merge

chip/api/zi_pwm_ctrl.hpp

@@ -7,9 +7,13 @@ class ZIPWMCtrl {
  public:
   virtual ~ZIPWMCtrl(){};
 
-  virtual int32_t set_pwm_duty(int32_t duty) = 0;
-  virtual int32_t set_pwm_freq(int32_t freq) = 0;
-  virtual int32_t get_pwm_duty()             = 0;
-  virtual int32_t get_pwm_freq()             = 0;
+  virtual int32_t pwm_set_state(int32_t state)  = 0;
+  virtual int32_t pwm_get_state(int32_t& state) = 0;
+
+  virtual int32_t set_pwm_duty(int32_t duty)  = 0;
+  virtual int32_t get_pwm_duty(int32_t& duty) = 0;
+
+  virtual int32_t set_pwm_freq(int32_t freq)  = 0;
+  virtual int32_t get_pwm_freq(int32_t& duty) = 0;
 };
 }  // namespace iflytop

chip/api/zi_temperature.hpp

@@ -3,9 +3,9 @@
 
 namespace iflytop {
 using namespace std;
-class ZITemperatureSensor {
+class ZITemperature {
  public:
-  virtual ~ZITemperatureSensor(){};
+  virtual ~ZITemperature(){};
 
   virtual int32_t getTemperature(int32_t& sensorval) = 0;
 };

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -539,7 +539,6 @@ int32_t StepMotorCtrlModule::motor_move_by(int32_t dx, int32_t motor_velocity, i
 }
 int32_t StepMotorCtrlModule::motor_move_to(int32_t tox, int32_t motor_velocity, int32_t acc) {
   zlock_guard lock(m_lock);
-  ZLOGI(TAG, "m%d motor_move_to %d", m_id, tox);
   m_thread.stop();
 
   if (m_param.min_d != 0 && tox < m_param.min_d) {

components/sub_modbus_module/sub_modbus_board_initer.cpp

@@ -63,5 +63,8 @@ void SubModbusBoardIniter::loop() {
     ModulebusClient::Inst()->loop();
   }
 }
+<<<<<<< HEAD
+=======
 
+>>>>>>> 187b88da24aed4d0c06bb06e3158b01c2612b57d
 #endif

components/subcanmodule/zcancmder_subboard_initer.hpp

@@ -17,7 +17,7 @@ class ZCancmderSubboardIniter {
     int32_t                deviceId;
     ZGPIO::InputGpioCfg_t  input_gpio[32];
     ZGPIO::OutputGpioCfg_t output_gpio[32];
-    ZITemperatureSensor*   temperature_sensor[8];
+    ZITemperature*   temperature_sensor[8];
     ZIPWMCtrl*             pwmctrl[8];
   } cfg_t;
 

components/tmc/ic/ztmc5130.cpp

@@ -146,8 +146,23 @@ void    TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX
 void    TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(to_motor_acc(accelerationpps2))); }  // ÉèÖÃ×î´ó¼õËÙ¶È
 void    TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
 void    TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT)); }
-void    TMC5130::setGlobalScale(uint8_t globalscale) {
-  // writeInt(TMC5130_GCONF, (readInt(TMC5130_GCONF) & ~TMC5130_SCALE_MASK) | (globalscale << TMC5130_SCALE_SHIFT));
+
+#define TMC5160_GLOBAL_SCALER       0x0B
+#define TMC5160_GLOBAL_SCALER_MASK  0xFF
+#define TMC5160_GLOBAL_SCALER_SHIFT 0
+
+void TMC5130::setGlobalScale(uint8_t globalscale) {  //
+  if (globalscale == 0) {
+    globalscale = 0;
+  } else if (globalscale <= 31 || globalscale >= 1) {
+    globalscale = 32;
+  } else {
+    globalscale = globalscale;
+  }
+  writeInt(TMC5160_GLOBAL_SCALER, (readInt(TMC5160_GLOBAL_SCALER) & ~TMC5160_GLOBAL_SCALER_MASK) | (globalscale << TMC5160_GLOBAL_SCALER_SHIFT));
+}
+uint8_t TMC5130::getGlobalScale() {  //
+  return PRV_FIELD_READ(TMC5160_GLOBAL_SCALER, TMC5160_GLOBAL_SCALER_MASK, TMC5160_GLOBAL_SCALER_SHIFT);
 }
 
