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a8000_subboard_sdk
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update

master
zhaohe 1 year ago
parent
f204e7c9f2
commit
a3c397af55
4 changed files with 125 additions and 122 deletions
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  1. 149
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
  2. 53
      components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
  3. 32
      components/zcancmder/zcan_protocol_parser.cpp
  4. 13
      components/zcancmder/zcan_protocol_parser.hpp

149
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.cpp
View File

@ -77,30 +77,29 @@ void WaterCoolingTemperatureControlModule::createDefaultConfig(config_t* cfg) {
int32_t WaterCoolingTemperatureControlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
switch (param_id) {
MODULE_COMMON_PROCESS_REG_CB();
PROCESS_REG(kreg_pid_kp, REG_GET_FLOAT(m_cfg.pid_cfg.kp, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.kp, 0.01));
PROCESS_REG(kreg_pid_ki, REG_GET_FLOAT(m_cfg.pid_cfg.ki, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.ki, 0.01));
PROCESS_REG(kreg_pid_kd, REG_GET_FLOAT(m_cfg.pid_cfg.kd, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.kd, 0.01));
PROCESS_REG(kreg_pid_max_output, REG_GET_FLOAT(m_cfg.pid_cfg.max_output, 1), REG_SET_FLOAT(m_cfg.pid_cfg.max_output, 1));
PROCESS_REG(kreg_pid_min_output, REG_GET_FLOAT(m_cfg.pid_cfg.min_output, 1), REG_SET_FLOAT(m_cfg.pid_cfg.min_output, 1));
PROCESS_REG(kreg_pid_max_integral, REG_GET_FLOAT(m_cfg.pid_cfg.max_integral, 1), REG_SET_FLOAT(m_cfg.pid_cfg.max_integral, 1));
PROCESS_REG(kreg_pid_min_integral, REG_GET_FLOAT(m_cfg.pid_cfg.min_integral, 1), REG_SET_FLOAT(m_cfg.pid_cfg.min_integral, 1));
PROCESS_REG(kreg_compute_interval, REG_GET(m_cfg.pidcompute_periodms), REG_SET(m_cfg.pidcompute_periodms));
PROCESS_REG(kreg_pid_target, REG_GET_FLOAT(m_target_temperature, 0.1), REG_SET_FLOAT(m_target_temperature, 0.1));
// PROCESS_REG(kreg_module_private0, gettemperature_sensor_state(val), ACTION_NONE);
PROCESS_REG(kreg_pid_nowoutput, REG_GET(m_pidmodule.get_output()), ACTION_NONE);
PROCESS_REG(kreg_pid_feedbackval, REG_GET(read_pid_temperature()), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature0, REG_GET(getTemperatureSensorVal(0) * 100), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature1, REG_GET(getTemperatureSensorVal(1) * 100), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature2, REG_GET(getTemperatureSensorVal(2) * 100), ACTION_NONE);
PROCESS_REG(kreg_sensor_temperature3, REG_GET(getTemperatureSensorVal(3) * 100), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_kp, REG_GET_FLOAT(m_cfg.pid_cfg.kp, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.kp, 0.01));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_ki, REG_GET_FLOAT(m_cfg.pid_cfg.ki, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.ki, 0.01));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_kd, REG_GET_FLOAT(m_cfg.pid_cfg.kd, 0.01), REG_SET_FLOAT(m_cfg.pid_cfg.kd, 0.01));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_max_output, REG_GET_FLOAT(m_cfg.pid_cfg.max_output, 1), REG_SET_FLOAT(m_cfg.pid_cfg.max_output, 1));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_min_output, REG_GET_FLOAT(m_cfg.pid_cfg.min_output, 1), REG_SET_FLOAT(m_cfg.pid_cfg.min_output, 1));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_max_integral, REG_GET_FLOAT(m_cfg.pid_cfg.max_integral, 1), REG_SET_FLOAT(m_cfg.pid_cfg.max_integral, 1));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_min_integral, REG_GET_FLOAT(m_cfg.pid_cfg.min_integral, 1), REG_SET_FLOAT(m_cfg.pid_cfg.min_integral, 1));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_compute_interval, REG_GET(m_cfg.pidcompute_periodms), REG_SET(m_cfg.pidcompute_periodms));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_target, REG_GET_FLOAT(m_target_temperature, 0.1), REG_SET_FLOAT(m_target_temperature, 0.1));
