diff --git a/.vscode/settings.json b/.vscode/settings.json index 181a970..9e0ec99 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -61,6 +61,9 @@ "cinttypes": "cpp", "typeinfo": "cpp", "can.h": "c", - "deque": "cpp" + "deque": "cpp", + "param.h": "c", + "stdbool.h": "c", + "check.h": "c" } } \ No newline at end of file diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index c916671..ca739b8 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 + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\src\board @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 3699 - 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898 @@ -3603,117 +3603,9 @@ 0 100 - 24 - - ../Core/Src/main.c - 0 - 60 - 70 - 1 - - 0 - - - startup_stm32f407xx.s - 0 - 168 - 174 - 1 - - 0 - - - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c - 0 - 194 - 201 - 1 - - 0 - - - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\CRC.c - 0 - 1 - 1 - 1 - - 0 - - - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c - 0 - 1 - 1 - 1 - - 0 - + 2 - D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp.c - 0 - 1 - 1 - 1 - - 0 - - - ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp - 21 - 66 - 76 - 1 - - 0 - - - ..\..\src\umain.cpp - 0 - 60 - 70 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c - 0 - 315 - 325 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c - 0 - 3171 - 3181 - 1 - - 0 - - - ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp - 5 - 141 - 151 - 1 - - 0 - - - ../Core/Src/stm32f4xx_it.c - 0 - 79 - 89 - 1 - - 0 - - - ..\..\dep\libtrinamic\src\ic\tmc2160.cpp + ..\..\src\board\libtmcimpl.cpp 0 1 10 @@ -3722,35 +3614,8 @@ 0 - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC2160\TMC2160.c - 0 - 104 - 114 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c - 0 - 1252 - 1262 - 1 - - 0 - - - ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\Macros.h - 0 - 6 - 27 - 1 - - 0 - - - C:\Keil_v5\ARM\ARMCC\include\functional - 0 + ..\..\src\lncubator_temperature_control_service.cpp + 47 1 1 1 @@ -3758,73 +3623,10 @@ 0 - ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_res_manager.cpp - 0 + ..\..\src\lncubator_temperature_control_service.hpp + 26 1 - 18 - 1 - - 0 - - - ..\..\dep\libiflytop_micro\stm32\basic\basic.c - 0 - 2 - 25 - 1 - - 0 - - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c - 0 - 1719 - 1726 - 1 - - 0 - - - ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.cpp - 10 - 104 - 114 - 1 - - 0 - - - ..\..\dep\libiflytop_micro\stm32\component\tmp117\tmp117.cpp - 17 - 24 - 47 - 1 - - 0 - - - ..\..\dep\libiflytop_micro\stm32\basic\zsignal.hpp - 96 - 72 - 95 - 1 - - 0 - - - ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_utils.cpp - 14 - 90 - 120 - 1 - - 0 - - - ..\..\src\fan_state_monitor.hpp - 6 - 3 - 33 + 17 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index ae00568..cd8d82f 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -925,8 +925,8 @@ 0 0 0 - ..\..\src\device_io_service.cpp - device_io_service.cpp + ..\..\src\lncubator_temperature_control_service.cpp + lncubator_temperature_control_service.cpp 0 0 @@ -937,7 +937,43 @@ 0 0 0 - ..\..\src\libtmcimpl.cpp + ..\..\src\board\device_io_service.cpp + device_io_service.cpp + 0 + 0 + + + 6 + 42 + 8 + 0 + 0 + 0 + ..\..\src\board\fan_state_monitor.cpp + fan_state_monitor.cpp + 0 + 0 + + + 6 + 43 + 8 + 0 + 0 + 0 + ..\..\src\board\hardware.cpp + hardware.cpp + 0 + 0 + + + 6 + 44 + 8 + 0 + 0 + 0 + ..\..\src\board\libtmcimpl.cpp libtmcimpl.cpp 0 0 @@ -952,7 +988,7 @@ 0 7 - 42 + 45 1 0 0 @@ -964,7 +1000,7 @@ 7 - 43 + 46 1 0 0 @@ -976,7 +1012,7 @@ 7 - 44 + 47 1 0 0 @@ -988,7 +1024,7 @@ 7 - 45 + 48 1 0 0 @@ -1000,7 +1036,7 @@ 7 - 46 + 49 8 0 0 @@ -1012,7 +1048,7 @@ 7 - 47 + 50 1 0 0 @@ -1024,7 +1060,7 @@ 7 - 48 + 51 1 0 0 @@ -1036,7 +1072,7 @@ 7 - 49 + 52 8 0 0 @@ -1048,7 +1084,7 @@ 7 - 50 + 53 8 0 0 @@ -1060,7 +1096,7 @@ 7 - 51 + 54 8 0 0 @@ -1072,7 +1108,7 @@ 7 - 52 + 55 8 0 0 @@ -1084,13 +1120,13 @@ 7 - 53 - 8 + 56 + 1 0 0 0 - ..\..