12 changed files with 744 additions and 17 deletions
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4.cproject
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4.settings/stm32cubeide.project.prefs
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2Core/Inc/FreeRTOSConfig.h
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5README.md
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6STM32F407VETX_FLASH.ld
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4STM32F407VETX_RAM.ld
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2a8000_protocol
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2sdk
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375usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
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145usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.hpp
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119usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case.cpp
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93usrc/subboards/subboard20_plate_clamp_case/subboard20_plate_clamp_case_board.c
@ -1,6 +1,6 @@ |
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2F62501ED4689FB349E356AB974DBE57=04980315A9C90A386CC08C1FEA19B581 |
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2F62501ED4689FB349E356AB974DBE57=9EAEC6679BAC0D8865B6DE2AD9864DCE |
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635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C |
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66BE74F758C12D739921AEA421D593D3=1 |
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8DF89ED150041C4CBC7CB9A9CAA90856=04980315A9C90A386CC08C1FEA19B581 |
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8DF89ED150041C4CBC7CB9A9CAA90856=9EAEC6679BAC0D8865B6DE2AD9864DCE |
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DC22A860405A8BF2F2C095E5B6529F12=EC6C4D369FD4F7EABFE17B3222B5F3A0 |
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eclipse.preferences.version=1 |
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@ -1 +1 @@ |
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Subproject commit 3887bd1636c93701b8041dce9f1c29dddd0b01f3 |
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Subproject commit 4f4db2708e7503d5369c7b5f9bdc7781fcca1be9 |
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@ -1 +1 @@ |
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Subproject commit 59e0029690e8b097ee03bd65083ec4b8f1974ce2 |
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Subproject commit 453c09f80bc5f51b5285d9f8b12df86c973a3515 |
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@ -0,0 +1,375 @@ |
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#include "plate_code_scaner_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 10
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#define ONE_BIT_WIDTH 12 // 12*.0.1mm
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#define BIT_NUM 15
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#define MAX_POINT (12 * 15 + 2) // 最多12*15+2个点,多扫描的两个点用于对齐使用
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#define TAG "PlateCodeScaner"
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#define LOGI(fmt, ...) ZLOGI(TAG, fmt, ##__VA_ARGS__)
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#define DO(func) \
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{ \ |
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int32_t ecode = func; \ |
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if (ecode != 0) { \ |
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ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \ |
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return ecode; \ |
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} \ |
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} |
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#define DO_IN_THREAD(func) \
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{ \ |
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int32_t ecode = func; \ |
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if (ecode != 0) { \ |
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ZLOGE(TAG, "do %s fail, error %s(%d)", #func, err::error2str(ecode), ecode); \ |
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creg.module_errorcode = ecode; \ |
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return; \ |
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} \ |
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} |
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#define BITVAL(code, off) ((code & (1 << off)) >> off)
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static void decode(uint32_t rawcode, int32_t* pitem, int32_t* plot) { //
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// Lot:3:6
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// bit3->bit3, bit4->bit2, bit5->bit1, bit6->bit0
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uint32_t lot = 0; |
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lot = BITVAL(rawcode, 3) << 3 | BITVAL(rawcode, 4) << 2 | BITVAL(rawcode, 5) << 1 | BITVAL(rawcode, 6) << 0; |
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// =(bit1)*2^6+(bit2)*2^5+(bit11)*2^4+(bit10)*2^0+(bit9)*2^1+(bit8)*2^2+(bit7)*2^3
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uint32_t item = 0; |
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item = (BITVAL(rawcode, 1) << 6) //
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| (BITVAL(rawcode, 2) << 5) //
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| (BITVAL(rawcode, 11) << 4) //
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| (BITVAL(rawcode, 10) << 0) //
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| (BITVAL(rawcode, 9) << 1) //
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| (BITVAL(rawcode, 8) << 2) //
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| (BITVAL(rawcode, 7) << 3); |
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ZLOGI(TAG, "item-lot: %d-%d\n", item, lot); |
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*pitem = item; |
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*plot = lot; |
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} |
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static int32_t t_detector_gain_to_potentiometer_val(float scan_gain) { |
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int32_t potentiometer_val = 0; |
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potentiometer_val = (scan_gain * 4.7 - 2.4) * 256. / 100. + 0.5; |
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if (potentiometer_val < 1) potentiometer_val = 1; |
