重构部分代码

.vscode/settings.json

@@ -64,6 +64,7 @@
         "deque": "cpp",
         "param.h": "c",
         "stdbool.h": "c",
-        "check.h": "c"
+        "check.h": "c",
+        "stm32f4xx_it.h": "c"
     }
 }

app/Core/Inc/stm32f4xx_it.h

@@ -55,10 +55,13 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void EXTI3_IRQHandler(void);
 void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void CAN1_SCE_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

app/Core/Src/gpio.c

@@ -69,12 +69,12 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pins : PC13 PC14 PC15 PC0
                            PC1 PC2 PC3 PC4
-                           PC5 PC6 PC7 PC10
-                           PC11 PC12 */
+                           PC5 PC6 PC10 PC11
+                           PC12 */
   GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
                           |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
-                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_10
-                          |GPIO_PIN_11|GPIO_PIN_12;
+                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_10|GPIO_PIN_11
+                          |GPIO_PIN_12;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
@@ -100,17 +100,29 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PD8 PD9 PD10 PD11
-                           PD12 PD13 PD15 PD0
-                           PD1 PD2 PD3 PD4
-                           PD5 PD6 PD7 */
+                           PD13 PD15 PD0 PD1
+                           PD2 PD4 PD5 PD6
+                           PD7 */
   GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
-                          |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_15|GPIO_PIN_0
-                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
-                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
+                          |GPIO_PIN_13|GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_1
+                          |GPIO_PIN_2|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6
+                          |GPIO_PIN_7;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
+  /*Configure GPIO pins : PD12 PD3 */
+  GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_3;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PC7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_7;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
   /*Configure GPIO pin : PC9 */
   GPIO_InitStruct.Pin = GPIO_PIN_9;
   GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
@@ -119,6 +131,16 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
 }
 
 /* USER CODE BEGIN 2 */

app/Core/Src/stm32f4xx_it.c

@@ -254,6 +254,7 @@ void CAN1_SCE_IRQHandler(void)
   /* USER CODE END CAN1_SCE_IRQn 1 */
 }
 
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

app/app.ioc

@@ -43,30 +43,33 @@ Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PA10
-Mcu.Pin11=PA11
-Mcu.Pin12=PA12
-Mcu.Pin13=PA13
-Mcu.Pin14=PA14
-Mcu.Pin15=PB3
-Mcu.Pin16=PB6
-Mcu.Pin17=PB7
-Mcu.Pin18=VP_CRC_VS_CRC
-Mcu.Pin19=VP_RNG_VS_RNG
+Mcu.Pin10=PC9
+Mcu.Pin11=PA9
+Mcu.Pin12=PA10
+Mcu.Pin13=PA11
+Mcu.Pin14=PA12
+Mcu.Pin15=PA13
+Mcu.Pin16=PA14
+Mcu.Pin17=PD3
+Mcu.Pin18=PB3
+Mcu.Pin19=PB6
 Mcu.Pin2=PA5
-Mcu.Pin20=VP_SYS_VS_Systick
-Mcu.Pin21=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin23=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin24=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin20=PB7
+Mcu.Pin21=VP_CRC_VS_CRC
+Mcu.Pin22=VP_RNG_VS_RNG
+Mcu.Pin23=VP_SYS_VS_Systick
+Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
 Mcu.Pin3=PA6
 Mcu.Pin4=PA7
 Mcu.Pin5=PE9
-Mcu.Pin6=PD14
-Mcu.Pin7=PC8
-Mcu.Pin8=PC9
-Mcu.Pin9=PA9
-Mcu.PinsNb=25
+Mcu.Pin6=PD12
+Mcu.Pin7=PD14
+Mcu.Pin8=PC7
+Mcu.Pin9=PC8
+Mcu.PinsNb=28
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VETx
@@ -78,6 +81,9 @@ NVIC.CAN1_RX1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.CAN1_SCE_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.EXTI3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -118,13 +124,19 @@ PB6.Signal=I2C1_SCL
 PB7.Locked=true
 PB7.Mode=I2C
 PB7.Signal=I2C1_SDA
+PC7.Locked=true
+PC7.Signal=GPXTI7
 PC8.Locked=true
 PC8.Signal=S_TIM8_CH3
 PC9.Locked=true
 PC9.Mode=Clock-out-2
 PC9.Signal=RCC_MCO_2
+PD12.Locked=true
+PD12.Signal=GPXTI12
 PD14.Locked=true
 PD14.Signal=S_TIM4_CH3
+PD3.Locked=true
+PD3.Signal=GPXTI3
 PE9.GPIOParameters=GPIO_ModeDefaultPP,GPIO_PuPd
 PE9.GPIO_ModeDefaultPP=GPIO_MODE_AF_PP
 PE9.GPIO_PuPd=GPIO_PULLDOWN
@@ -203,6 +215,12 @@ RCC.VCOI2SOutputFreq_Value=128000000
 RCC.VCOInputFreq_Value=2000000
 RCC.VCOOutputFreq_Value=288000000
 RCC.VcooutputI2S=64000000
+SH.GPXTI12.0=GPIO_EXTI12
+SH.GPXTI12.ConfNb=1
+SH.GPXTI3.0=GPIO_EXTI3
+SH.GPXTI3.ConfNb=1
+SH.GPXTI7.0=GPIO_EXTI7
+SH.GPXTI7.ConfNb=1
 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2