\src\fan_state_monitor.cpp - fan_state_monitor.cpp + ..\..\dep\libiflytop_micro\stm32\component\pid\pid_ctrl.c + pid_ctrl.c 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index 25b29b6..3020990 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -1216,14 +1216,29 @@ ..\..\src\umain.cpp + lncubator_temperature_control_service.cpp + 8 + ..\..\src\lncubator_temperature_control_service.cpp + + device_io_service.cpp 8 - ..\..\src\device_io_service.cpp + ..\..\src\board\device_io_service.cpp + + + fan_state_monitor.cpp + 8 + ..\..\src\board\fan_state_monitor.cpp + + + hardware.cpp + 8 + ..\..\src\board\hardware.cpp libtmcimpl.cpp 8 - ..\..\src\libtmcimpl.cpp + ..\..\src\board\libtmcimpl.cpp @@ -1286,9 +1301,9 @@ ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal_utils.cpp - fan_state_monitor.cpp - 8 - ..\..\src\fan_state_monitor.cpp + pid_ctrl.c + 1 + ..\..\dep\libiflytop_micro\stm32\component\pid\pid_ctrl.c diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index 1be6e0e..645e10e 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit 1be6e0ea5a7193a1eac2460413476302bd9c8dea +Subproject commit 645e10e79f235ef9a05d3026091d692b18f6b5f8 diff --git a/src/device_io_service.cpp b/src/board/device_io_service.cpp similarity index 99% rename from src/device_io_service.cpp rename to src/board/device_io_service.cpp index 3aa35b5..09d46ce 100644 --- a/src/device_io_service.cpp +++ b/src/board/device_io_service.cpp @@ -12,7 +12,6 @@ int fputc(int ch, FILE *stream) { using namespace iflytop; namespace iflytop { -DeviceIoService deviceIoService; } void DeviceIoService::fanInit(int freq) { diff --git a/src/device_io_service.hpp b/src/board/device_io_service.hpp similarity index 96% rename from src/device_io_service.hpp rename to src/board/device_io_service.hpp index 42da01b..f9a84bc 100644 --- a/src/device_io_service.hpp +++ b/src/board/device_io_service.hpp @@ -19,7 +19,7 @@ class DeviceIoService : public IflytopMicroOS { private: /* data */ - bool m_fanState[5]; + bool m_fanState[6]; public: DeviceIoService(/* args */) {} @@ -66,5 +66,4 @@ class DeviceIoService : public IflytopMicroOS { void tmc_motor_spi_select(int channel, bool state); }; -extern DeviceIoService deviceIoService; } // namespace iflytop \ No newline at end of file diff --git a/src/fan_state_monitor.cpp b/src/board/fan_state_monitor.cpp similarity index 100% rename from src/fan_state_monitor.cpp rename to src/board/fan_state_monitor.cpp diff --git a/src/fan_state_monitor.hpp b/src/board/fan_state_monitor.hpp similarity index 100% rename from src/fan_state_monitor.hpp rename to src/board/fan_state_monitor.hpp diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp new file mode 100644 index 0000000..c9606e0 --- /dev/null +++ b/src/board/hardware.cpp @@ -0,0 +1,148 @@ +#include "hardware.hpp" + +#include "i2c.h" +using namespace iflytop; +#define TAG "hardware" +void Hardware::hardwareinit() { + m_os = &m_deviceIoService; + /******************************************************************************* + * CANSLAVEService初始化 * + *******************************************************************************/ + IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID); + canSlaveService.initialize(m_os, config); + /******************************************************************************* + * 帕尔贴初始化 * + *******************************************************************************/ + m_deviceIoService.peltier_init(); + /******************************************************************************* + * 温度传感器初始化 * + *******************************************************************************/ + tmp117[0].initializate(&hi2c1, TMP117::ID0); + tmp117[1].initializate(&hi2c1, TMP117::ID1); + tmp117[2].initializate(&hi2c1, TMP117::ID2); + tmp117[3].initializate(&hi2c1, TMP117::ID3); + + /******************************************************************************* + * 电机初始化 * + *******************************************************************************/ + m_deviceIoService.tmc_init(); + m_deviceIoService.tmc_extern_clk_enable(); + // 4361初始化 + TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); + tmc4361aconfig->base_config.fs_per_rev = 200; + tmc4361aconfig->encoder_config.diff_enc_in_disable = false; + tmc4361aconfig->encoder_config.enc_in_res = 4000; + tmc4361aconfig->close_loop_config.enable_closed_loop = true; + + tmc4361motor1.initialize(&m_deviceIoService, MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); + tmc4361motor1.setMaximumAcceleration(300000); + tmc4361motor1.setMaximumDeceleration(300000); + + // 2160初始化 + tmc2160motor1.setMaximumCurrent(3); + tmc2160motor1.initialize(&m_deviceIoService, &tmc4361motor1, MOTOR_1_TMC2160_CHANNEL); + + HAL_Delay(100); + // 使能电机 + tmc4361motor1.enableIC(true); + tmc2160motor1.enableIC(true); + /** + * @brief 通过读取Version寄存器来判断芯片是否正常 + */ + int32_t ic4361Version = tmc4361motor1.readICVersion(); + int32_t ic2160Version = tmc2160motor1.readICVersion(); + // 期望 4361Version:2 ic2160Version:30 + ZLOGI(TAG, "TMC4361Version:%x TMC2160VERSION:%x", ic4361Version, ic2160Version); + if (ic4361Version != 2 || ic2160Version != 30) { + ZLOGE(TAG, "TMC4361 or TMC2160 is not normal"); + } + + /******************************************************************************* + * 风扇初始化 * + *******************************************************************************/ + m_deviceIoService.fanInit(1000); + /** + * @brief 风扇反馈初始化 + * + * FAN0_FB_INT PC1 + * FAN1_FB_INT PC4 + * FAN2_FB_INT PC5 + * FAN3_FB_INT PC6 + * FAN4_FB_INT PC7 + * FAN5_FB_INT PC10 + */ + + m_fanStateMonitor[0].initialize(m_os, GPIOC, GPIO_PIN_1, m_deviceIoService.fanGetPowerState(0)); + m_fanStateMonitor[1].initialize(m_os, GPIOC, GPIO_PIN_4, m_deviceIoService.fanGetPowerState(1)); + m_fanStateMonitor[2].initialize(m_os, GPIOC, GPIO_PIN_5, m_deviceIoService.fanGetPowerState(2)); + m_fanStateMonitor[3].initialize(m_os, GPIOC, GPIO_PIN_6, m_deviceIoService.fanGetPowerState(3)); + m_fanStateMonitor[4].initialize(m_os, GPIOC, GPIO_PIN_7, m_deviceIoService.fanGetPowerState(4)); + m_fanStateMonitor[5].initialize(m_os, GPIOC, GPIO_PIN_10, m_deviceIoService.fanGetPowerState(5)); +} +void Hardware::periodicJob() { + /** + * @brief 风扇状态监控服务周期调度 + */ + for (size_t i = 0; i < ZARRAY_SIZE(m_fanStateMonitor); i++) { + m_fanStateMonitor[i].periodicJob(); + } + do_debug_light_state(); +} +void Hardware::do_debug_light_state() { + static uint32_t lastprocess = 0; + if (sys_haspassedms(lastprocess) > 300) { + lastprocess = HAL_GetTick(); + HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); + } +} +/******************************************************************************* + * 硬件测试 * + *******************************************************************************/ +void Hardware::testTmp117() { + static uint32_t lastcall; + if (m_os->hasPassedMS(lastcall) > 1000) { + lastcall = m_os->getTicket(); + for (size_t i = 0; i < 4; i++) { + float temp = tmp117[i].getTemperature(); + if (tmp117[i].getLastCallStatus() == HAL_OK) { + ZLOGI(TAG, "tmp117_%d:%f", i, temp); + } else { + ZLOGI(TAG, "tmp117_%d:read fail", i); + } + } + } +} + +/** + * @brief 测试CAN的发送和接收 + */ +void Hardware::testCanSlaveTxAndRx(bool canOnRxDataFlag) { + { + static uint32_t lastcall; + static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8}; + if (m_os->hasPassedMS(lastcall) > 1000) { + lastcall = m_os->getTicket(); + canSlaveService.translate(0x01, tx, 8, 2); + if (canSlaveService.getLastTransmitStatus() == HAL_OK) { + ZLOGI(TAG, "send ok"); + } else { + ZLOGI(TAG, "send fail"); + } + } + } + + /** + * @brief 接收CAN消息 + */ + if (canOnRxDataFlag) { + canOnRxDataFlag = false; + static CAN_RxHeaderTypeDef packetHeader; + static uint8_t packetData[8]; + while (canSlaveService.getRxMessage(&packetHeader, packetData)) { + ZLOGI(TAG, "rx packet:"); + ZLOGI(TAG, "\tid:%x len:%d", packetHeader.StdId, packetHeader.DLC); + ZLOGI_HEX(TAG, packetData, packetHeader.DLC); + } + canSlaveService.activateRxIT(); + } +} diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp new file mode 100644 index 0000000..4c0ee8c --- /dev/null +++ b/src/board/hardware.hpp @@ -0,0 +1,36 @@ + +#pragma once +#include "board/device_io_service.hpp" +#include "board/fan_state_monitor.hpp" +#include "board/libtmcimpl.