project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

master
zhaohe 2 years ago
parent
061766ea42
commit
b41d7be3df
6 changed files with 44 additions and 33 deletions
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  1. 12
      components/flash/znvs.cpp
  2. 5
      components/flash/znvs.hpp
  3. 37
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
  4. 19
      components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
  5. 2
      components/zprotocols/zcancmder
  6. 2
      components/zprotocols/zcancmder_v2

12
components/flash/znvs.cpp
View File

@ -17,11 +17,12 @@ ZNVS& ZNVS::ins() {
} }
void ZNVS::initialize(int32_t flash_sector) { zsimple_flash_init(flash_sector); } void ZNVS::initialize(int32_t flash_sector) { zsimple_flash_init(flash_sector); }
bool ZNVS::alloc_config(const char* key, uint8_t* data, size_t datalen) {
bool ZNVS::alloc_config(const char* key, size_t datalen) { return alloc_config(key, nullptr, datalen); }
bool ZNVS::alloc_config(const char* key, uint8_t* __, size_t datalen) {
ZASSERT(m_index_num < ZARRAY_SIZE(m_index)); ZASSERT(m_index_num < ZARRAY_SIZE(m_index));
m_index[m_index_num].name = key;
m_index[m_index_num].len = datalen;
m_index[m_index_num].defaultval = data;
m_index[m_index_num].name = key;
m_index[m_index_num].len = datalen;
// m_index[m_index_num].defaultval = data;
m_index_num++; m_index_num++;
return true; return true;
} }
@ -53,7 +54,8 @@ bool ZNVS::init_config() {
void ZNVS::flush_all_to_configcache() { void ZNVS::flush_all_to_configcache() {
for (int i = 0; i < m_index_num; i++) { for (int i = 0; i < m_index_num; i++) {
memcpy(m_cfgcache->data, m_index[i].defaultval, m_index[i].len);
// memcpy(m_cfgcache->data, m_index[i].defaultval, m_index[i].len);
memset(m_cfgcache->data, 0, m_index[i].len);
} }
} }

5
components/flash/znvs.hpp
View File

@ -8,7 +8,7 @@ using namespace std;
class ZNVS { class ZNVS {
typedef struct { typedef struct {
const char* name; const char* name;
uint8_t* defaultval;
uint8_t* ___;
size_t len; size_t len;
} cfg_index_t; } cfg_index_t;
#pragma pack(1) #pragma pack(1)
@ -33,7 +33,8 @@ class ZNVS {
void initialize(int32_t flash_sector); void initialize(int32_t flash_sector);
bool alloc_config(const char* key, uint8_t* data, size_t datalen);
bool alloc_config(const char* key, uint8_t* ___, size_t datalen);
bool alloc_config(const char* key, size_t datalen);
bool init_config(); bool init_config();
bool get_config(const char* key, uint8_t* data, size_t len); bool get_config(const char* key, uint8_t* data, size_t len);