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if (potentiometer_val > 255) potentiometer_val = 255; |
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return potentiometer_val; |
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} |
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void PlateCodeScanerModule::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_f_opt_laster_enable_io.initAsOutput(&m_hardwarecfg.f_opt_laster_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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m_motor = (StepMotorCtrlModule*)m_hardwarecfg.motor; |
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ZASSERT(m_motor); |
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adc_capture_buf = (int16_t*)calloc(2, MAX_POINT); |
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ZASSERT(adc_capture_buf); |
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m_reg.laster_intensity = 1; |
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m_reg.scan_gain = 10; |
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m_thread.init("PlateCodeScanerModule", 1024, osPriorityNormal); |
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} |
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int32_t PlateCodeScanerModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) { |
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switch (param_id) { |
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PROCESS_REG(kreg_plate_code_scaner_laster_intensity, REG_GET(m_reg.laster_intensity), REG_SET(m_reg.laster_intensity)); |
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PROCESS_REG(kreg_plate_code_scaner_scan_gain, REG_GET(m_reg.scan_gain), REG_SET(m_reg.scan_gain)); |
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// PROCESS_REG(kreg_plate_code_scaner_scan_step_interval, REG_GET(m_reg.scan_step_interval), REG_SET(m_reg.scan_step_interval));
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// PROCESS_REG(kreg_plate_code_scaner_scan_point_num, REG_GET(m_reg.scan_point_num), REG_SET(m_reg.scan_point_num));
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default: |
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return err::kmodule_not_find_reg; |
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break; |
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} |
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if (!read) module_active_cfg(); |
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return 0; |
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}; |
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int32_t PlateCodeScanerModule::module_stop() { |
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m_thread.stop(); |
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return 0; |
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}; |
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int32_t PlateCodeScanerModule::plate_code_scaner_push_card_and_scan(int32_t final_stop_pos) { |
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ZLOGI(TAG, "plate_code_scaner_push_card_and_scan: %d", final_stop_pos); |
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/**
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* @brief |
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*/ |
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m_thread.stop(); |
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creg.module_status = 1; |
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m_thread.start( |
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[this, final_stop_pos]() { //
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DO_IN_THREAD(before_run()); |
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ZLOGI(TAG, "plate_code_scaner_open_laser"); |
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plate_code_scaner_open_laser(); |
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/***********************************************************************************************************************
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* 移动电机到扫描启动位置 * |
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***********************************************************************************************************************/ |
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ZLOGI(TAG, "step_motor_easy_move_to start pos: %d", m_reg.scan_start_pos); |
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m_motor->step_motor_easy_move_to(m_reg.scan_start_pos); |
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while (true) { |
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if (!check_when_run() || m_thread.getExitFlag()) break; |
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int32_t status = 0; |
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m_motor->module_get_status(&status); |
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if (status == 0) break; // 电机停止
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if (status == 2) return; // 电机异常
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osDelay(5); |
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} |
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ZLOGI(TAG, "has moved to start pos"); |
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/***********************************************************************************************************************
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* 开始扫码 * |
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***********************************************************************************************************************/ |
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ZLOGI(TAG, "start scan"); |
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m_reg.item = -1; |
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m_reg.lot = -1; |
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m_reg.rawcode = 0; |
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m_reg.code_legal = -1; |
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auto _motor = m_motor->getMotor(); |
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int32_t targetpos = 0; |
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targetpos = m_reg.scan_start_pos + ONE_BIT_WIDTH * BIT_NUM; |
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ZLOGI(TAG, "move to: %d", targetpos); |
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_motor->moveTo(targetpos, m_reg.scan_velocity); |
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reset_capture_buf(); |
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chip_critical_enter(); |
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while (true) { |
