23 changed files with 926 additions and 838 deletions
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5.vscode/settings.json
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248app/MDK-ARM/app.uvguix.h_zha
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72app/MDK-ARM/app.uvoptx
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25app/MDK-ARM/app.uvprojx
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2dep/libiflytop_micro
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1src/board/device_io_service.cpp
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3src/board/device_io_service.hpp
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0src/board/fan_state_monitor.cpp
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0src/board/fan_state_monitor.hpp
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148src/board/hardware.cpp
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36src/board/hardware.hpp
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35src/board/libtmcimpl.cpp
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11src/board/libtmcimpl.hpp
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28src/libtmcimpl.cpp
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129src/lncubator_temperature_control_service.cpp
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55src/lncubator_temperature_control_service.hpp
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2src/project_board.hpp
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182src/umain.cpp
248
app/MDK-ARM/app.uvguix.h_zha
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@ -1 +1 @@ |
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Subproject commit 1be6e0ea5a7193a1eac2460413476302bd9c8dea |
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Subproject commit 645e10e79f235ef9a05d3026091d692b18f6b5f8 |
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@ -0,0 +1,148 @@ |
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#include "hardware.hpp"
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#include "i2c.h"
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using namespace iflytop; |
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#define TAG "hardware"
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void Hardware::hardwareinit() { |
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m_os = &m_deviceIoService; |
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/*******************************************************************************
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* CANSLAVEService初始化 * |
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*******************************************************************************/ |
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IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID); |
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canSlaveService.initialize(m_os, config); |
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/*******************************************************************************
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* 帕尔贴初始化 * |
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*******************************************************************************/ |
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m_deviceIoService.peltier_init(); |
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/*******************************************************************************
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* 温度传感器初始化 * |
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*******************************************************************************/ |
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tmp117[0].initializate(&hi2c1, TMP117::ID0); |
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tmp117[1].initializate(&hi2c1, TMP117::ID1); |
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tmp117[2].initializate(&hi2c1, TMP117::ID2); |
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tmp117[3].initializate(&hi2c1, TMP117::ID3); |
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|
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/*******************************************************************************
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* 电机初始化 * |
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*******************************************************************************/ |
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m_deviceIoService.tmc_init(); |
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m_deviceIoService.tmc_extern_clk_enable(); |
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// 4361初始化
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TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); |
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tmc4361aconfig->base_config.fs_per_rev = 200; |
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tmc4361aconfig->encoder_config.diff_enc_in_disable = false; |
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tmc4361aconfig->encoder_config.enc_in_res = 4000; |
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tmc4361aconfig->close_loop_config.enable_closed_loop = true; |
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tmc4361motor1.initialize(&m_deviceIoService, MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); |
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tmc4361motor1.setMaximumAcceleration(300000); |
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tmc4361motor1.setMaximumDeceleration(300000); |
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|
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// 2160初始化
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tmc2160motor1.setMaximumCurrent(3); |
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tmc2160motor1.initialize(&m_deviceIoService, &tmc4361motor1, MOTOR_1_TMC2160_CHANNEL); |
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HAL_Delay(100); |
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// 使能电机
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tmc4361motor1.enableIC(true); |
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tmc2160motor1.enableIC(true); |
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/**
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* @brief 通过读取Version寄存器来判断芯片是否正常 |
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*/ |
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int32_t ic4361Version = tmc4361motor1.readICVersion(); |
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int32_t ic2160Version = tmc2160motor1.readICVersion(); |
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// 期望 4361Version:2 ic2160Version:30
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ZLOGI(TAG, "TMC4361Version:%x TMC2160VERSION:%x", ic4361Version, ic2160Version); |
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if (ic4361Version != 2 || ic2160Version != 30) { |
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ZLOGE(TAG, "TMC4361 or TMC2160 is not normal"); |
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} |
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|
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/*******************************************************************************
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* 风扇初始化 * |
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*******************************************************************************/ |
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m_deviceIoService.fanInit(1000); |
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/**
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* @brief 风扇反馈初始化 |
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* |
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* FAN0_FB_INT PC1 |
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* FAN1_FB_INT PC4 |
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* FAN2_FB_INT PC5 |
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* FAN3_FB_INT PC6 |
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* FAN4_FB_INT PC7 |
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* FAN5_FB_INT PC10 |
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*/ |
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m_fanStateMonitor[0].initialize(m_os, GPIOC, GPIO_PIN_1, m_deviceIoService.fanGetPowerState(0)); |
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m_fanStateMonitor[1].initialize(m_os, GPIOC, GPIO_PIN_4, m_deviceIoService.fanGetPowerState(1)); |
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m_fanStateMonitor[2].initialize(m_os, GPIOC, GPIO_PIN_5, m_deviceIoService.fanGetPowerState(2)); |
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m_fanStateMonitor[3].initialize(m_os, GPIOC, GPIO_PIN_6, m_deviceIoService.fanGetPowerState(3)); |
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m_fanStateMonitor[4].initialize(m_os, GPIOC, GPIO_PIN_7, m_deviceIoService.fanGetPowerState(4)); |
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m_fanStateMonitor[5].initialize(m_os, GPIOC, GPIO_PIN_10, m_deviceIoService.fanGetPowerState(5)); |
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} |
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void Hardware::periodicJob() { |
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/**
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* @brief 风扇状态监控服务周期调度 |