dep/libiflytop_micro

@@ -1 +1 @@
-Subproject commit bb1b993c2015abe36525a7876b17f076665433b4
+Subproject commit 160fa668ad40f8abac72d2634ee54fa4f3ad9188

dep/libtrinamic

@@ -1 +1 @@
-Subproject commit 02807418568c7fdb1bee192424af3ad274b06269
+Subproject commit d4381558b25522ebd43c86d125f8177d38c578e3

src/board/device_io_service.cpp

@@ -1,6 +1,8 @@
 #include "device_io_service.hpp"
 
 #include "libiflytop_micro/stm32/basic/stm32_hal_utils.hpp"
+#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp"
+#include "project_board.hpp"
 #define TAG "DEVICE_IO_SERVICE"
 extern "C" {
 int fputc(int ch, FILE *stream) {
@@ -12,21 +14,36 @@ int fputc(int ch, FILE *stream) {
 
 using namespace iflytop;
 namespace iflytop {}
+void DeviceIoService::initialize() {  //
+  // STM32_HAL.connect(this, &DeviceIoService::onGPIO_EXTI_Callback);
+}
+
+void DeviceIoService::onGPIO_EXTI_Callback(uint16_t gpioNum) {
+  /**
+   * @brief 赋予盘零位光电触发
+   */
+  if (gpioNum == TMC_HOME_REF_GPIO_PIN) {
+    if (STM32_HAL_GPIO_IS_THIS_PIN_TRIGGER_IRQ(TMC_HOME_REF_GPIO)) {
+      onHomeRefSwitch.trigger();
+    }
+  }
+}
+
 void DeviceIoService::debug_light_init() {
-  Stm32HalUtils::gpioInit(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
 }
 
 void DeviceIoService::fanInit(int freq) {
-  Stm32HalUtils::setPWMFreq(&htim2, freq);  // fan0->fan3
-  Stm32HalUtils::setPWMFreq(&htim4, freq);  // fan4
-  Stm32HalUtils::setPWMFreq(&htim8, freq);  // fan5
+  STM32_HAL.setPWMFreq(&htim2, freq);  // fan0->fan3
+  STM32_HAL.setPWMFreq(&htim4, freq);  // fan4
+  STM32_HAL.setPWMFreq(&htim8, freq);  // fan5
 
   // fan0 fan1 fan2 fan3
-  Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(GPIOC, GPIO_PIN_0, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
   // fan4
-  Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_2, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(GPIOC, GPIO_PIN_2, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
   // fan5
-  Stm32HalUtils::gpioInit(GPIOC, GPIO_PIN_3, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(GPIOC, GPIO_PIN_3, GPIO_MODE_OUTPUT_PP, GPIO_NOPULL, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
 }
 
 void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) {
@@ -37,7 +54,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) {
   }
 
   if (fanIndex <= 3) {
-    Stm32HalUtils::setPWMDuty(&htim2, TIM_CHANNEL_2, dutyCycle);
+    STM32_HAL.setPWMDuty(&htim2, TIM_CHANNEL_2, dutyCycle);
     m_fanState[0] = dutyCycle > 0;
     m_fanState[1] = dutyCycle > 0;
     m_fanState[2] = dutyCycle > 0;
@@ -50,7 +67,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) {
     }
 