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp" +#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" + +namespace iflytop { +class Hardware { + private: + /* data */ + public: + TMC4361AImpl tmc4361motor1; + TMC2160Impl tmc2160motor1; + TMP117 tmp117[4]; + FanStateMonitor m_fanStateMonitor[6]; + IflytopCanSlave canSlaveService; + IflytopMicroOS* m_os; + DeviceIoService m_deviceIoService; + + Hardware(/* args */){}; + ~Hardware(){}; + + void hardwareinit(); + void periodicJob(); + + /******************************************************************************* + * 测试 * + *******************************************************************************/ + void testTmp117(); + void testCanSlaveTxAndRx(bool canOnRxDataFlag); + void do_debug_light_state(); +}; + +} // namespace iflytop diff --git a/src/board/libtmcimpl.cpp b/src/board/libtmcimpl.cpp new file mode 100644 index 0000000..d517932 --- /dev/null +++ b/src/board/libtmcimpl.cpp @@ -0,0 +1,35 @@ +#pragma once +#include "libtmcimpl.hpp" + +#include "device_io_service.hpp" +namespace iflytop { +using namespace std; +/******************************************************************************* + * TMC4361AImpl * + *******************************************************************************/ +void TMC4361AImpl::setResetPinState(bool state) { m_deviceIoService->tmc_nRESET_pin_set_state(m_channel, state); }; +void TMC4361AImpl::setFREEZEPinState(bool state) { m_deviceIoService->tmc_nFREEZE_pin_set_state(m_channel, state); }; +void TMC4361AImpl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); }; +bool TMC4361AImpl::getTargetReachedPinState() { return false; }; +void TMC4361AImpl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); }; +void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { // + m_deviceIoService->tmc_motor_spi_write_and_read(m_channel, data, length); +}; + +void TMC4361AImpl::initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config) { + m_deviceIoService = deviceIoService; + TMC4361A::initialize(channel, driver_ic_type, config); +} + +/******************************************************************************* + * TMC2160Impl * + *******************************************************************************/ +void TMC2160Impl::initialize(DeviceIoService *deviceIoService, TMC4361A *tmc4361, uint8_t channelId) { + m_tmc4361 = tmc4361; + m_deviceIoService = deviceIoService; + TMC2160::initialize(channelId); +} +void TMC2160Impl::setENNPinState(bool state) { m_deviceIoService->tmc_ENN_pin_set_state(m_channel, state); }; +void TMC2160Impl::sleepus(int32_t us) { m_deviceIoService->sleepus(us); }; +void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; +} // namespace iflytop \ No newline at end of file diff --git a/src/libtmcimpl.hpp b/src/board/libtmcimpl.hpp similarity index 67% rename from src/libtmcimpl.hpp rename to src/board/libtmcimpl.hpp index b1eb381..47eaa0a 100644 --- a/src/libtmcimpl.hpp +++ b/src/board/libtmcimpl.hpp @@ -1,5 +1,6 @@ #pragma once +#include "board/device_io_service.hpp" #include "libiflytop_micro/stm32/basic/basic.h" #include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" @@ -9,6 +10,8 @@ using namespace std; * @brief 对接TMC4361和硬件的接口 */ class TMC4361AImpl : public TMC4361A { + DeviceIoService *m_deviceIoService; + protected: virtual void setResetPinState(bool state); virtual void setFREEZEPinState(bool state); @@ -16,15 +19,19 @@ class TMC4361AImpl : public TMC4361A { virtual bool getTargetReachedPinState(); virtual void sleepus(int32_t us); virtual void readWriteArray(uint8_t *data, size_t length); + + public: + void initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config); }; /** * @brief 对接TMC2160和硬件的接口 */ class TMC2160Impl : public TMC2160 { - TMC4361A *m_tmc4361; + TMC4361A *m_tmc4361; + DeviceIoService *m_deviceIoService; public: - void initialize(uint8_t channel, TMC4361A *tmc4361); + void initialize(DeviceIoService *deviceIoService, TMC4361A *tmc4361, uint8_t channelId); protected: virtual void setENNPinState(bool state); diff --git a/src/libtmcimpl.cpp b/src/libtmcimpl.cpp deleted file mode 100644 index 371b5f2..0000000 --- a/src/libtmcimpl.