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*/ |
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for (size_t i = 0; i < ZARRAY_SIZE(m_fanStateMonitor); i++) { |
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m_fanStateMonitor[i].periodicJob(); |
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} |
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do_debug_light_state(); |
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} |
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void Hardware::do_debug_light_state() { |
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static uint32_t lastprocess = 0; |
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if (sys_haspassedms(lastprocess) > 300) { |
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lastprocess = HAL_GetTick(); |
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HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); |
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} |
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} |
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/*******************************************************************************
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* 硬件测试 * |
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*******************************************************************************/ |
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void Hardware::testTmp117() { |
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static uint32_t lastcall; |
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if (m_os->hasPassedMS(lastcall) > 1000) { |
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lastcall = m_os->getTicket(); |
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for (size_t i = 0; i < 4; i++) { |
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float temp = tmp117[i].getTemperature(); |
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if (tmp117[i].getLastCallStatus() == HAL_OK) { |
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ZLOGI(TAG, "tmp117_%d:%f", i, temp); |
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} else { |
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ZLOGI(TAG, "tmp117_%d:read fail", i); |
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} |
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} |
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} |
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} |
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/**
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* @brief 测试CAN的发送和接收 |
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*/ |
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void Hardware::testCanSlaveTxAndRx(bool canOnRxDataFlag) { |
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{ |
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static uint32_t lastcall; |
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static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8}; |
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if (m_os->hasPassedMS(lastcall) > 1000) { |
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lastcall = m_os->getTicket(); |
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canSlaveService.translate(0x01, tx, 8, 2); |
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if (canSlaveService.getLastTransmitStatus() == HAL_OK) { |
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ZLOGI(TAG, "send ok"); |
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} else { |
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ZLOGI(TAG, "send fail"); |
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} |
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} |
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} |
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/**
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* @brief 接收CAN消息 |
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*/ |
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if (canOnRxDataFlag) { |
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canOnRxDataFlag = false; |
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static CAN_RxHeaderTypeDef packetHeader; |
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static uint8_t packetData[8]; |
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while (canSlaveService.getRxMessage(&packetHeader, packetData)) { |
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ZLOGI(TAG, "rx packet:"); |
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ZLOGI(TAG, "\tid:%x len:%d", packetHeader.StdId, packetHeader.DLC); |
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ZLOGI_HEX(TAG, packetData, packetHeader.DLC); |
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} |
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canSlaveService.activateRxIT(); |
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} |
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} |
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@ -0,0 +1,36 @@ |
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#pragma once
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#include "board/device_io_service.hpp"
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#include "board/fan_state_monitor.hpp"
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#include "board/libtmcimpl.hpp"
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#include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp"
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#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp"
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namespace iflytop { |
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class Hardware { |
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private: |
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/* data */ |
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public: |
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TMC4361AImpl tmc4361motor1; |
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TMC2160Impl tmc2160motor1; |
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TMP117 tmp117[4]; |
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FanStateMonitor m_fanStateMonitor[6]; |
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IflytopCanSlave canSlaveService; |
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IflytopMicroOS* m_os; |
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DeviceIoService m_deviceIoService; |
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Hardware(/* args */){}; |
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~Hardware(){}; |
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void hardwareinit(); |
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void periodicJob(); |
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/*******************************************************************************
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* 测试 * |
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*******************************************************************************/ |
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void testTmp117(); |
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void testCanSlaveTxAndRx(bool canOnRxDataFlag); |
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void do_debug_light_state(); |
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}; |
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} // namespace iflytop
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@ -0,0 +1,35 @@ |
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#pragma once
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#include "libtmcimpl.hpp"
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#include "device_io_service.hpp"
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namespace iflytop { |
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using namespace std; |
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/*******************************************************************************
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* TMC4361AImpl * |
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*******************************************************************************/ |
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void TMC4361AImpl::setResetPinState(bool state) { m_deviceIoService->tmc_nRESET_pin_set_state(m_channel, state); }; |
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void TMC4361AImpl::setFREEZEPinState(bool state) { m_deviceIoService->tmc_nFREEZE_pin_set_state(m_channel, state); }; |
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void TMC4361AImpl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); }; |
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bool TMC4361AImpl::getTargetReachedPinState() { return false; }; |
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void TMC4361AImpl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); }; |
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void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { //
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m_deviceIoService->tmc_motor_spi_write_and_read(m_channel, data, length); |
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}; |
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void TMC4361AImpl::initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config) { |