37
components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
View File

@ -7,10 +7,9 @@
using namespace iflytop; using namespace iflytop;
using namespace std; using namespace std;
#define TAG "XYRobotCtrlModule" #define TAG "XYRobotCtrlModule"
void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, //
IStepperMotor* stepM2, //
ZGPIO* Xgpio, //
int ngpio, const char* flashmark) {
void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, IStepperMotor* stepM2, //
ZGPIO* Xgpio, int ngpio, //
flash_config_t& default_cfg, const char* flashmark) {
m_stepM1 = stepM1; m_stepM1 = stepM1;
m_stepM2 = stepM2; m_stepM2 = stepM2;
m_Xgpio = &Xgpio[0]; m_Xgpio = &Xgpio[0];
@ -24,13 +23,18 @@ void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, //
ZASSERT(m_Ygpio); ZASSERT(m_Ygpio);
m_lock.init(); m_lock.init();
m_flashmark = flashmark;
// base_param_t cfg;
m_flashmark = flashmark;
m_default_cfg = default_cfg;
if (m_flashmark) { if (m_flashmark) {
ZASSERT(ZNVS::ins().get_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg))); ZASSERT(ZNVS::ins().get_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg)));
if (!m_cfg.configInited) {
m_cfg.configInited = true;
m_cfg = m_default_cfg;
flush();
}
} else { } else {
create_default_cfg(m_cfg);
m_cfg = m_default_cfg;
} }
active_cfg(); active_cfg();
enable(true); enable(true);
@ -295,6 +299,8 @@ int32_t XYRobotCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
getnowpos(debug_info.x, debug_info.y); getnowpos(debug_info.x, debug_info.y);
return 0; return 0;
} }
int32_t XYRobotCtrlModule::get_flash_config_size() { return sizeof(flash_config_t); }
void XYRobotCtrlModule::create_default_cfg(flash_config_t& cfg) { void XYRobotCtrlModule::create_default_cfg(flash_config_t& cfg) {
memset(&cfg, 0, sizeof(cfg)); memset(&cfg, 0, sizeof(cfg));
cfg.basecfg.robot_type = corexy; cfg.basecfg.robot_type = corexy;
@ -392,6 +398,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
ZLOGE(TAG, "find zero point fail"); ZLOGE(TAG, "find zero point fail");
return err::kxymotor_x_find_zero_edge_fail; return err::kxymotor_x_find_zero_edge_fail;
} }
ZLOGI(TAG, "step1 reach x zero ok");
} }
if (m_Xgpio->getState()) { if (m_Xgpio->getState()) {
@ -415,6 +422,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
ZLOGI(TAG, "leave away zero failed"); ZLOGI(TAG, "leave away zero failed");
return err::kxymotor_x_find_zero_edge_fail; return err::kxymotor_x_find_zero_edge_fail;
} }
ZLOGI(TAG, "step2 leave x zero ok");
} }
/******************************************************************************* /*******************************************************************************
@ -441,6 +449,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
ZLOGE(TAG, "find zero point fail"); ZLOGE(TAG, "find zero point fail");
return err::kxymotor_y_find_zero_edge_fail; return err::kxymotor_y_find_zero_edge_fail;
} }
ZLOGI(TAG, "step3 reach y zero ok");
} }
if (m_Ygpio->getState()) { if (m_Ygpio->getState()) {
@ -462,7 +471,9 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
ZLOGI(TAG, "leave away zero failed"); ZLOGI(TAG, "leave away zero failed");
return err::kxymotor_y_find_zero_edge_fail; return err::kxymotor_y_find_zero_edge_fail;
} }
ZLOGI(TAG, "step4 leave y zero ok");
} }
ZLOGI(TAG, "move to zero ok");
return 0; return 0;
} }
@ -487,7 +498,7 @@ void XYRobotCtrlModule::_motor_move_to(int32_t x, int32_t y, int32_t maxv, int32
m_stepM1->setDeceleration(dec); m_stepM1->setDeceleration(dec);
m_stepM2->setDeceleration(dec); m_stepM2->setDeceleration(dec);
ZLOGI(TAG, "_motor_move_to target_m1pos:%d target_m2pos:%d", target_m1pos, target_m2pos);
// ZLOGI(TAG, "_motor_move_to target_m1pos:%d target_m2pos:%d", target_m1pos, target_m2pos);
m_stepM1->moveTo(target_m1pos, maxv); m_stepM1->moveTo(target_m1pos, maxv);
m_stepM2->moveTo(target_m2pos, maxv); m_stepM2->moveTo(target_m2pos, maxv);
} }
@ -508,7 +519,7 @@ void XYRobotCtrlModule::_motor_move_by(int32_t dx, int32_t dy, int32_t maxv, int
m_stepM1->setDeceleration(dec); m_stepM1->setDeceleration(dec);
m_stepM2->setDeceleration(dec); m_stepM2->setDeceleration(dec);
ZLOGI(TAG, "_motor_move_by target_m1pos:%d target_m2pos:%d", target_m1pos, target_m2pos);
// ZLOGI(TAG, "_motor_move_by target_m1pos:%d target_m2pos:%d", target_m1pos, target_m2pos);
m_stepM1->moveTo(target_m1pos, maxv); m_stepM1->moveTo(target_m1pos, maxv);
m_stepM2->moveTo(target_m2pos, maxv); m_stepM2->moveTo(target_m2pos, maxv);
} }
@ -592,7 +603,8 @@ int32_t XYRobotCtrlModule::flush() { //
}; };
int32_t XYRobotCtrlModule::factory_reset() { // int32_t XYRobotCtrlModule::factory_reset() { //
ZLOGI(TAG, "factory_reset"); ZLOGI(TAG, "factory_reset");
create_default_cfg(m_cfg);
m_cfg = m_default_cfg;
m_cfg.configInited = true;
if (m_flashmark) { if (m_flashmark) {
ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg)); ZNVS::ins().set_config(m_flashmark, (uint8_t*)&m_cfg, sizeof(m_cfg));
ZNVS::ins().flush(); ZNVS::ins().flush();
@ -763,10 +775,11 @@ int32_t XYRobotCtrlModule::xymotor_calculated_pos_by_move_to_zero() {
m_dx = dx; m_dx = dx;
m_dy = dy; m_dy = dy;
m_com_reg.module_last_cmd_exec_status = 0; m_com_reg.module_last_cmd_exec_status = 0;
m_com_reg.module_last_cmd_exec_val0 = m_dx;
m_com_reg.module_last_cmd_exec_val1 = m_dy;
m_com_reg.module_last_cmd_exec_val0 = -m_dx;
m_com_reg.module_last_cmd_exec_val1 = -m_dy;
m_stepM1->setXACTUAL(0); m_stepM1->setXACTUAL(0);
m_stepM2->setXACTUAL(0); m_stepM2->setXACTUAL(0);
ZLOGI(TAG, "xymotor_calculated_pos_by_move_to_zero dx:%d dy:%d", dx, dy);
return; return;
}); });
return 0; return 0;