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once -#include "libtmcimpl.hpp" - -#include "device_io_service.hpp" -namespace iflytop { -using namespace std; -/******************************************************************************* - * TMC4361AImpl * - *******************************************************************************/ -void TMC4361AImpl::setResetPinState(bool state) { deviceIoService.tmc_nRESET_pin_set_state(m_channel, state); }; -void TMC4361AImpl::setFREEZEPinState(bool state) { deviceIoService.tmc_nFREEZE_pin_set_state(m_channel, state); }; -void TMC4361AImpl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; -bool TMC4361AImpl::getTargetReachedPinState() { return false; }; -void TMC4361AImpl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; -void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { // - deviceIoService.tmc_motor_spi_write_and_read(m_channel, data, length); -}; -/******************************************************************************* - * TMC2160Impl * - *******************************************************************************/ -void TMC2160Impl::initialize(uint8_t channel, TMC4361A *tmc4361) { - m_tmc4361 = tmc4361; - TMC2160::initialize(channel); -} -void TMC2160Impl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; -void TMC2160Impl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; -void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; -} // namespace iflytop \ No newline at end of file diff --git a/src/lncubator_temperature_control_service.cpp b/src/lncubator_temperature_control_service.cpp new file mode 100644 index 0000000..7d9f478 --- /dev/null +++ b/src/lncubator_temperature_control_service.cpp @@ -0,0 +1,129 @@ +#include "lncubator_temperature_control_service.hpp" +using namespace iflytop; +#define TAG "LTCS" + +const int LncubatorTemperatureControlService::m_compute_periodms = 1000; +const float LncubatorTemperatureControlService::m_error_limit = 50; +const float LncubatorTemperatureControlService::m_kp = 30; +const float LncubatorTemperatureControlService::m_ki = 1; +const float LncubatorTemperatureControlService::m_kd = 0; +const float LncubatorTemperatureControlService::m_max_output = 100; +const float LncubatorTemperatureControlService::m_min_output = -100; +const bool LncubatorTemperatureControlService::m_dumpvalue = false; + +void LncubatorTemperatureControlService::initialize(Hardware* hardware) { +#if 0 + pid_ctrl_config_t m_init_config; + pid_ctrl_block_handle_t m_pidblock; + IflytopMicroOS* m_os; + float m_nowoutput = 0; + bool m_workingState; +#endif + + m_init_config.init_param.kp = 30; + m_init_config.init_param.ki = 1; + m_init_config.init_param.kd = 0; + m_init_config.init_param.cal_type = PID_CAL_TYPE_POSITIONAL; + m_init_config.init_param.max_output = m_max_output; + m_init_config.init_param.min_output = m_min_output; + m_init_config.init_param.max_integral = m_error_limit; + m_init_config.init_param.min_integral = -m_error_limit; + + pid_new_control_block(&m_init_config, &m_pidblock); + ZASSERT(m_pidblock != NULL); + m_hardware = hardware; + m_nowoutput = 0; + + m_target_temperature = 25; + + m_periodicJobLastExecuteTicket = 0; +} + +void LncubatorTemperatureControlService::setTargetTemperature(int targetTemperature) { // + m_target_temperature = targetTemperature; +} +void LncubatorTemperatureControlService::setPidKp(float value) { + m_init_config.init_param.kp = value; + pid_update_parameters(m_pidblock, &m_init_config.init_param); +} +void LncubatorTemperatureControlService::setPidKi(float