From 3f1893a7deac93bf9a1afce70661f8ef6dd2cfcd Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 23 Apr 2023 10:51:20 +0800 Subject: [PATCH] update --- app/MDK-ARM/app.uvguix.h_zha | 58 +++++++++++++++++++----------- app/MDK-ARM/app.uvoptx | 34 ++++++++++++------ app/MDK-ARM/app.uvprojx | 5 +++ dep/libiflytop_micro | 2 +- src/lncubator_rotating_control_service.cpp | 4 +-- src/lncubator_rotating_control_service.hpp | 2 +- src/umain.cpp | 37 +++++++++++++------ 7 files changed, 97 insertions(+), 45 deletions(-) diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index 4f72061..cc1ae30 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\src\board + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\src @@ -110,8 +110,8 @@ 0 - 1320 - 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898 @@ -3603,7 +3603,7 @@ 0 100 - 6 + 9 ..\..\src\board\hardware.cpp 8 @@ -3651,9 +3651,9 @@ ..\..\src\umain.cpp - 100 + 23 127 - 151 + 154 1 0 @@ -3676,6 +3676,24 @@ 0 + + ..\..\src\lncubator_rotating_control_service.hpp + 24 + 44 + 73 + 1 + + 0 + + + ..\..\src\lncubator_rotating_control_service.cpp + 34 + 79 + 101 + 1 + + 0 + diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index a3d6f61..e485916 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -970,6 +970,18 @@ 0 0 + + 6 + 43 + 8 + 0 + 0 + 0 + ..\..\src\lncubator_rotating_control_service.cpp + lncubator_rotating_control_service.cpp + 0 + 0 + @@ -980,7 +992,7 @@ 0 7 - 43 + 44 1 0 0 @@ -992,7 +1004,7 @@ 7 - 44 + 45 1 0 0 @@ -1004,7 +1016,7 @@ 7 - 45 + 46 1 0 0 @@ -1016,7 +1028,7 @@ 7 - 46 + 47 1 0 0 @@ -1028,7 +1040,7 @@ 7 - 47 + 48 8 0 0 @@ -1040,7 +1052,7 @@ 7 - 48 + 49 1 0 0 @@ -1052,7 +1064,7 @@ 7 - 49 + 50 1 0 0 @@ -1064,7 +1076,7 @@ 7 - 50 + 51 8 0 0 @@ -1076,7 +1088,7 @@ 7 - 51 + 52 8 0 0 @@ -1088,7 +1100,7 @@ 7 - 52 + 53 8 0 0 @@ -1100,7 +1112,7 @@ 7 - 53 + 54 1 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index c23f246..e6e2732 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -1230,6 +1230,11 @@ 8 ..\..\src\board\hardware.cpp + + lncubator_rotating_control_service.cpp + 8 + ..\..\src\lncubator_rotating_control_service.cpp + diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index 97f99a0..0e0fbea 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit 97f99a0d5f562f7ee883b57908249e0d64dc9483 +Subproject commit 0e0fbea74859e71d34d2ccf6169b0da763fb95a4 diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp index ecf06fc..5292204 100644 --- a/src/lncubator_rotating_control_service.cpp +++ b/src/lncubator_rotating_control_service.cpp @@ -37,7 +37,7 @@ void LncubatorRotatingControlService::initialize(Hardware* hardware) { // */ m_motor->setMotorInPositionMode(); hardware->registerListener(this); - m_motor->registerListener(this, TMC4361A::event_mask_t::ktarget_reached); + m_motor->registerListener(this, TMC4361A::ktarget_reached); } void LncubatorRotatingControlService::setVelocity(int32_t velocityMax) { m_maxVelocity = velocityMax; } @@ -105,7 +105,7 @@ void LncubatorRotatingControlService::periodicJob() { } } void LncubatorRotatingControlService::TMC4361A_onEvent(uint32_t event) { - if (event & TMC4361A::event_mask_t::ktarget_reached) { + if (event & TMC4361A::ktarget_reached) { triggerEvent(kTMC4361AReachTargetEvent); } } diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp index 01e36db..8adc0b3 100644 --- a/src/lncubator_rotating_control_service.hpp +++ b/src/lncubator_rotating_control_service.hpp @@ -70,7 +70,7 @@ class LncubatorRotatingControlService : public HardwareListener, // int32_t m_outletPosition; // 出口对其第0个孵育船的位置,出口理论上应该是入口+ // 便宜修正，第一个仓位中心距离零点的距离 - int32_t m_maxVelocity = 0; + int32_t m_maxVelocity; bool m_workfinished; bool m_homeKeyTriggered; int m_jobStep; diff --git a/src/umain.cpp b/src/umain.cpp index a46fe16..912c78a 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -11,15 +11,25 @@ #include "libiflytop_micro\stm32\basic\zsignal.hpp" #include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp" #include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" +#include "lncubator_rotating_control_service.hpp" #include "lncubator_temperature_control_service.hpp" #define TAG "main" #define ACTIVE_REG(reg, mask, initval) IflytopCanProtocolStackProcesser::activeReg(&IflytopCanStackConfig, reg, mask, initval) +#define UPDATE_REG(reg, value, periodms) \ + { \ + static uint32_t lastReportTicket = 0; \ + if (m_hardware.hasPassedMS(lastReportTicket) > periodms) { \ + lastReportTicket = m_hardware.getTicket(); \ + m_protocolStack.writeRegValue(reg, value, false); \ + } \ + } using namespace iflytop; using namespace std; class Main : public HardwareListener, // - public IflytopCanProtocolStackProcesserListener { + public IflytopCanProtocolStackProcesserListener, + public LncubatorRotatingControlServiceListener { public: Hardware m_hardware; @@ -28,6 +38,7 @@ class Main : public HardwareListener, // // IflytopCanProtocolStackProcesser m_protocolStack; LncubatorTemperatureControlService m_tempCtrl; + LncubatorRotatingControlService m_rotatingCtrl; IflytopMicroOS *os; Main() {} @@ -36,6 +47,11 @@ class Main : public HardwareListener, // void initializeIflytopCanProtocolStackProcesser(); void updateRegList(); + virtual void LncubatorRotatingControlService_onException(exception_id_t exception); + virtual void LncubatorRotatingControlService_onMoveToHomeJobFinished(); + virtual void LncubatorRotatingControlService_onMoveSubPositionJobFinished(); + virtual void LncubatorRotatingControlService_onMoveByJobFinished(); + /******************************************************************************* * override HardwareListener * *******************************************************************************/ @@ -51,7 +67,6 @@ class Main : public HardwareListener, // virtual icps::error_t IflytopCanProtocolStack_onHostRegisterReadEvent( // icps::Reg_t *reg, int32_t &value); - virtual void IflytopCanProtocolStack_onRegisterValueAutoReportEvent(icps::Reg_t *reg, int32_t &value); }; @@ -170,14 +185,10 @@ void Main::initializeIflytopCanProtocolStackProcesser() { ACTIVE_REG(REG_TEMPERATURE_CTRL_SENSOR4_TEMPERATURE /* */, icps::kr, 0); } -#define UPDATE_REG(reg, value, periodms) \ - { \ - static uint32_t lastReportTicket = 0; \ - if (m_hardware.hasPassedMS(lastReportTicket) > periodms) { \ - lastReportTicket = m_hardware.getTicket(); \ - m_protocolStack.writeRegValue(reg, value, false); \ - } \ - } +void Main::LncubatorRotatingControlService_onException(exception_id_t exception) {} +void Main::LncubatorRotatingControlService_onMoveToHomeJobFinished() {} +void Main::LncubatorRotatingControlService_onMoveSubPositionJobFinished() {} +void Main::LncubatorRotatingControlService_onMoveByJobFinished() {} void Main::updateRegList() { // UPDATE_REG(REG_TEMPERATURE_CTRL_MAIN_FAN_SPEED, m_hardware.fanReadState4(), 1000); @@ -198,8 +209,10 @@ void Main::main(int argc, char const *argv[]) { m_hardware.registerListener(this); m_hardware.hardwareinit(); + // 初始化协议栈 initializeIflytopCanProtocolStackProcesser(); + // 初始化温度控制器 m_tempCtrl.initialize(&m_hardware); m_tempCtrl.setPidKp(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_KP)); m_tempCtrl.setPidKi(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_KI)); @@ -207,6 +220,10 @@ void Main::main(int argc, char const *argv[]) { m_tempCtrl.setPidErrorLimit(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_ERROR_LIMIT)); m_tempCtrl.setTargetTemperature(m_protocolStack.readRegValue(REG_TEMPERATURE_CTRL_TARGET_TEMPERATURE)); + // 初始化转盘控制器 + m_rotatingCtrl.initialize(&m_hardware); + m_rotatingCtrl.registerListener(this); + while (true) { m_hardware.periodicJob(); updateRegList();