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if (m_thread.getExitFlag()) break; |
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if (_motor->isReachTarget()) break; |
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// 读取ADC
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int32_t pos = _motor->getXACTUAL(); |
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int16_t adcv = read_adc_val(); |
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int32_t dpos = abs(pos - m_reg.scan_start_pos); |
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push_one_point(dpos, adcv); |
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} |
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chip_critical_exit(); |
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/***********************************************************************************************************************
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* 移动到扫码结束位置 * |
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***********************************************************************************************************************/ |
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ZLOGI(TAG, "step_motor_easy_move_to end pos: %d", final_stop_pos); |
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m_motor->step_motor_easy_move_to(final_stop_pos); |
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while (true) { |
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if (!check_when_run() || m_thread.getExitFlag()) break; |
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int32_t status = 0; |
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m_motor->module_get_status(&status); |
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if (status == 0) break; // 电机停止
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if (status == 2) return; // 电机异常
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osDelay(5); |
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} |
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ZLOGI(TAG, "has moved to start pos"); |
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dumppoint(); |
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parsepoint(); |
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}, |
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[this]() { // exit fn
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after_run(); |
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m_motor->step_motor_stop(0); |
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plate_code_scaner_close_laser(); |
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} //
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); |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_stop_scan() { |
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ZLOGI(TAG, "plate_code_scaner_stop_scan"); |
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m_thread.stop(); |
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return 0; |
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} |
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void PlateCodeScanerModule::push_one_point(int32_t pos, int16_t pointval) { |
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if (pos >= MAX_POINT) { |
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return; |
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} |
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if (pos < 0) { |
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return; |
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} |
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for (int32_t i = adc_capture_last_point_index + 1; i < pos; i++) { |
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adc_capture_buf[i] = adc_capture_buf[adc_capture_last_point_index]; |
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} |
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adc_capture_buf[pos] = pointval; |
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adc_capture_point_num = pos + 1; |
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adc_capture_last_point_index = pos; |
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} |
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void PlateCodeScanerModule::reset_capture_buf() { |
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adc_capture_point_num = 0; |
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adc_capture_last_point_index = 0; |
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for (int32_t i = 0; i < MAX_POINT; i++) { |
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adc_capture_buf[i] = 0; |
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} |
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} |
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void PlateCodeScanerModule::dumppoint() { |
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ZLOGI(TAG, " ===== capture points: %d ==== ", adc_capture_point_num); |
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for (int32_t i = 0; i < adc_capture_point_num; i++) { |
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ZLOGI(TAG, "%5d %5d", i, adc_capture_buf[i]); |
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} |
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} |
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void PlateCodeScanerModule::parsepoint() { |
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//
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uint8_t code[15]; |
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for (int32_t i = 0; i < 15; i++) { |
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int pos = i * 12 + 6; |
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// 黑色数值更小，黑色1，白色0
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if (adc_capture_buf[i] < m_reg.code_judgment_threshold) { |
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code[i] = 1; |
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} else { |
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code[i] = 0; |
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} |
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} |
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uint32_t rawcode = 0; |
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for (int32_t i = 0; i < 15; i++) { |
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rawcode |= code[i] << i; |
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} |
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int32_t item = 0; |
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int32_t lot = 0; |
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decode(rawcode, &item, &lot); |