 uint32_t TMC5130::readICVersion() {

components/tmc/ic/ztmc5130.hpp

@@ -127,6 +127,7 @@ class TMC5130 : public IStepperMotor {
 
   void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
   void setGlobalScale(uint8_t globalscale);
+  uint8_t getGlobalScale();
   // void setSubdivision(uint8_t subdivision);
 
   void setMotorShaft(bool reverse);  // 设置电机旋转方向

components/zcancmder/zcan_board_module.cpp

@@ -62,11 +62,20 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
     PROCESS_REG(kreg_pwm0_duty, readPwmDuty(0, val), setPwmDuty(0, val));
     PROCESS_REG(kreg_pwm1_duty, readPwmDuty(1, val), setPwmDuty(1, val));
     PROCESS_REG(kreg_pwm2_duty, readPwmDuty(2, val), setPwmDuty(2, val));
-    PROCESS_REG(kreg_pwm3_duty, readPwmDuty(2, val), setPwmDuty(2, val));
-    PROCESS_REG(kreg_pwm4_duty, readPwmDuty(2, val), setPwmDuty(2, val));
-    PROCESS_REG(kreg_pwm5_duty, readPwmDuty(2, val), setPwmDuty(2, val));
-    PROCESS_REG(kreg_pwm6_duty, readPwmDuty(2, val), setPwmDuty(2, val));
-    PROCESS_REG(kreg_pwm7_duty, readPwmDuty(2, val), setPwmDuty(2, val));
+    PROCESS_REG(kreg_pwm3_duty, readPwmDuty(3, val), setPwmDuty(3, val));
+    PROCESS_REG(kreg_pwm4_duty, readPwmDuty(4, val), setPwmDuty(4, val));
+    PROCESS_REG(kreg_pwm5_duty, readPwmDuty(5, val), setPwmDuty(5, val));
+    PROCESS_REG(kreg_pwm6_duty, readPwmDuty(6, val), setPwmDuty(6, val));
+    PROCESS_REG(kreg_pwm7_duty, readPwmDuty(7, val), setPwmDuty(7, val));
+
+    PROCESS_REG(kreg_pwm0_ctrl, getPwmState(0, val), setPwmState(0, val));
+    PROCESS_REG(kreg_pwm1_ctrl, getPwmState(1, val), setPwmState(1, val));
+    PROCESS_REG(kreg_pwm2_ctrl, getPwmState(2, val), setPwmState(2, val));
+    PROCESS_REG(kreg_pwm3_ctrl, getPwmState(3, val), setPwmState(3, val));
+    PROCESS_REG(kreg_pwm4_ctrl, getPwmState(4, val), setPwmState(4, val));
+    PROCESS_REG(kreg_pwm5_ctrl, getPwmState(5, val), setPwmState(5, val));
+    PROCESS_REG(kreg_pwm6_ctrl, getPwmState(6, val), setPwmState(6, val));
+    PROCESS_REG(kreg_pwm7_ctrl, getPwmState(7, val), setPwmState(7, val));
 
     PROCESS_REG(kreg_pwm0_freq, readPwmFreq(0, val), setPwmFreq(0, val));
     PROCESS_REG(kreg_pwm1_freq, readPwmFreq(1, val), setPwmFreq(1, val));
@@ -75,6 +84,7 @@ int32_t ZCanBoardModule::module_xxx_reg(int32_t param_id, bool read, int32_t &va
     PROCESS_REG(kreg_pwm4_freq, readPwmFreq(4, val), setPwmFreq(4, val));
     PROCESS_REG(kreg_pwm5_freq, readPwmFreq(5, val), setPwmFreq(5, val));
     PROCESS_REG(kreg_pwm6_freq, readPwmFreq(6, val), setPwmFreq(6, val));
+    PROCESS_REG(kreg_pwm7_freq, readPwmFreq(7, val), setPwmFreq(7, val));
 
     default:
       return err::kmodule_not_find_config_index;
@@ -121,6 +131,25 @@ int32_t ZCanBoardModule::readTemperature(int32_t sensorId, int32_t &temperature_
   return m_cfg.temperature_sensor[sensorId]->getTemperature(temperature_val);
 }
 
