4
+#define TMC_MOTOR1_nFREEZE_IO     PC2
+#define TMC_MOTOR1_nRESET_IO      PB3
+#define TMC_MOTOR1_SUB_IC_ENN_IO  PC3
+#define TMC_MOTOR1_ENN_IO  // unused
+
+// MOTOR2
+#define TMC_MOTOR2_CHANNEL        2
+#define TMC_MOTOR2_SPI_SELECT1_IO PA8
+#define TMC_MOTOR2_nFREEZE_IO     PC6
+#define TMC_MOTOR2_nRESET_IO      PB2
+#define TMC_MOTOR2_SUB_IC_ENN_IO  PC7
+#define TMC_MOTOR2_ENN_IO  // unused
+
+#define ARM_X_ZERO  PD0
+#define ARM_X_LIMIT PD1
+#define ARM_Y_ZERO  PD2
+#define ARM_Y_LIMIT PD3
+
+#define ARM_SENSOR5_GPIO PD4
+#define ARM_SENSOR6_GPIO PD5
+#define ARM_SENSOR7_GPIO PD6
+#define ARM_SENSOR8_GPIO PD7

usrc/subboards/subboard100_idcard_reader/subboard100_id_card_reader.cpp

@@ -0,0 +1,34 @@
+#include "subboard100_id_card_reader.hpp"
+extern "C" {
+#include "subboard100_id_card_reader_board.h"
+}
+#include "eeprom_service.hpp"
+#include "pri_board.h"
+#include "public_service/instance_init.hpp"
+#include "public_service/public_service.hpp"
+#include "sdk/components/mini_servo_motor/feite_servo_motor.hpp"
+#include "sdk/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp"
+#include "sdk/components/sensors/m3078/m3078_code_scaner.hpp"
+#include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
+#include "sdk/components/tmc/ic/ztmc4361A.hpp"
+#include "sdk\components\pipette_module\pipette_ctrl_module_v2.hpp"
+#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
+
+#define TAG "Subboard100IdCardReader"
+
+using namespace iflytop;
+
+/***********************************************************************************************************************
+ *                                                        IMPL                                                         *
+ ***********************************************************************************************************************/
+void Subboard100IdCardReader::initialize() {
+  IO_INIT();
+  GService::inst()->getZCanProtocolParser()->registerModule(this);
+#if 1
+  static EEPROMService eepromService;
+
+  eepromService.initialize(getmoduleId(1), &hi2c1, ProtocolEventBusSender::inst());
+  GService::inst()->registerModule(&eepromService);
+
+#endif
+}

usrc/subboards/subboard100_idcard_reader/subboard100_id_card_reader.hpp

@@ -0,0 +1,26 @@
+#include <stddef.h>
+#include <stdio.h>
+
+//
+#include "configs/device_id_mgr.hpp"
+#include "sdk/chip/chip.hpp"
+#include "sdk/os/zos.hpp"
+//
+#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
+#include "sdk\components\tmc\ic\ztmc5130.hpp"
+#include "public_service/public_service.hpp"
+
+namespace iflytop {
+class Subboard100IdCardReader : public  ExtBoardImpl {
+ public:
+  static Subboard100IdCardReader *ins() {
+    static Subboard100IdCardReader instance;
+    return &instance;
+  }
+
+  void initialize();
+};
+
+}  // namespace iflytop
+
+

usrc/subboards/subboard100_idcard_reader/subboard100_id_card_reader_board.c

@@ -0,0 +1,39 @@
+#include "main.h"
+#include "public_service/public_service.h"
+
+void MX_I2C1_Init(void) {
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_I2C1_CLK_ENABLE();
+
+  hi2c1.Instance             = I2C1;
+  hi2c1.Init.ClockSpeed      = 50000;
+  hi2c1.Init.DutyCycle       = I2C_DUTYCYCLE_2;
+  hi2c1.Init.OwnAddress1     = 0;
+  hi2c1.Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
+  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
+  hi2c1.Init.OwnAddress2     = 0;
+  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
+  hi2c1.Init.NoStretchMode   = I2C_NOSTRETCH_DISABLE;
+  if (HAL_I2C_Init(&hi2c1) != HAL_OK) {
+    Error_Handler();
+  }
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /**I2C1 GPIO Configuration
+  PB6     ------> I2C1_SCL
+  PB7     ------> I2C1_SDA
+  */
+  GPIO_InitStruct.Pin       = GPIO_PIN_6 | GPIO_PIN_7;
+  GPIO_InitStruct.Mode      = GPIO_MODE_AF_OD;
+  GPIO_InitStruct.Pull      = GPIO_NOPULL;
+  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  hi2c1_enable = true;
+}
+
+void subboard100_id_card_reader_board_init() {
+  common_hardware_init();
+  MX_I2C1_Init();
+}

usrc/subboards/subboard100_idcard_reader/subboard100_id_card_reader_board.h

@@ -0,0 +1,12 @@
+#pragma once
+#include "main.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void subboard100_id_card_reader_board_init();
+
+#ifdef __cplusplus
+}
+#endif