   } else if (fanIndex == 4) {
-    Stm32HalUtils::setPWMDuty(&htim4, TIM_CHANNEL_3, dutyCycle);
+    STM32_HAL.setPWMDuty(&htim4, TIM_CHANNEL_3, dutyCycle);
     m_fanState[4] = dutyCycle > 0;
 
     if (dutyCycle > 0) {
@@ -59,7 +76,7 @@ void DeviceIoService::fanSetDutyCycle(int fanIndex, uint16_t dutyCycle) {
       HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2, GPIO_PIN_RESET);
     }
   } else if (fanIndex == 5) {
-    Stm32HalUtils::setPWMDuty(&htim8, TIM_CHANNEL_3, dutyCycle);
+    STM32_HAL.setPWMDuty(&htim8, TIM_CHANNEL_3, dutyCycle);
     m_fanState[5] = dutyCycle > 0;
 
     if (dutyCycle > 0) {
@@ -94,8 +111,8 @@ void DeviceIoService::peltier_hot_ctr_pwm(int pwm) {
   HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
 }
 void DeviceIoService::peltier_init() {  //
-  Stm32HalUtils::gpioInit(GPIOB, GPIO_PIN_1, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
-  Stm32HalUtils::gpioInit(GPIOE, GPIO_PIN_10, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(GPIOB, GPIO_PIN_1, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
+  STM32_HAL.gpioInit(GPIOE, GPIO_PIN_10, GPIO_MODE_AF_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_RESET);
 }
 void DeviceIoService::peltier_set_pwm(int pwm) {
   /**
@@ -139,11 +156,11 @@ void DeviceIoService::peltier_set_pwm(int pwm) {
  *                               tmc芯片驱动相关                               *
  *******************************************************************************/
 void DeviceIoService::tmc_init() {
-  Stm32HalUtils::gpioInit(  //
+  STM32_HAL.gpioInit(  //
       GPIOA, GPIO_PIN_4, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET);
-  Stm32HalUtils::gpioInit(  //
+  STM32_HAL.gpioInit(  //
       GPIOE, GPIO_PIN_12, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET);
-  Stm32HalUtils::gpioInit(  //
+  STM32_HAL.gpioInit(  //
       GPIOE, GPIO_PIN_11, GPIO_MODE_OUTPUT_PP, GPIO_PULLUP, GPIO_SPEED_FREQ_LOW, GPIO_PIN_SET);
 }
 
@@ -176,3 +193,7 @@ void DeviceIoService::tmc_subic_ENN_pin_set_state(uint8_t channel, bool state) {
   }
 }
 void DeviceIoService::tmc_nRESET_pin_set_state(uint8_t channel, bool state) {}
+
+void DeviceIoService::home_ref_switch_init() {  //
+  STM32_HAL.gpioInitAsEXIT(TMC_HOME_REF_GPIO_PORT, TMC_HOME_REF_GPIO_PIN, GPIO_NOPULL, TMC_HOME_REF_GPIO_IRQ_MODE);
+}

src/board/device_io_service.hpp

@@ -2,12 +2,13 @@
 #include <stdint.h>
 #include <stdio.h>
 
+#include "board/project_board.hpp"
 #include "libiflytop_micro/stm32/basic/basic.h"
 #include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp"
+#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp"
 #include "libtrinamic/src/ic/tmc2160.hpp"
 #include "libtrinamic\src\ic\tmc4361A.hpp"
 #include "main.h"
-#include "project_board.hpp"
 #include "spi.h"
 #include "tim.h"
 #include "usart.h"
@@ -18,13 +19,15 @@ using namespace std;
 class DeviceIoService : public IflytopMicroOS {
  private:
   /* data */
-
   bool m_fanState[6];
+  ZSLOT1(DeviceIoService, onGPIO_EXTI_Callback, uint16_t);  // GPIO中断回调
 
  public:
   DeviceIoService(/* args */) {}
   ~DeviceIoService() {}
 
+  void initialize();
+
   /*******************************************************************************
    *                              调试指示灯初始化                               *
    *******************************************************************************/
@@ -56,6 +59,9 @@ class DeviceIoService : public IflytopMicroOS {
   void tmc_subic_ENN_pin_set_state(uint8_t channel, bool state);
   void tmc_nRESET_pin_set_state(uint8_t channel, bool state);
 
+  ZSignal0<void> onHomeRefSwitch;
+  void           home_ref_switch_init();
+
   /*******************************************************************************
    *                           OVERRIDE IflytopMicroOS                           *
    *******************************************************************************/

src/board/fan_state_monitor.cpp

@@ -1,7 +1,7 @@
 #include "fan_state_monitor.hpp"
 
 #include "libiflytop_micro/stm32/basic/basic.h"
-#include "libiflytop_micro\stm32\basic\stm32_hal_utils.hpp"
+#include "libiflytop_micro\stm32\basic/stm32_hal_res_manager.hpp"
 
 using namespace iflytop;
 
@@ -18,7 +18,7 @@ void FanStateMonitor::initialize(IflytopMicroOS* os, GPIO_TypeDef* FB_GPIOx, uin
   m_lastFanState   = false;
   m_fanError       = false;
 
