project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
470ac52a0a
commit
2701ccf4fb
5 changed files with 139 additions and 13 deletions
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  1. 4
      components/sensors/i2ceeprom/m24lr64e_i2c_eeprom.cpp
  2. 68
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  3. 7
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  4. 71
      components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
  5. 2
      components/zprotocols/zcancmder_v2

4
components/sensors/i2ceeprom/m24lr64e_i2c_eeprom.cpp
View File

@ -38,7 +38,7 @@ int32_t M24LR64E_I2CEEPROM::start_monitor_status(function<void(eeprom_status_t&
ZLOGI(TAG, "detect M24LR64E_I2CEEPROM online status changed: %d", is_online);
m_is_online_flag = is_online;
status.connected = m_is_online_flag;
if (cb) (status);
if (cb) cb(status);
}
osDelay(100);
@ -82,4 +82,4 @@ bool M24LR64E_I2CEEPROM::isonline() {
return true;
}
#endif
#endif

68
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -33,6 +33,7 @@ void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, //
create_default_cfg(m_cfg);
}
active_cfg();
enable(true);
m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
}
@ -168,6 +169,7 @@ int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int32_t speed, action
});
return 0;
}
int32_t XYRobotCtrlModule::move_to_zero(action_cb_status_t status_cb) {
zlock_guard lock(m_lock);
ZLOGI(TAG, "move_to_zero");
@ -234,6 +236,7 @@ int32_t XYRobotCtrlModule::enable(bool venable) {
ZLOGI(TAG, "enable:%d", venable);
m_stepM1->enable(venable);
m_stepM2->enable(venable);
m_enable = venable;
return 0;
}
int32_t XYRobotCtrlModule::stop(uint8_t stopType) {
@ -336,8 +339,8 @@ int32_t XYRobotCtrlModule::set_base_param(const base_param_t& inparam) {
};
void XYRobotCtrlModule::active_cfg() {
m_stepM1->setScale(m_basecfg.distance_scale/2);
m_stepM2->setScale(m_basecfg.distance_scale/2);
m_stepM1->setScale(m_basecfg.distance_scale / 2);
m_stepM2->setScale(m_basecfg.distance_scale / 2);
m_stepM1->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
m_stepM2->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay);
}
@ -668,6 +671,42 @@ int32_t XYRobotCtrlModule::_module_set_or_get_param(bool set, int32_t param_id,
return 0;
}
int32_t XYRobotCtrlModule::module_set_state(int32_t state_id, int32_t state_value) { return err::kmodule_not_find_state_index; }
int32_t XYRobotCtrlModule::module_get_state(int32_t state_id, int32_t* state_value) {
#if 0
kstate_module_status
kstate_module_errorcode
// kstate_xyrobot_move
kstate_xyrobot_enable
kstate_xyrobot_x_pos
kstate_xyrobot_y_pos
kstate_xyrobot_x_dpos
kstate_xyrobot_y_dpos
#endif
// state_value
#define GET_STATE(param_id, configval) \
case param_id: \
*state_value = configval; \
return 0; \
break;
int32_t x, y;
getnowpos(x, y);
switch (state_id) {
GET_STATE(kstate_module_status, m_thread.isworking() ? 0x01 : 0x00);
GET_STATE(kstate_module_errorcode, 0);
GET_STATE(kstate_xyrobot_enable, m_enable);
GET_STATE(kstate_xyrobot_x_pos, x);
GET_STATE(kstate_xyrobot_y_pos, y);
GET_STATE(kstate_xyrobot_x_dpos, m_dx);
GET_STATE(kstate_xyrobot_y_dpos, m_dy);
default:
return err::kmodule_not_find_state_index;
}
}
int32_t XYRobotCtrlModule::module_readio(int32_t* io) {
*io = 0;
for (int i = 0; i < m_ngpio; i++) {
@ -700,4 +739,27 @@ int32_t XYRobotCtrlModule::xymotor_move_to_zero_and_calculated_shift() { return
int32_t XYRobotCtrlModule::xymotor_read_pos(int32_t* x, int32_t* y) {
getnowpos(*x, *y);
return 0;
}
}
int32_t XYRobotCtrlModule::xymotor_calculated_pos_by_move_to_zero() {
zlock_guard lock(m_lock);
ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero ");
m_thread.stop();
m_thread.start([this]() {
int32_t dx, dy;
int32_t erro = exec_move_to_zero_task(dx, dy);
if (erro != 0) {
m_dx = 0;
m_dy = 0;
_motor_stop();
return;
}
m_dx = dx;
m_dy = dy;
m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0);
return;
});
return 0;
}

7
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -26,6 +26,9 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
int m_x = 0;
int m_y = 0;
int32_t m_dx;
int32_t m_dy;
// uint8_t m_status = 0;
// base_param_t m_cfg;
@ -36,6 +39,7 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
const char* m_flashmark = nullptr;
flash_config_t m_cfg;
base_param_t& m_basecfg = m_cfg.basecfg;
bool m_enable = false;
zmutex m_lock;
// zmutex m_statu_lock;
@ -85,6 +89,8 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
virtual int32_t module_factory_reset();
virtual int32_t module_flush_cfg();
virtual int32_t module_active_cfg();
virtual int32_t module_set_state(int32_t state_id, int32_t state_value);
virtual int32_t module_get_state(int32_t state_id, int32_t* state_value);
virtual int32_t xymotor_enable(int32_t enable);
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity);
@ -92,6 +98,7 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
virtual int32_t xymotor_move_to_zero();
virtual int32_t xymotor_move_to_zero_and_calculated_shift();
virtual int32_t xymotor_read_pos(int32_t* x, int32_t* y);
virtual int32_t xymotor_calculated_pos_by_move_to_zero();
private:
virtual int32_t _module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value);