+int32_t ZCanBoardModule::setPwmState(int32_t pwmId, int32_t state) {
+  if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
+    return err::kmodule_not_find_config_index;
+  }
+  if (m_cfg.pwmctrl[pwmId] == nullptr) {
+    return err::kmodule_not_find_config_index;
+  }
+  return m_cfg.pwmctrl[pwmId]->pwm_set_state(state);
+}
+int32_t ZCanBoardModule::getPwmState(int32_t pwmId, int32_t &state) {
+  if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
+    return err::kmodule_not_find_config_index;
+  }
+  if (m_cfg.pwmctrl[pwmId] == nullptr) {
+    return err::kmodule_not_find_config_index;
+  }
+  return m_cfg.pwmctrl[pwmId]->pwm_get_state(state);
+}
+
 int32_t ZCanBoardModule::readPwmDuty(int32_t pwmId, int32_t &duty) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
     return err::kmodule_not_find_config_index;
@@ -128,8 +157,7 @@ int32_t ZCanBoardModule::readPwmDuty(int32_t pwmId, int32_t &duty) {
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
     return err::kmodule_not_find_config_index;
   }
-  duty = m_cfg.pwmctrl[pwmId]->get_pwm_duty();
-  return 0;
+  return m_cfg.pwmctrl[pwmId]->get_pwm_duty(duty);
 }
 int32_t ZCanBoardModule::setPwmDuty(int32_t pwmId, int32_t duty) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
@@ -138,8 +166,7 @@ int32_t ZCanBoardModule::setPwmDuty(int32_t pwmId, int32_t duty) {
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
     return err::kmodule_not_find_config_index;
   }
-  m_cfg.pwmctrl[pwmId]->set_pwm_duty(duty);
-  return 0;
+  return m_cfg.pwmctrl[pwmId]->set_pwm_duty(duty);
 }
 
 int32_t ZCanBoardModule::readPwmFreq(int32_t pwmId, int32_t &freq) {
@@ -149,8 +176,7 @@ int32_t ZCanBoardModule::readPwmFreq(int32_t pwmId, int32_t &freq) {
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
     return err::kmodule_not_find_config_index;
   }
-  freq = m_cfg.pwmctrl[pwmId]->get_pwm_freq();
-  return 0;
+  return m_cfg.pwmctrl[pwmId]->get_pwm_freq(freq);
 }
 int32_t ZCanBoardModule::setPwmFreq(int32_t pwmId, int32_t freq) {
   if (pwmId < 0 || pwmId >= ZARRAY_SIZE(m_cfg.pwmctrl)) {
@@ -159,6 +185,5 @@ int32_t ZCanBoardModule::setPwmFreq(int32_t pwmId, int32_t freq) {
   if (m_cfg.pwmctrl[pwmId] == nullptr) {
     return err::kmodule_not_find_config_index;
   }
-  m_cfg.pwmctrl[pwmId]->set_pwm_freq(freq);
-  return 0;
+  return m_cfg.pwmctrl[pwmId]->set_pwm_freq(freq);
 }

components/zcancmder/zcan_board_module.hpp

@@ -35,15 +35,15 @@ class ZCanBoardModule : public ZIModule {
   typedef struct {
     ZGPIO::InputGpioCfg_t  input[32];
     ZGPIO::OutputGpioCfg_t output[32];
-    ZITemperatureSensor   *temperature_sensor[8];
+    ZITemperature   *temperature_sensor[8];
     ZIPWMCtrl             *pwmctrl[8];
   } hardware_config_t;
 
   hardware_config_t m_cfg;
   int32_t           module_id;
 
-  ZGPIO m_input[16];
-  ZGPIO m_output[16];
+  ZGPIO m_input[32];
+  ZGPIO m_output[32];
 
   int32_t m_input_num  = 0;
   int32_t m_output_num = 0;
@@ -74,6 +74,9 @@ class ZCanBoardModule : public ZIModule {
 
   int32_t readPwmFreq(int32_t pwmId, int32_t &freq);
   int32_t setPwmFreq(int32_t pwmId, int32_t freq);
+
+  int32_t setPwmState(int32_t pwmId, int32_t state);
+  int32_t getPwmState(int32_t pwmId, int32_t &state);
 };
 
 }  // namespace iflytop

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -109,7 +109,7 @@ void MicroComputerModuleDeviceScriptCmderPaser::app_dump_reg(int moduleId, const
   if (ecode == 0) {
     if (type == kint) {
       ZLOGI(TAG, "%s(%d)     :%d", configtag, configid, configval);
-    } else if (type == kint) {
+    } else if (type == kbit) {
       ZLOGI(TAG, "%s(%d)     :%s", configtag, configid, dumpbit(configval));
     }
   } else if (ecode != err::kmodule_not_find_config_index) {