update

chip/basic/base.hpp

@@ -8,4 +8,5 @@
 //
 #include "chip_helper.hpp"
 //
-#include "critical_context.hpp"
+#include "critical_context.hpp"
+//

chip/chip.hpp

@@ -7,6 +7,7 @@
 #include "zpwm_generator.hpp"
 #include "ztim.hpp"
 #include "zuart.hpp"
+
 extern "C" {
 
 typedef struct {

components/api/zi_uart_receiver.hpp

@@ -0,0 +1,19 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "sdk\components\zprotocols\zcancmder_v2\api\errorcode.hpp"
+
+namespace iflytop {
+using namespace std;
+class ZIUartReceiver {
+ public:
+  typedef function<void(uint8_t *data, size_t len)> callback_t;
+
+ public:
+  virtual ~ZIUartReceiver() {}
+  virtual void    startRx(callback_t cb) = 0;
+  virtual int32_t gertRxBufSize()        = 0;
+};
+}  // namespace iflytop

components/cmdscheduler/cmd_scheduler_v2.cpp

@@ -33,27 +33,18 @@ void CmdSchedulerV2::regbasiccmd() {
   });
 }
 
-void CmdSchedulerV2::initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize) {
-  m_rxbufsize = rxbufsize;
-
-  m_uart = new ZUART();
+void CmdSchedulerV2::initialize(ZIUartReceiver* receiver) {
+  // m_uart = new ZUARTDmaReceiver();
+  m_uart = receiver;
   ZASSERT(m_uart != NULL);
 
-  ZUART::cfg_t cfg;
-  cfg.huart         = huart;
-  cfg.rxbuffersize  = rxbufsize;
-  cfg.rxovertime_ms = 3;
-  cfg.name          = "CmdSchedulerUart";
-
-  rxbuf = new char[rxbufsize + 1];
+  m_rxbufsize = receiver->gertRxBufSize();
+  rxbuf       = new char[m_rxbufsize + 1];
   ZASSERT(rxbuf != NULL);
 
-  m_uart->initialize(&cfg);
-  ZASSERT(m_uart->startRxIt());
-  m_uart->setrxcb([this](uint8_t* data, size_t len) {
-    if (m_dataisready) {
-      return;
-    }
+  // m_uart->initialize(&cfg);
+  m_uart->startRx([this](uint8_t* data, size_t len) {
+    if (m_dataisready) return;
     memcpy(rxbuf, data, len);
     rxbuf[len]    = '\0';
     m_rxsize      = len;

components/cmdscheduler/cmd_scheduler_v2.hpp

@@ -3,8 +3,11 @@
 #include <string>
 
 #include "sdk/os/zos.hpp"
+#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
 #include "sdk\components\zprotocols\errorcode\errorcode.hpp"
 #include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
+//
+#include "sdk\components\api\zi_uart_receiver.hpp"
 
 namespace iflytop {
 using namespace std;
@@ -21,9 +24,9 @@ class CmdSchedulerV2 : public ICmdParser {
  private:
   map<string, CMD> m_cmdMap;
 
-  ZUART*  m_uart;
-  char*   rxbuf;
-  int32_t m_rxsize = 0;
+  ZIUartReceiver* m_uart;
+  char*           rxbuf;
+  int32_t         m_rxsize = 0;
 
   uint32_t m_rxbufsize;
 
@@ -32,7 +35,8 @@ class CmdSchedulerV2 : public ICmdParser {
   char cmdcache[1024] = {0};
 
  public:
-  void         initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize);
+  void initialize(ZIUartReceiver* receiver);
+
   virtual void regCMD(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl) override { registerCmd(cmdname, helpinfo, paraNum, cmdimpl); }
   void         registerCmd(const char* cmdname, const char* helpinfo, int paraNum, ICmdFunction_t cmdimpl);
   // void tx(const char* data, int len);

components/eq_20_asb_motor/eq20_servomotor.hpp

@@ -105,6 +105,8 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
    *******************************************************************************/
 
   virtual int32_t getid(int32_t *id) override;
+  virtual int32_t module_ping() { return 0; };
+
   virtual int32_t module_stop() override;
   virtual int32_t module_break() override;
   virtual int32_t module_get_last_exec_status(int32_t *status) override;
@@ -117,7 +119,6 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
 
   virtual int32_t module_readio(int32_t *io) override;
 
-
   virtual int32_t module_read_adc(int32_t adcindex, int32_t *adc) override;
 