71
components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp
View File

@ -70,18 +70,75 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_dumpstate(int32_t paramN, con
#if 0
typedef enum {
kstate_module_status = STATE_INDEX(0, 0), //
kstate_module_status = STATE_INDEX(0, 0), // 0idle,1busy,2error
kstate_module_errorcode = STATE_INDEX(0, 1), //
kstate_motor_x_pos = STATE_INDEX(100, 0), // x偏移
kstate_motor_y_pos = STATE_INDEX(100, 1), // y偏移
kstate_motor_z_pos = STATE_INDEX(100, 2), // z偏移
kstate_motor_move = STATE_INDEX(100, 3), // 电机是否移动
kstate_motor_enable = STATE_INDEX(100, 4), // 电机是否使能
kstate_motor1_move = STATE_INDEX(100, 0), //
kstate_motor1_enable = STATE_INDEX(100, 1), //
kstate_motor1_current = STATE_INDEX(100, 2), //
kstate_motor1_vel = STATE_INDEX(100, 3), //
kstate_motor1_pos = STATE_INDEX(100, 4), //
kstate_motor1_temperature = STATE_INDEX(100, 5), //
kstate_motor1_dpos = STATE_INDEX(100, 6), //
kstate_motor2_move = STATE_INDEX(110, 0), //
kstate_motor2_enable = STATE_INDEX(110, 1), //
kstate_motor2_current = STATE_INDEX(110, 2), //
kstate_motor2_vel = STATE_INDEX(110, 3), //
kstate_motor2_pos = STATE_INDEX(110, 4), //
kstate_motor2_temperature = STATE_INDEX(110, 5), //
kstate_motor2_dpos = STATE_INDEX(110, 6), //
kstate_xyrobot_move = STATE_INDEX(1000, 0), //
kstate_xyrobot_enable = STATE_INDEX(1000, 1), //
kstate_xyrobot_x_pos = STATE_INDEX(1000, 2), //
kstate_xyrobot_y_pos = STATE_INDEX(1000, 3), //
kstate_xyrobot_z_pos = STATE_INDEX(1000, 4), //
kstate_xyrobot_x_dpos = STATE_INDEX(1000, 5), //
kstate_xyrobot_y_dpos = STATE_INDEX(1000, 6), //
kstate_xyrobot_z_dpos = STATE_INDEX(1000, 7), //
} config_index_t;
#endif
ack->ecode = 0;
uint16_t moduleId = atoi(paraV[0]);
int32_t configval = 0;
int32_t ecode = 0;
ZLOGI(TAG, "dumpstate %s", paraV[0]);
#define DUMP_STATE(tag, configid) \
ecode = m_deviceManager->module_get_state(moduleId, configid, &configval); \
if (ecode == 0) { \
ZLOGI(TAG, "%-30s :%d", tag, configval); \
}
DUMP_STATE("kstate_module_status", kstate_module_status);
DUMP_STATE("kstate_module_errorcode", kstate_module_errorcode);
DUMP_STATE("kstate_motor1_move", kstate_motor1_move);
DUMP_STATE("kstate_motor1_enable", kstate_motor1_enable);
DUMP_STATE("kstate_motor1_current", kstate_motor1_current);
DUMP_STATE("kstate_motor1_vel", kstate_motor1_vel);
DUMP_STATE("kstate_motor1_pos", kstate_motor1_pos);
DUMP_STATE("kstate_motor1_temperature", kstate_motor1_temperature);
DUMP_STATE("kstate_motor1_dpos", kstate_motor1_dpos);
DUMP_STATE("kstate_motor2_move", kstate_motor2_move);
DUMP_STATE("kstate_motor2_enable", kstate_motor2_enable);
DUMP_STATE("kstate_motor2_current", kstate_motor2_current);
DUMP_STATE("kstate_motor2_vel", kstate_motor2_vel);
DUMP_STATE("kstate_motor2_pos", kstate_motor2_pos);
DUMP_STATE("kstate_motor2_temperature", kstate_motor2_temperature);
DUMP_STATE("kstate_motor2_dpos", kstate_motor2_dpos);
DUMP_STATE("kstate_xyrobot_move", kstate_xyrobot_move);
DUMP_STATE("kstate_xyrobot_enable", kstate_xyrobot_enable);
DUMP_STATE("kstate_xyrobot_x_pos", kstate_xyrobot_x_pos);
DUMP_STATE("kstate_xyrobot_y_pos", kstate_xyrobot_y_pos);
DUMP_STATE("kstate_xyrobot_z_pos", kstate_xyrobot_z_pos);
DUMP_STATE("kstate_xyrobot_x_dpos", kstate_xyrobot_x_dpos);
DUMP_STATE("kstate_xyrobot_y_dpos", kstate_xyrobot_y_dpos);
DUMP_STATE("kstate_xyrobot_z_dpos", kstate_xyrobot_z_dpos);
// module_get_state
}
void MicroComputerModuleDeviceScriptCmderPaser::do_dumpstate(int32_t moduleId) {
ICmdParserACK ack;

2
components/zprotocols/zcancmder_v2

@ -1 +1 @@
Subproject commit 363a87ebdc1d83cc41ae8a2b5f8d598d6baa7dfa
Subproject commit 13d7f7ad0d30532ffe1ff49b5e89fafab7082956
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