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_nowoutput, REG_GET(m_pidmodule.get_output()), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_pid_feedbackval, REG_GET(read_pid_temperature()), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_temp0, REG_GET(getTemperatureSensorVal(0) * 100), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_temp1, REG_GET(getTemperatureSensorVal(1) * 100), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_temp2, REG_GET(getTemperatureSensorVal(2) * 100), ACTION_NONE);
PROCESS_REG(kreg_water_cooling_tmp_controler_temp3, REG_GET(getTemperatureSensorVal(3) * 100), ACTION_NONE);
default:
return err::kmodule_not_find_reg;
break;
}
if (!read) module_active_cfg();
return 0;
}
@ -108,14 +107,12 @@ int32_t WaterCoolingTemperatureControlModule::module_get_status(int32_t* status)
*status = getworkstate();
return 0;
}
int32_t WaterCoolingTemperatureControlModule::gettemperature_sensor_state(int32_t& state) {
for (int32_t i = 0; i < m_n_temperature_sensor; i++) {
state |= m_temperature_sensor[i]->isOnline() << i;
}
return 0;
}
int32_t WaterCoolingTemperatureControlModule::module_active_cfg() {
// m_pidmodule
m_pidmodule.update_kp(m_cfg.pid_cfg.kp);
@ -127,19 +124,19 @@ int32_t WaterCoolingTemperatureControlModule::module_active_cfg() {
m_pidmodule.update_min_integral(m_cfg.pid_cfg.min_integral);
return 0;
}
int32_t WaterCoolingTemperatureControlModule::module_start() {
int32_t WaterCoolingTemperatureControlModule::temp_controler_start_hearting(int32_t targetTemperature) {
m_thread.stop();
module_clear_error();
ZLOGI(TAG, "module_start");
m_thread.start([this]() { workloop(); });
return 0;
}
int32_t WaterCoolingTemperatureControlModule::module_stop() {
int32_t WaterCoolingTemperatureControlModule::temp_controler_stop_hearting() {
m_thread.stop();
return 0;
}
void WaterCoolingTemperatureControlModule::workloop() {
int32_t WaterCoolingTemperatureControlModule::module_stop() { return temp_controler_stop_hearting(); }
void WaterCoolingTemperatureControlModule::workloop() {
/**
* @brief
* 启动水泵
@ -152,6 +149,8 @@ void WaterCoolingTemperatureControlModule::workloop() {
* }
*/
module_active_cfg();
pump_start(m_cfg.pumplevel);
fan_start(m_cfg.fanlevel);
int32_t i = 0;
@ -193,6 +192,40 @@ void WaterCoolingTemperatureControlModule::workloop() {
#define BIT(x, n) ((x >> n) & 0x01)
int32_t WaterCoolingTemperatureControlModule::getworkstate() {
if (creg.module_errorcode != 0) {
return 2;
}
if (!m_thread.isworking()) {
return 0;
} else {
return 1;
}
}
int32_t WaterCoolingTemperatureControlModule::geterrorbitflag0() {
/**
* @brief
*/
ZITemperatureSensor* sensor = m_temperature_sensor[m_hardwared_config.temp_fb_index];
int32_t errorbitflag = 0;
errorbitflag |= m_fan_ctrl->isError() << 0;
errorbitflag |= m_pump_ctrl->isError() << 1;
errorbitflag |= m_pelter_ctrl->isError() << 2;
errorbitflag |= sensor->isError() << 3;
// if (m_fanTable[1]) errorbitflag |= m_fanTable[1]->isError() << 1;
// if (m_fanTable[2]) errorbitflag |= m_fanTable[2]->isError() << 2;
// if (m_fanTable[3]) errorbitflag |= m_fanTable[3]->isError() << 3;
// if (m_pump) errorbitflag |= m_pump->isError() << 4;
// if (m_peltier_ctrl[0]) errorbitflag |= m_peltier_ctrl[0]->isFault() << 8;
// if (m_peltier_ctrl[1]) errorbitflag |= m_peltier_ctrl[1]->isFault() << 9;
return errorbitflag;
}
int32_t WaterCoolingTemperatureControlModule::checkdevice() {
uint32_t module_errorbitflag0 = geterrorbitflag0();
if (module_errorbitflag0 != 0) {
@ -202,8 +235,8 @@ int32_t WaterCoolingTemperatureControlModule::checkdevice() {
BIT(module_errorbitflag0, 2), //
BIT(module_errorbitflag0, 3));
m_pelter_ctrl->dumpErrorInfo();
//TODO 设置错误码
// creg.module_errorcode = err::khwardware_error;
// TODO 设置错误码
// creg.module_errorcode = err::khwardware_error;