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m_reg.item = item; |
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m_reg.lot = lot; |
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m_reg.rawcode = rawcode; |
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if (code[14] == 1 && code[13] == 0 && code[12] == 0) { |
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m_reg.code_legal = 1; |
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} else { |
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m_reg.code_legal = 0; |
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} |
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ZLOGI(TAG, "rawcode:%x code: %d-%d (legal:%d)", rawcode, m_reg.item, m_reg.lot, m_reg.code_legal); |
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} |
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int32_t PlateCodeScanerModule::before_run() { return 0; } |
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int32_t PlateCodeScanerModule::after_run() { return 0; } |
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bool PlateCodeScanerModule::check_when_run() { return true; } |
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int32_t PlateCodeScanerModule::plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) { |
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// 每次传10个点
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int32_t start = packetIndex * RAW_SECTION_SIZE; |
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int32_t end = start + RAW_SECTION_SIZE; |
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if (end > adc_capture_point_num) { |
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end = adc_capture_point_num; |
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} |
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int32_t size = end - start; |
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if (size <= 0) { |
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*len = 0; |
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return 0; |
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} |
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memcpy(data, adc_capture_buf + start, size * 2); |
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*len = size * 2; |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_read_result_point_num(int32_t* packetNum) { |
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*packetNum = adc_capture_point_num; |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_adc_readraw(int32_t* val) { |
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*val = read_adc_val(); |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_read_code(int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot) { |
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*item = m_reg.item; |
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*lot = m_reg.lot; |
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*rawcode = m_reg.rawcode; |
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*legal = m_reg.code_legal; |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_open_laser() { |
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scaner_set_gain(m_reg.scan_gain / 10.0); |
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laser_set_intensity(m_reg.laster_intensity); |
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m_t_laster_enable_io.setState(true); |
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m_amp_negative_5v_gpio.setState(true); |
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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_lasterIsOn = true; |
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return 0; |
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} |
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void PlateCodeScanerModule::scaner_set_gain(float gain) { |
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int32_t potentiometer_val = 0; |
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potentiometer_val = t_detector_gain_to_potentiometer_val(gain); |
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ZLOGI(TAG, "scaner_set_gain: %.2f(potentiometer_val: %d)", gain, potentiometer_val); |
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m_t_optical_scaner_mcp41_ohm.setPotentiometerValue_0(potentiometer_val); |
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} |
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void PlateCodeScanerModule::laser_set_intensity(float intensity) { |
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int32_t potentiometer_val = 0; |
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potentiometer_val = intensity / 100.0 * 255.0; |
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ZLOGI(TAG, "laser_set_intensity: %.2f(potentiometer_val: %d)", intensity, potentiometer_val); |
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} |
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int32_t PlateCodeScanerModule::plate_code_scaner_close_laser() { |
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m_t_laster_enable_io.setState(false); |
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m_lasterIsOn = false; |
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return 0; |
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} |
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int32_t PlateCodeScanerModule::read_adc_val() { |
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int32_t val = 0; |
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t_result_adc.get_adc_value(val); |
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#define CAPTURE_NUM 3
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int32_t cache[CAPTURE_NUM]; |
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for (int i = 0; i < CAPTURE_NUM; i++) { |
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f_result_adc.get_adc_value(cache[i]); |
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} |
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// 先排序，取中间10个数的中值
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for (int i = 0; i < CAPTURE_NUM; i++) { |
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for (int j = i + 1; j < CAPTURE_NUM; j++) { |
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if (cache[i] > cache[j]) { |
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int temp = cache[i]; |
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cache[i] = cache[j]; |
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cache[j] = temp; |
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} |
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} |
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} |