value) { + m_init_config.init_param.ki = value; + pid_update_parameters(m_pidblock, &m_init_config.init_param); +} +void LncubatorTemperatureControlService::setPidKd(float value) { + m_init_config.init_param.kd = value; + pid_update_parameters(m_pidblock, &m_init_config.init_param); +} + +void LncubatorTemperatureControlService::setPidParameters(float kp, float ki, float kd) { + m_init_config.init_param.kp = kp; + m_init_config.init_param.ki = ki; + m_init_config.init_param.kd = kd; + pid_update_parameters(m_pidblock, &m_init_config.init_param); +} +float LncubatorTemperatureControlService::getTemperature() { + float temperature[4]; + temperature[0] = m_hardware->tmp117[0].getTemperature(); + temperature[1] = m_hardware->tmp117[1].getTemperature(); + temperature[2] = m_hardware->tmp117[2].getTemperature(); + temperature[3] = m_hardware->tmp117[3].getTemperature(); + + float temperature_median = 0; + // 取温度的中位数 + for (int i = 0; i < 4; i++) { + for (int j = i + 1; j < 4; j++) { + if (temperature[i] > temperature[j]) { + float temp = temperature[i]; + temperature[i] = temperature[j]; + temperature[j] = temp; + } + } + } + temperature_median = (temperature[1] + temperature[2]) / 2; + return temperature_median; +} +void LncubatorTemperatureControlService::setPwmOutput(float output) { m_hardware->m_deviceIoService.peltier_set_pwm(output); } + +void LncubatorTemperatureControlService::start() { + pid_reset(m_pidblock); + /** + * @brief + * 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， + * 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 + * 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。 + */ + pid_set_integral_err(m_pidblock, m_error_limit); + m_workingState = true; +} +void LncubatorTemperatureControlService::stop() {} + +void LncubatorTemperatureControlService::periodicJob() { + if (!m_workingState) return; + if (m_hardware->m_os->hasPassedMS(m_periodicJobLastExecuteTicket) < m_compute_periodms) { + return; + } + m_periodicJobLastExecuteTicket = m_os->getTicket(); + + float current_temperature = getTemperature(); + float output = 0; + pid_compute(m_pidblock, m_target_temperature - current_temperature, &output); + pwmOutputFilter(output, &m_nowoutput); + if (m_dumpvalue) { + ZLOGI(TAG, "%.2f,%.2f,%.2f,%.2f", m_target_temperature, current_temperature, pid_get_integral_err(m_pidblock), m_nowoutput); + } + setPwmOutput(m_nowoutput); +} + +void LncubatorTemperatureControlService::pwmOutputFilter(float now, float* output) { + /** + * @brief 控制PWM输出最多以每次10的步进进行变化 + */ + if (now > *output) { + *output += 10; + if (*output > now) { + *output = now; + } + } else if (now < *output) { + *output = now; + } +} diff --git a/src/lncubator_temperature_control_service.hpp b/src/lncubator_temperature_control_service.hpp new file mode 100644 index 0000000..542af8e --- /dev/null +++ b/src/lncubator_temperature_control_service.hpp @@ -0,0 +1,55 @@ +#pragma once +#include "board/device_io_service.hpp" +#include "board\hardware.hpp" +#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" +#include "libiflytop_micro\stm32\component\pid\pid_ctrl.h" +#include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp" +namespace iflytop { + +class LncubatorTemperatureControlService { + /******************************************************************************* + * Config * + *******************************************************************************/ + static const int m_compute_periodms; + static const float m_error_limit; + static const float m_kp; + static const float m_ki; + static const float m_kd; + static const float m_max_output; + static const float m_min_output; + static const bool m_dumpvalue; + + pid_ctrl_config_t m_init_config; + pid_ctrl_block_handle_t m_pidblock; + Hardware* m_hardware; + IflytopMicroOS* m_os; + float m_nowoutput; + bool m_workingState; + float m_target_temperature; + + uint32_t m_periodicJobLastExecuteTicket; + + public: + void initialize(Hardware* hardware); + + void