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m_deviceIoService = deviceIoService; |
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TMC4361A::initialize(channel, driver_ic_type, config); |
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} |
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/*******************************************************************************
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* TMC2160Impl * |
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*******************************************************************************/ |
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void TMC2160Impl::initialize(DeviceIoService *deviceIoService, TMC4361A *tmc4361, uint8_t channelId) { |
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m_tmc4361 = tmc4361; |
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m_deviceIoService = deviceIoService; |
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TMC2160::initialize(channelId); |
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} |
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void TMC2160Impl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); }; |
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void TMC2160Impl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); }; |
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void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; |
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} // namespace iflytop
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@ -1,28 +0,0 @@ |
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#pragma once
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#include "libtmcimpl.hpp"
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#include "device_io_service.hpp"
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namespace iflytop { |
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using namespace std; |
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/*******************************************************************************
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* TMC4361AImpl * |
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*******************************************************************************/ |
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void TMC4361AImpl::setResetPinState(bool state) { deviceIoService.tmc_nRESET_pin_set_state(m_channel, state); }; |
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void TMC4361AImpl::setFREEZEPinState(bool state) { deviceIoService.tmc_nFREEZE_pin_set_state(m_channel, state); }; |
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void TMC4361AImpl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; |
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bool TMC4361AImpl::getTargetReachedPinState() { return false; }; |
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void TMC4361AImpl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; |
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void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { //
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deviceIoService.tmc_motor_spi_write_and_read(m_channel, data, length); |
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}; |
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/*******************************************************************************
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* TMC2160Impl * |
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*******************************************************************************/ |
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void TMC2160Impl::initialize(uint8_t channel, TMC4361A *tmc4361) { |
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m_tmc4361 = tmc4361; |
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TMC2160::initialize(channel); |
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} |
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void TMC2160Impl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; |
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void TMC2160Impl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; |
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void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; |
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} // namespace iflytop
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#include "lncubator_temperature_control_service.hpp"
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using namespace iflytop; |
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#define TAG "LTCS"
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const int LncubatorTemperatureControlService::m_compute_periodms = 1000; |
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const float LncubatorTemperatureControlService::m_error_limit = 50; |
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const float LncubatorTemperatureControlService::m_kp = 30; |
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const float LncubatorTemperatureControlService::m_ki = 1; |
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const float LncubatorTemperatureControlService::m_kd = 0; |
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const float LncubatorTemperatureControlService::m_max_output = 100; |
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const float LncubatorTemperatureControlService::m_min_output = -100; |
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const bool LncubatorTemperatureControlService::m_dumpvalue = false; |
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void LncubatorTemperatureControlService::initialize(Hardware* hardware) { |
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#if 0
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pid_ctrl_config_t m_init_config; |
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pid_ctrl_block_handle_t m_pidblock; |
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IflytopMicroOS* m_os; |
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float m_nowoutput = 0; |
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bool m_workingState; |
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#endif
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m_init_config.init_param.kp = 30; |
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m_init_config.init_param.ki = 1; |
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m_init_config.init_param.kd = 0; |
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m_init_config.init_param.cal_type = PID_CAL_TYPE_POSITIONAL; |
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m_init_config.init_param.max_output = m_max_output; |
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m_init_config.init_param.min_output = m_min_output; |
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m_init_config.init_param.max_integral = m_error_limit; |
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m_init_config.init_param.min_integral = -m_error_limit; |
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pid_new_control_block(&m_init_config, &m_pidblock); |
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ZASSERT(m_pidblock != NULL); |
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m_hardware = hardware; |
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m_nowoutput = 0; |
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m_target_temperature = 25; |
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m_periodicJobLastExecuteTicket = 0; |
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} |
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void LncubatorTemperatureControlService::setTargetTemperature(int targetTemperature) { //
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m_target_temperature = targetTemperature; |
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} |
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void LncubatorTemperatureControlService::setPidKp(float value) { |
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m_init_config.init_param.kp = value; |
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pid_update_parameters(m_pidblock, &m_init_config.init_param); |
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} |
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void LncubatorTemperatureControlService::setPidKi(float value) { |
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m_init_config.init_param.ki = value; |
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pid_update_parameters(m_pidblock, &m_init_config.init_param); |
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} |
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void LncubatorTemperatureControlService::setPidKd(float value) { |
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m_init_config.init_param.kd = value; |
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pid_update_parameters(m_pidblock, &m_init_config.init_param); |
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} |
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void LncubatorTemperatureControlService::setPidParameters(float kp, float ki, float kd) { |
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m_init_config.init_param.kp = kp; |
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m_init_config.init_param.ki = ki; |