return 1;
}
return 0;
@ -238,7 +271,6 @@ float WaterCoolingTemperatureControlModule::read_pid_temperature() {
void WaterCoolingTemperatureControlModule::pump_start(int32_t pump_speed) {
ZLOGI(TAG, "pump_start %d", pump_speed);
// m_pump->startModule(pump_speed);
m_pump_ctrl->setPumpSpeed(pump_speed);
}
void WaterCoolingTemperatureControlModule::pump_stop() {
@ -249,67 +281,19 @@ void WaterCoolingTemperatureControlModule::pump_stop() {
void WaterCoolingTemperatureControlModule::fan_start(int32_t pump_speed) {
ZLOGI(TAG, "fan_start %d", pump_speed);
m_fan_ctrl->setFanSpeed(pump_speed);
// for (int32_t i = 0; i < m_fanNum; i++) {
// m_fanTable[i]->startModule(pump_speed);
// }
}
void WaterCoolingTemperatureControlModule::fan_stop() {
ZLOGI(TAG, "fan_stop");
m_fan_ctrl->stop();
// for (int32_t i = 0; i < m_fanNum; i++) {
// m_fanTable[i]->stopModule();
// }
}
void WaterCoolingTemperatureControlModule::peltier_set_power_level(int32_t level) {
// ZLOGI(TAG, "peltier_set_power_level %d", level);
ZLOGI(TAG, "peltier_set_power_level %d", level);
m_pelter_ctrl->setSpeed(level);
// for (int32_t i = 0; i < m_peltier_ctrl_num; i++) {
// m_peltier_ctrl[i]->move(level);
// m_peltier_ctrl[i]->enable(true);
// }
}
void WaterCoolingTemperatureControlModule::peltier_stop() {
ZLOGI(TAG, "peltier_stop");
m_pelter_ctrl->stop();
// for (int32_t i = 0; i < m_peltier_ctrl_num; i++) {
// m_peltier_ctrl[i]->move(0);
// m_peltier_ctrl[i]->enable(false);
// }
}
int32_t WaterCoolingTemperatureControlModule::getworkstate() {
if (creg.module_errorcode != 0) {
return 2;
}
if (!m_thread.isworking()) {
return 0;
} else {
return 1;
}
}
int32_t WaterCoolingTemperatureControlModule::geterrorbitflag0() {
/**
* @brief
*/
ZITemperatureSensor* sensor = m_temperature_sensor[m_hardwared_config.temp_fb_index];
int32_t errorbitflag = 0;
errorbitflag |= m_fan_ctrl->isError() << 0;
errorbitflag |= m_pump_ctrl->isError() << 1;
errorbitflag |= m_pelter_ctrl->isError() << 2;
errorbitflag |= sensor->isError() << 3;
// if (m_fanTable[1]) errorbitflag |= m_fanTable[1]->isError() << 1;
// if (m_fanTable[2]) errorbitflag |= m_fanTable[2]->isError() << 2;
// if (m_fanTable[3]) errorbitflag |= m_fanTable[3]->isError() << 3;
// if (m_pump) errorbitflag |= m_pump->isError() << 4;
// if (m_peltier_ctrl[0]) errorbitflag |= m_peltier_ctrl[0]->isFault() << 8;
// if (m_peltier_ctrl[1]) errorbitflag |= m_peltier_ctrl[1]->isFault() << 9;
return errorbitflag;
}
float WaterCoolingTemperatureControlModule::getTemperatureSensorVal(int32_t index) {
@ -319,7 +303,7 @@ float WaterCoolingTemperatureControlModule::getTemperatureSensorVal(int32_t inde
}
return m_temperature_sensor[index]->getTemperature();
}
int32_t WaterCoolingTemperatureControlModule::test_peltier_set_power_level(int32_t level) {
int32_t WaterCoolingTemperatureControlModule::temp_controler_set_peltier_power_level(int32_t level) {
if (level == 0) {
peltier_stop();
} else {
@ -327,7 +311,7 @@ int32_t WaterCoolingTemperatureControlModule::test_peltier_set_power_level(int32
}
return 0;
}
int32_t WaterCoolingTemperatureControlModule::test_pump_set_level(int32_t level) {
int32_t WaterCoolingTemperatureControlModule::temp_controler_set_pump_level(int32_t level) {
if (level == 0) {
pump_stop();
} else {
@ -335,7 +319,7 @@ int32_t WaterCoolingTemperatureControlModule::test_pump_set_level(int32_t level)
}
return 0;
}
int32_t WaterCoolingTemperatureControlModule::test_fan_set_level(int32_t level) {
int32_t WaterCoolingTemperatureControlModule::temp_controler_set_fan_level(int32_t level) {
if (level == 0) {
fan_stop();
} else {
@ -343,3 +327,8 @@ int32_t WaterCoolingTemperatureControlModule::test_fan_set_level(int32_t level)
}
return 0;
}
int32_t WaterCoolingTemperatureControlModule::temp_controler_enable_log(int32_t enablelog) {
ZLOGI(TAG, "temp_controler_enable_log %d", enablelog);
m_enable_log = enablelog;
return 0;
}