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for (int i = 1; i < CAPTURE_NUM - 1; i++) { |
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val += cache[i]; |
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} |
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return val / (CAPTURE_NUM - 2); |
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} |
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#pragma once
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#include "sdk\components\sensors\mcp41xxx\mcp41xxx.hpp"
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#include "sdk\os\zos.hpp"
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//
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#include "a8000_protocol\api\zi_plate_code_scaner_module.hpp"
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#include "a8000_protocol\protocol.hpp"
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#include "sdk\chip\api\zi_adc.hpp"
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#include "sdk\components\hardware\adc\z_simple_adc.hpp"
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#include "sdk\components\step_motor_ctrl_module\step_motor_ctrl_module.hpp"
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namespace iflytop { |
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using namespace std; |
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class PlateCodeScanerModule : public ZIModule, public ZI_PlateCodeScanerModule { |
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ENABLE_MODULE(PlateCodeScanerModule, ka8000_plate_code_scaner, PC_VERSION); |
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typedef enum { |
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kf_optical = 0, |
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kt_optical = 1, |
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ktest_optical = 2, |
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} optical_type_t; |
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public: |
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typedef struct { |
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ZGPIO::OutputGpioCfg_t amp_negative_5v_gpio; |
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ZADC::adc_config_t t_laster_adc; |
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ZADC::adc_config_t t_result_adc; |
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MCP41XXX::hardware_config_t t_optical_amp_mcp41; |
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MCP41XXX::hardware_config_t t_optical_scaner_mcp41; |
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ZGPIO::OutputGpioCfg_t t_laster_enable_io; |
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ZGPIO::OutputGpioCfg_t t_amp_sw_io; |
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|
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MCP41XXX::hardware_config_t f_optical_amp_mcp41; |
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MCP41XXX::hardware_config_t f_optical_scaner_mcp41; |
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ZADC::adc_config_t f_laster_adc; |
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ZADC::adc_config_t f_result_adc; |
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ZGPIO::OutputGpioCfg_t f_opt_laster_enable_io; |
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ZGPIO::OutputGpioCfg_t f_amp_sw_io; |
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|
|||
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; |
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|
|||
} hardware_config_t; |
|||
|
|||
typedef struct { |
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int32_t laster_intensity; // 0->100
|
|||
int32_t scan_gain; // 1 = 0.1倍增益
|
|||
int32_t scan_velocity; // 扫描速度
|
|||
int32_t scan_start_pos; // 扫描开始位置
|
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int32_t final_stop_pos; // 扫描结束停止位置
|
|||
int32_t code_judgment_threshold; // 编码解析时，判断当前位置的编码是0还是1的阈值
|
|||
int32_t item; //
|
|||
int32_t lot; //
|
|||
int32_t rawcode; //
|
|||
int32_t code_legal; //
|
|||
} reg_table_t; |
|||
|
|||
private: |
|||
int32_t m_id = 0; |
|||
hardware_config_t m_hardwarecfg; |
|||
reg_table_t m_reg = {0}; |
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|
|||
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_f_opt_laster_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* m_motor = nullptr; |
|||
|
|||
ZThread m_thread; |
|||
|
|||
int16_t* adc_capture_buf = nullptr; |
|||
int32_t adc_capture_point_num = 0; |
|||
int32_t adc_capture_last_point_index = 0; |
|||
|
|||
int32_t f_adc_cache[20]; |
|||
|
|||
bool m_lasterIsOn = false; |
|||
|
|||
public: |
|||
virtual ~PlateCodeScanerModule(){}; |
|||
|
|||
void initialize(int32_t moduleid, hardware_config_t* hardwarecfg); |
|||
|
|||
public: |
|||
/***********************************************************************************************************************
|
|||
* ZIModule * |
|||
***********************************************************************************************************************/ |
|||
virtual int32_t getid(int32_t* id) { |
|||
*id = m_id; |
|||
return 0; |
|||
} |
|||
|
|||
virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override; |
|||
virtual int32_t module_stop() override; |
|||
|
|||
/***********************************************************************************************************************
|
|||
* ZI_PlateCodeScanerModule * |
|||
***********************************************************************************************************************/ |
|||
virtual int32_t plate_code_scaner_push_card_and_scan(int32_t final_stop_pos) override; |
|||
virtual int32_t plate_code_scaner_stop_scan() override; |
|||
virtual int32_t plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) override; |
|||
virtual int32_t plate_code_scaner_read_result_point_num(int32_t* packetNum) override; |
|||
virtual int32_t plate_code_scaner_read_code(int32_t* rawcode, int32_t* legal, int32_t* item, int32_t* lot) override; |
|||
|
|||
virtual int32_t plate_code_scaner_adc_readraw(int32_t* val) override; |
|||
virtual int32_t plate_code_scaner_open_laser() override; |
|||
virtual int32_t plate_code_scaner_close_laser() override; |
|||
|
|||
private: |
|||
void push_one_point(int32_t pos, int16_t pointval); |
|||
void reset_capture_buf(); |
|||
void dumppoint(); |
|||
void parsepoint(); |
|||
|
|||
private: |
|||
int32_t before_run(); |
|||
int32_t after_run(); |
|||
bool check_when_run(); |
|||
|
|||
int32_t read_adc_val(); |
|||
void scaner_set_gain(float gain); |
|||
void laser_set_intensity(float intensity); |
|||
}; |
|||
} // namespace iflytop
|
|||
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