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m_init_config.init_param.kd = kd; |
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pid_update_parameters(m_pidblock, &m_init_config.init_param); |
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} |
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float LncubatorTemperatureControlService::getTemperature() { |
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float temperature[4]; |
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temperature[0] = m_hardware->tmp117[0].getTemperature(); |
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temperature[1] = m_hardware->tmp117[1].getTemperature(); |
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temperature[2] = m_hardware->tmp117[2].getTemperature(); |
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temperature[3] = m_hardware->tmp117[3].getTemperature(); |
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float temperature_median = 0; |
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// 取温度的中位数
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for (int i = 0; i < 4; i++) { |
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for (int j = i + 1; j < 4; j++) { |
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if (temperature[i] > temperature[j]) { |
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float temp = temperature[i]; |
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temperature[i] = temperature[j]; |
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temperature[j] = temp; |
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} |
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} |
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} |
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temperature_median = (temperature[1] + temperature[2]) / 2; |
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return temperature_median; |
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} |
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void LncubatorTemperatureControlService::setPwmOutput(float output) { m_hardware->m_deviceIoService.peltier_set_pwm(output); } |
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void LncubatorTemperatureControlService::start() { |
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pid_reset(m_pidblock); |
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/**
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* @brief |
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* 启动时，之所以将积分极限积分，主要是因为正常使用时，温度基本上是从20度开始，加热过程中积分通常会累计到极限值， |
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* 同时为了方便确定当前PID参数是否正确，需要多次测试到达目标温度后，曲线是否稳定，但每次测试降低温度温度到室温 |
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* 很耽误时间，所以这里直接将积分拉满，这样就不需要降低温度就能测试PID参数了。 |
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*/ |
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pid_set_integral_err(m_pidblock, m_error_limit); |
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m_workingState = true; |
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} |
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void LncubatorTemperatureControlService::stop() {} |
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void LncubatorTemperatureControlService::periodicJob() { |
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if (!m_workingState) return; |
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if (m_hardware->m_os->hasPassedMS(m_periodicJobLastExecuteTicket) < m_compute_periodms) { |
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return; |
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} |
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m_periodicJobLastExecuteTicket = m_os->getTicket(); |
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float current_temperature = getTemperature(); |
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float output = 0; |
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pid_compute(m_pidblock, m_target_temperature - current_temperature, &output); |
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pwmOutputFilter(output, &m_nowoutput); |
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if (m_dumpvalue) { |
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ZLOGI(TAG, "%.2f,%.2f,%.2f,%.2f", m_target_temperature, current_temperature, pid_get_integral_err(m_pidblock), m_nowoutput); |
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} |
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setPwmOutput(m_nowoutput); |
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} |
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void LncubatorTemperatureControlService::pwmOutputFilter(float now, float* output) { |
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/**
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* @brief 控制PWM输出最多以每次10的步进进行变化 |
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*/ |
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if (now > *output) { |
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*output += 10; |
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if (*output > now) { |
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*output = now; |
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} |
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} else if (now < *output) { |
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*output = now; |
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} |
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} |
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@ -0,0 +1,55 @@ |
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#pragma once
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#include "board/device_io_service.hpp"
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#include "board\hardware.hpp"
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#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp"
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#include "libiflytop_micro\stm32\component\pid\pid_ctrl.h"
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#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp"
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namespace iflytop { |
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class LncubatorTemperatureControlService { |
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/*******************************************************************************
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* Config * |
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*******************************************************************************/ |
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static const int m_compute_periodms; |
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static const float m_error_limit; |
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static const float m_kp; |
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static const float m_ki; |
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static const float m_kd; |
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static const float m_max_output; |
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static const float m_min_output; |
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static const bool m_dumpvalue; |
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|
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pid_ctrl_config_t m_init_config; |
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pid_ctrl_block_handle_t m_pidblock; |
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Hardware* m_hardware; |
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IflytopMicroOS* m_os; |
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float m_nowoutput; |
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bool m_workingState; |
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float m_target_temperature; |
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|
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uint32_t m_periodicJobLastExecuteTicket; |
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|
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public: |
|||
void initialize(Hardware* hardware); |
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|
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void setPidParameters(float kp, float ki, float kd); |
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void setPidKp(float value); |
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void setPidKi(float value); |
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void setPidKd(float value); |
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void setTargetTemperature(int targetTemperature); |
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|
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void start(); |
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void stop(); |
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|
|||
/**
|
|||
* @brief 主循环中尽可能多的机会调用该方法 |
|||
*/ |
|||
void periodicJob(); |
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|
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private: |
|||
void pwmOutputFilter(float now, float* output); |
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float getTemperature(); |
|||
void setPwmOutput(float output); |
|||
}; |
|||
|
|||
} // namespace iflytop
|
|||
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