53
components/water_cooling_temperature_control_module/water_cooling_temperature_control_module.hpp
View File

@ -22,10 +22,10 @@
#include "sdk\components\api\zi_pwm_fan_ctrl_module.hpp"
#include "sdk\components\api\zi_pwm_pump_ctrl_module.hpp"
//
#include "a8000_protocol\api\zi_module.hpp"
#include "pid_module.hpp"
#include "sdk\components\api\zi_temperature_sensor.hpp"
#include "sdk\components\ti\drv8710.hpp"
#include "a8000_protocol\api\zi_module.hpp"
namespace iflytop {
/**
@ -33,7 +33,7 @@ namespace iflytop {
* 水冷温度控制模块
*/
class WaterCoolingTemperatureControlModule : public ZIModule {
class WaterCoolingTemperatureControlModule : public ZIModule, public ZI_WaterCoolingTemperatureControler {
ENABLE_MODULE(WaterCoolingTemperatureControlModule, ktemperature_ctrl_module, PC_VERSION);
public:
@ -79,47 +79,35 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
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; };
void initialize(int32_t id, config_t* cfg, hardwared_config_t* hardwaredconfig);
virtual int32_t getid(int32_t* id) override;
virtual int32_t module_get_status(int32_t* status) override;
virtual int32_t module_active_cfg() ;
virtual int32_t module_stop() ;
virtual int32_t module_start() ;
virtual int32_t module_active_cfg() override;
virtual int32_t module_clear_error() override;
virtual int32_t module_stop() override;
int32_t read_input_state();
int32_t read_output_io_state();
virtual int32_t temp_controler_start_hearting(int32_t targetTemperature) override;
virtual int32_t temp_controler_stop_hearting() override;
virtual int32_t temp_controler_set_peltier_power_level(int32_t level) override;
virtual int32_t temp_controler_set_pump_level(int32_t level) override;
virtual int32_t temp_controler_set_fan_level(int32_t level) override;
virtual int32_t temp_controler_enable_log(int32_t enablelog) override;
private:
void workloop();
int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val);
int32_t checkdevice();
float read_pid_temperature();
void pump_start(int32_t pump_speed);
void pump_stop();
void fan_start(int32_t pump_speed);
void fan_stop();
void peltier_set_power_level(int32_t level);
void peltier_stop();
void geterrorcode();
public:
int32_t test_peltier_set_power_level(int32_t level);
int32_t test_pump_set_level(int32_t level);
int32_t test_fan_set_level(int32_t level);
float read_pid_temperature();
void pump_start(int32_t pump_speed);
void pump_stop();
void fan_start(int32_t pump_speed);
void fan_stop();
void peltier_set_power_level(int32_t level);
void peltier_stop();
void geterrorcode();
private:
int32_t getworkstate();
@ -129,7 +117,6 @@ class WaterCoolingTemperatureControlModule : public ZIModule {
int32_t gettemperature_sensor_state(int32_t& state);
float getTemperatureSensorVal(int32_t index);
};
} // namespace iflytop