setPidParameters(float kp, float ki, float kd); + void setPidKp(float value); + void setPidKi(float value); + void setPidKd(float value); + void setTargetTemperature(int targetTemperature); + + void start(); + void stop(); + + /** + * @brief 主循环中尽可能多的机会调用该方法 + */ + void periodicJob(); + + private: + void pwmOutputFilter(float now, float* output); + float getTemperature(); + void setPwmOutput(float output); +}; + +} // namespace iflytop \ No newline at end of file diff --git a/src/project_board.hpp b/src/project_board.hpp index 82e08dd..9dd8c82 100644 --- a/src/project_board.hpp +++ b/src/project_board.hpp @@ -18,3 +18,5 @@ // 电机编号 #define MOTOR_1_TMC4361A_CHANNEL 1 #define MOTOR_1_TMC2160_CHANNEL 2 + +// \ No newline at end of file diff --git a/src/umain.cpp b/src/umain.cpp index 0706a76..b178d3c 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -1,18 +1,19 @@ #include #include -#include "device_io_service.hpp" +#include "board/device_io_service.hpp" +#include "board/libtmcimpl.hpp" #include "libiflytop_micro\stm32\basic\basic.h" -#include "libtmcimpl.hpp" #include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" #include "project_board.hpp" // -#include "fan_state_monitor.hpp" +#include "board/hardware.hpp" #include "i2c.h" #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_temperature_control_service.hpp" #define TAG "main" using namespace iflytop; @@ -21,13 +22,10 @@ class Main { public: signal_listener_t zsignal_listener[20]; - TMC4361AImpl tmc4361motor1; - TMC2160Impl tmc2160motor1; - TMP117 tmp117[4]; - IflytopCanSlave canSlaveService; - IflytopMicroOS *os; - - FanStateMonitor m_fanStateMonitor[6]; + LncubatorTemperatureControlService m_lncubatorTemperatureControlService; + Hardware m_hardware; + IflytopCanSlave *canSlaveService; + IflytopMicroOS *os; bool canOnRxDataFlag; @@ -35,110 +33,18 @@ class Main { ZSLOT0(Main, onCanRxData); void onCanRxData() { canOnRxDataFlag = true; - canSlaveService.deactivateRxIT(); + canSlaveService->deactivateRxIT(); } void initialize(); void main(int argc, char const *argv[]); - - void do_debug_light_state() { - static uint32_t lastprocess = 0; - if (sys_haspassedms(lastprocess) > 300) { - lastprocess = HAL_GetTick(); - HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); - } - } - - /******************************************************************************* - * 单元测试 * - *******************************************************************************/ - /** - * @brief 测试CAN的发送和接收 - */ - void testCanSlaveTxAndRx(); - void testTmp117(); }; void Main::initialize() { zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener)); - os = &deviceIoService; - - /******************************************************************************* - * 帕尔贴初始化 * - *******************************************************************************/ - deviceIoService.peltier_init(); - - /******************************************************************************* - * 温度传感器初始化 * - *******************************************************************************/ - tmp117[0].initializate(&hi2c1, TMP117::ID0); - tmp117[1].initializate(&hi2c1, TMP117::ID1); - tmp117[2].initializate(&hi2c1, TMP117::ID2); - tmp117[3].initializate(&hi2c1, TMP117::ID3); - - /******************************************************************************* - * 电机初始化 * - *******************************************************************************/ - deviceIoService.tmc_init(); - deviceIoService.tmc_extern_clk_enable(); - // 4361初始化 - TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); - tmc4361aconfig->base_config.fs_per_rev = 200; - tmc4361aconfig->encoder_config.diff_enc_in_disable = false; - tmc4361aconfig->encoder_config.enc_in_res = 4000; - tmc4361aconfig->close_loop_config.enable_closed_loop = true; - - tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig); - tmc4361motor1.setMaximumAcceleration(300000); - tmc4361motor1.setMaximumDeceleration(300000); - - // 2160初始化 - tmc2160motor1.setMaximumCurrent(3); - tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1); - - HAL_Delay(100); - // 使能电机 - tmc4361motor1.enableIC(true); - tmc2160motor1.enableIC(true); - /** - * @brief 通过读取Version寄存器来判断芯片是否正常 - */ - int32_t ic4361Version = tmc4361motor1.readICVersion(); - int32_t ic2160Version = tmc2160motor1.readICVersion(); - // 期望 4361Version:2 ic2160Version:30 - ZLOGI(TAG, "TMC4361Version:%x TMC2160VERSION:%x", ic4361Version, ic2160Version); - if (ic4361Version != 2 || ic2160Version != 30) { - ZLOGE(TAG, "TMC4361 or TMC2160 is not normal"); - } - - /******************************************************************************* - * CANSLAVEService初始化 * - *******************************************************************************/ - IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID); - canSlaveService.initialize(os, config); - canSlaveService.onCanRxData.connect(this, &Main::onCanRxData); - canSlaveService.activateRxIT(); - - /******************************************************************************* - * 风扇初始化 * - *******************************************************************************/ - deviceIoService.fanInit(1000); - /** - * @brief 风扇反馈初始化 - * - * FAN0_FB_INT PC1 - * FAN1_FB_INT PC4 - * FAN2_FB_INT PC5 - * FAN3_FB_INT PC6 - * FAN4_FB_INT PC7 - * FAN5_FB_INT PC10 - */ - - m_fanStateMonitor[0].initialize(os, GPIOC, GPIO_PIN_1, deviceIoService.fanGetPowerState(0)); - m_fanStateMonitor[1].initialize(os, GPIOC, GPIO_PIN_4, deviceIoService.fanGetPowerState(1)); - m_fanStateMonitor[2].initialize(os, GPIOC, GPIO_PIN_5, deviceIoService.fanGetPowerState(2)); - m_fanStateMonitor[3].initialize(os, GPIOC, GPIO_PIN_6, deviceIoService.fanGetPowerState(3)); - m_fanStateMonitor[4].initialize(os, GPIOC, GPIO_PIN_7, deviceIoService.fanGetPowerState(4)); - m_fanStateMonitor[5].initialize(os, GPIOC, GPIO_PIN_10, deviceIoService.fanGetPowerState(5)); + m_hardware.hardwareinit(); + canSlaveService = &m_hardware.canSlaveService; + canSlaveService->onCanRxData.connect(this, &Main::onCanRxData); + canSlaveService->activateRxIT(); } void Main::main(int argc, char const *argv[]) { @@ -147,16 +53,9 @@ void Main::main(int argc, char const *argv[]) { // port_peltier_set_pwm(0); initialize(); while (true) { - do_debug_light_state(); - // testCanSlaveTxAndRx(); - // testTmp117(); - - /** - * @brief 风扇状态监控服务周期调度 - */ - for (size_t i = 0; i < ZARRAY_SIZE(m_fanStateMonitor); i++) { - m_fanStateMonitor[i].periodicJob(); - } + m_hardware.periodicJob(); + // m_hardware.testCanSlaveTxAndRx(canOnRxDataFlag); + // m_hardware.testTmp117(); } } @@ -164,55 +63,6 @@ void Main::main(int argc, char const *argv[]) { * 单元测试 * *******************************************************************************/ -/** - * @brief 测试CAN的发送和接收 - */ -void Main::testCanSlaveTxAndRx() { - { - static uint32_t lastcall; - static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8}; - if (os->hasPassedMS(lastcall) > 1000) { - lastcall = os->getTicket(); - canSlaveService.translate(0x01, tx, 8, 2); - if (canSlaveService.getLastTransmitStatus() == HAL_OK) { - ZLOGI(TAG, "send ok"); - } else { - ZLOGI(TAG, "send fail"); - } - } - } - - /** - * @brief 接收CAN消息 - */ - if (canOnRxDataFlag) { - canOnRxDataFlag = false; - static CAN_RxHeaderTypeDef packetHeader; - static uint8_t packetData[8]; - while (canSlaveService.getRxMessage(&packetHeader, packetData)) { - ZLOGI(TAG, "rx packet:"); - ZLOGI(TAG, "\tid:%x len:%d", packetHeader.StdId, packetHeader.DLC); - ZLOGI_HEX(TAG, packetData, packetHeader.DLC); - } - canSlaveService.activateRxIT(); - } -} - -void Main::testTmp117() { - static uint32_t lastcall; - if (os->hasPassedMS(lastcall) > 1000) { - lastcall = os->getTicket(); - for (size_t i = 0; i < 4; i++) { - float temp = tmp117[i].getTemperature(); - if (tmp117[i].getLastCallStatus() == HAL_OK) { - ZLOGI(TAG, "tmp117_%d:%f", i, temp); - } else { - ZLOGI(TAG, "tmp117_%d:read fail", i); - } - } - } -} - static Main mainObject; extern "C" { int umain(int argc, char const *argv[]) {