19
components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
View File

@ -25,22 +25,15 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
int32_t m_moduleId; int32_t m_moduleId;
int m_x = 0; int m_x = 0;
int m_y = 0; int m_y = 0;
int32_t m_dx; int32_t m_dx;
int32_t m_dy; int32_t m_dy;
// uint8_t m_status = 0;
// base_param_t m_cfg;
// int32_t m_zero_shift_x = 0;
// int32_t m_zero_shift_y = 0;
const char* m_flashmark = nullptr; const char* m_flashmark = nullptr;
flash_config_t m_cfg; flash_config_t m_cfg;
flash_config_t m_default_cfg;
base_param_t& m_basecfg = m_cfg.basecfg; base_param_t& m_basecfg = m_cfg.basecfg;
bool m_enable = false; bool m_enable = false;
@ -48,10 +41,9 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
// zmutex m_statu_lock; // zmutex m_statu_lock;
public: public:
void initialize(int32_t id, IStepperMotor* stepM1, //
IStepperMotor* stepM2, //
ZGPIO* Xgpio, //
int ngpio, const char* flashmark);
void initialize(int32_t id, IStepperMotor* stepM1, IStepperMotor* stepM2, //
ZGPIO* Xgpio, int ngpio, //
flash_config_t& default_cfg, const char* flashmark);
virtual int32_t move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) override; virtual int32_t move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) override;
virtual int32_t move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override; virtual int32_t move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) override;
@ -68,6 +60,7 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
virtual int32_t read_detailed_status(detailed_status_t& debug_info) override; virtual int32_t read_detailed_status(detailed_status_t& debug_info) override;
static void create_default_cfg(flash_config_t& cfg); static void create_default_cfg(flash_config_t& cfg);
static int32_t get_flash_config_size();
virtual int32_t set_base_param(const base_param_t& param) override; virtual int32_t set_base_param(const base_param_t& param) override;
virtual int32_t get_base_param(base_param_t& ack) override; virtual int32_t get_base_param(base_param_t& ack) override;
@ -93,6 +86,8 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
virtual int32_t module_flush_cfg(); virtual int32_t module_flush_cfg();
virtual int32_t module_active_cfg(); virtual int32_t module_active_cfg();
virtual int32_t module_enable(int32_t enable) { return xymotor_enable(enable); }
virtual int32_t xymotor_enable(int32_t enable); virtual int32_t xymotor_enable(int32_t enable);
virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity); virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity);
virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity); virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity);

2
components/zprotocols/zcancmder

@ -1 +1 @@
Subproject commit c3780f3e459bc468645f664228d3a1359abec1bf
Subproject commit ceb6729e4ee474a6ff170793202f3113b5838101

2
components/zprotocols/zcancmder_v2

@ -1 +1 @@
Subproject commit 9cdfcc02e4c0e75f4d1b731c91b87ae2c22b467e
Subproject commit 4b8745f224fb4891302e6984d94ed2673521eaa5
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