32
components/zcancmder/zcan_protocol_parser.cpp
View File

@ -68,8 +68,12 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
REGFN(pipette_ctrl_put_tip);
REGFN(pipette_ctrl_move_to_ul);
REGFN(water_cooling_temp_start_hearting);
REGFN(water_cooling_temp_stop_hearting);
REGFN(temp_controler_start_hearting);
REGFN(temp_controler_stop_hearting);
REGFN(temp_controler_set_peltier_power_level);
REGFN(temp_controler_set_pump_level);
REGFN(temp_controler_set_fan_level);
REGFN(temp_controler_enable_log);
REGFN(fan_controler_set_speed);
#if 0
@ -450,13 +454,29 @@ int32_t ZCanProtocolParser::pipette_ctrl_move_to_ul(cmdcontxt_t* cxt) {
#undef MODULE_CLASS
#define MODULE_CLASS ZI_WaterCoolingTemperatureControler
int32_t ZCanProtocolParser::water_cooling_temp_start_hearting(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::temp_controler_start_hearting(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->water_cooling_temp_start_hearting(cxt->params[0]);
return module->temp_controler_start_hearting(cxt->params[0]);
}
int32_t ZCanProtocolParser::water_cooling_temp_stop_hearting(cmdcontxt_t* cxt) {
int32_t ZCanProtocolParser::temp_controler_stop_hearting(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(0);
return module->water_cooling_temp_stop_hearting();
return module->temp_controler_stop_hearting();
}
int32_t ZCanProtocolParser::temp_controler_set_peltier_power_level(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->temp_controler_set_peltier_power_level(cxt->params[0]);
}
int32_t ZCanProtocolParser::temp_controler_set_pump_level(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->temp_controler_set_pump_level(cxt->params[0]);
}
int32_t ZCanProtocolParser::temp_controler_set_fan_level(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->temp_controler_set_fan_level(cxt->params[0]);
}
int32_t ZCanProtocolParser::temp_controler_enable_log(cmdcontxt_t* cxt) {
CHECK_AND_GET_MODULE(1);
return module->temp_controler_enable_log(cxt->params[0]);
}
#undef MODULE_CLASS

13
components/zcancmder/zcan_protocol_parser.hpp
View File

@ -101,9 +101,16 @@ class ZCanProtocolParser : public IZCanReceiverListener {
static int32_t pipette_ctrl_put_tip(cmdcontxt_t* cxt);
static int32_t pipette_ctrl_move_to_ul(cmdcontxt_t* cxt);
static int32_t water_cooling_temp_start_hearting(cmdcontxt_t* cxt);
static int32_t water_cooling_temp_stop_hearting(cmdcontxt_t* cxt);
static int32_t temp_controler_start_hearting(cmdcontxt_t* cxt);
static int32_t temp_controler_stop_hearting(cmdcontxt_t* cxt);
static int32_t temp_controler_set_peltier_power_level(cmdcontxt_t* cxt);
static int32_t temp_controler_set_pump_level(cmdcontxt_t* cxt);
static int32_t temp_controler_set_fan_level(cmdcontxt_t* cxt);
static int32_t temp_controler_enable_log(cmdcontxt_t* cxt);
/***********************************************************************************************************************
* 风扇控制 *
***********************************************************************************************************************/
static int32_t fan_controler_set_speed(cmdcontxt_t* cxt);
#if 0
static int32_t xymotor_enable(cmdcontxt_t* cxt);

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