   /*******************************************************************************

components/hardware/uart/zuart_dma_receiver.cpp

@@ -0,0 +1,46 @@
+#include "zuart_dma_receiver.hpp"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "sdk\chip\zirq_dispatcher.hpp"
+using namespace iflytop;
+
+void ZUARTDmaReceiver::initialize(hardware_config_t *config) {
+  m_hw_config = *config;
+  m_rxbufsize = m_hw_config.rxbuffersize;
+  m_rxbuf     = (uint8_t *)malloc(m_rxbufsize);
+  ZASSERT(m_rxbuf != nullptr);
+  ZASSERT(m_hw_config.huart != nullptr);
+  ZASSERT(m_hw_config.dma_rx != nullptr);
+  memset(m_rxbuf, 0, m_rxbufsize);
+
+  m_dmaisstart = false;
+}
+void ZUARTDmaReceiver::startRx(callback_t cb) {
+  m_cb = cb;
+  HAL_UART_Receive_DMA(m_hw_config.huart, (uint8_t *)m_rxbuf, m_rxbufsize);
+  m_dmaisstart = true;
+  ChipTimIrqShceduler::instance().regPeriodJob([this](ChipTimIrqShceduler::Job *job) { periodJOBIrq(); }, 1);
+}
+
+int32_t ZUARTDmaReceiver::gertRxBufSize() { return m_rxbufsize; }
+void ZUARTDmaReceiver::periodJOBIrq() {  //
+
+  if (!m_dmaisstart) return;
+
+  int rxsize = m_rxbufsize - __HAL_DMA_GET_COUNTER(m_hw_config.dma_rx);
+  if (rxsize != m_rxlen) {
+    m_rxlen        = rxsize;
+    m_lastrxticket = zos_get_tick();
+  }
+
+  if (zos_haspassedms(m_lastrxticket) > m_hw_config.rxovertime_ms) {
+    if (m_cb) m_cb(m_rxbuf, m_rxlen);
+
+    m_rxlen = 0;
+    HAL_UART_DMAStop(m_hw_config.huart);
+    HAL_UART_Receive_DMA(m_hw_config.huart, (uint8_t *)m_rxbuf, m_rxbufsize);
+  }
+}

components/hardware/uart/zuart_dma_receiver.hpp

@@ -0,0 +1,41 @@
+#pragma once
+#include <functional>
+
+#include "sdk\components\api\zi_uart_receiver.hpp"
+//
+#include "sdk/os/zos.hpp"
+namespace iflytop {
+using namespace std;
+class ZUARTDmaReceiver : public ZIUartReceiver {
+ public:
+  typedef struct {
+    UART_HandleTypeDef *huart;
+    DMA_HandleTypeDef  *dma_rx;
+    int32_t             rxbuffersize  = 128;
+    int32_t             rxovertime_ms = 3;
+  } hardware_config_t;
+
+ private:
+  hardware_config_t m_hw_config;
+
+  uint8_t *m_rxbuf      = nullptr;
+  int32_t  m_rxbufsize  = 0;
+  bool     m_dmaisstart = false;
+
+  ZIUartReceiver::callback_t m_cb;
+
+  int32_t m_lastrxticket = 0;
+  int32_t m_rxlen        = 0;
+
+ public:
+  ZUARTDmaReceiver() {}
+  void initialize(hardware_config_t *config);
+
+  virtual void    startRx(callback_t cb) override;
+  virtual int32_t gertRxBufSize() override;
+
+ private:
+  void periodJOBIrq();
+};
+
+}  // namespace iflytop

components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp

@@ -64,6 +64,8 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
   /*******************************************************************************
    *                                    Motor                                    *
    *******************************************************************************/
+  virtual int32_t module_ping() { return 0; };
+
   virtual int32_t motor_enable(int32_t enable) override;
   virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) override;
   virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) override;

components/pipette_module/pipette_ctrl_module_v2.hpp

@@ -42,6 +42,7 @@ class PipetteModule : public ZIModule, public ZIPipetteCtrlModule {
   /*******************************************************************************
    *                                   Module                                    *
    *******************************************************************************/
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t module_enable(int32_t enable);
 

components/sensors/i2ceeprom/m24lr64e_i2c_eeprom.hpp

@@ -25,6 +25,8 @@ class M24LR64E_I2CEEPROM : public ZIModule {
   int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t* data, int32_t* len);
 
  public:
+  virtual int32_t module_ping() { return 0; };
+
   virtual int32_t getid(int32_t* id) override {
     *id = this->id;
     return 0;

components/sensors/m3078/m3078_code_scaner.hpp

@@ -79,6 +79,8 @@ class M3078CodeScanner : public ZIModule, public ZICodeScaner {
   void   clearIdinfo();
 
  public:
+  virtual int32_t ping() { return 0; };
+
   virtual int32_t getid(int32_t* id) override {
     *id = this->id;
     return 0;

components/step_motor_45/step_motor_45.hpp

@@ -100,6 +100,7 @@ class StepMotor45 : public ZIModule, public ZIMotor {
   /*******************************************************************************
    *                               OVERRIDE MODULE                               *
    *******************************************************************************/
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t *id) override;
   virtual int32_t module_stop() override;

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -112,6 +112,7 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
   /*******************************************************************************
    *                               OVERRIDE MODULE                               *
    *******************************************************************************/
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t* id) override;
   virtual int32_t module_stop() override;

components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp

@@ -80,12 +80,14 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
   int32_t m_errorcode = 0;
 
  public:
+
   WaterCoolingTemperatureControlModule(){};
   virtual ~WaterCoolingTemperatureControlModule(){};
 
   static void createDefaultConfig(config_t* cfg);
 
   void initialize(int32_t id, config_t* cfg, hardwared_config_t* hardwaredconfig);
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t* id) override;
 

components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -81,6 +81,7 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
 
   void loop();
   void dumpcfg();
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t* id);
   virtual int32_t module_stop();

components/zcancmder/zcan_board_module.hpp

@@ -46,6 +46,7 @@ class ZCanBoardModule : public ZIModule {
   virtual ~ZCanBoardModule() {}
 
   void initialize(int32_t moduleId, hardware_config_t *cfg);
+  virtual int32_t module_ping() { return 0; };
 
   virtual int32_t getid(int32_t *id) override;
   virtual int32_t module_readio(int32_t *io) override;

components/zprotocols/zcancmder_v2

@@ -1 +1 @@
-Subproject commit 77d567330a2d005341f413743a8c16828e53d270
+Subproject commit b17e21efac1f2625c635ba947c97641927e3ec38