-  Stm32HalUtils::gpioInitAsInput(FB_GPIOx, FB_GPIO_Pin);
+  STM32_HAL.gpioInitAsInput(FB_GPIOx, FB_GPIO_Pin);
   m_lastPinState = HAL_GPIO_ReadPin(m_FB_GPIOx, m_FB_GPIO_Pin);
 }
 void FanStateMonitor::doFanStateCheckPeriodicJob() {

src/board/hardware.cpp

@@ -30,6 +30,7 @@ void Hardware::hardwareinit() {
   IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID);
   canSlaveService.initialize(m_os, config);
   canSlaveService.activateRxIT();
+  canSlaveService.registerListener(this);
 #endif
   /*******************************************************************************
    *                                帕尔贴初始化                                 *
@@ -54,13 +55,13 @@ void Hardware::hardwareinit() {
   m_deviceIoService.tmc_init();
   m_deviceIoService.tmc_extern_clk_enable();
   // 4361初始化
-  TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig       = TMC4361AImpl::createDeafultTMC4361AConfig();
+  TMC4361A::TMC4361AConfig_t *tmc4361aconfig           = TMC4361A::createDeafultTMC4361AConfig(this);
   tmc4361aconfig->encoder_config.diff_enc_in_disable   = false;
   tmc4361aconfig->encoder_config.invert_enc_dir        = true;  // 如果编码器方向和期望方向相反，设置为true
   tmc4361aconfig->encoder_config.enc_in_res            = 4000;
   tmc4361aconfig->close_loop_config.enable_closed_loop = false;
 
-  tmc4361motor1.initialize(&m_deviceIoService, MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig);
+  tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160, tmc4361aconfig);
   tmc4361motor1.setMaximumAcceleration(300000);
   tmc4361motor1.setMaximumDeceleration(300000);
 
@@ -183,3 +184,10 @@ void Hardware::testCanSlaveTxAndRx() {
     // canSlaveService.activateRxIT();
   }
 }
+void Hardware::TMC4361APort_setResetPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_nRESET_pin_set_state(channel, state); }
+void Hardware::TMC4361APort_setFREEZEPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_nFREEZE_pin_set_state(channel, state); }
+void Hardware::TMC4361APort_setENNPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_ENN_pin_set_state(channel, state); }
+bool Hardware::TMC4361APort_getTargetReachedPinState(uint16_t channel) { return false; }
+void Hardware::TMC4361APort_sleepus(int32_t us) { m_os->sleepus(us); }
+void Hardware::TMC4361APort_readWriteArray(uint8_t *data, size_t length) { m_deviceIoService.tmc_motor_spi_write_and_read(0, data, length); }
+void Hardware::TMC4361APort_setSubICENNPinState(uint16_t channel, bool state) { m_deviceIoService.tmc_subic_ENN_pin_set_state(channel, state); }

src/board/hardware.hpp

@@ -7,12 +7,12 @@
 #include "libiflytop_micro\stm32\component\tmp117\tmp117.hpp"
 
 namespace iflytop {
-class Hardware {
+class Hardware : public IflytopCanSlaveListener, public TMC4361APort {
  private:
   /* data */
 
  public:
-  TMC4361AImpl    tmc4361motor1;
+  TMC4361A        tmc4361motor1;
   TMP117          tmp117[4];
   FanStateMonitor m_fanStateMonitor[6];
   IflytopCanSlave canSlaveService;
@@ -22,11 +22,15 @@ class Hardware {
   bool m_canOnRxDataFlag;
 
  public:
-  ZSLOT0(Hardware, onCanRxData) {
+  /*******************************************************************************
+   *                                  ListenerImpl                               *
+   *******************************************************************************/
+  virtual void OnIflytopCanSlaveOnCanRxData() {
     m_canOnRxDataFlag = true;
     canSlaveService.deactivateRxIT();
   }
 
+ public:
   Hardware(/* args */){};
   ~Hardware(){};
 
@@ -41,6 +45,20 @@ class Hardware {
   void testTmp117();
   void testCanSlaveTxAndRx();
   void do_debug_light_state();
+
+ public:
+  /*******************************************************************************
+   *                                TMC4361APort                                 *
+   *******************************************************************************/
+  virtual void TMC4361APort_setResetPinState(uint16_t channel, bool state);
+  virtual void TMC4361APort_setFREEZEPinState(uint16_t channel, bool state);
+  virtual void TMC4361APort_setENNPinState(uint16_t channel, bool state);
+  virtual bool TMC4361APort_getTargetReachedPinState(uint16_t channel);
+  virtual void TMC4361APort_sleepus(int32_t us);
+  virtual void TMC4361APort_readWriteArray(uint8_t *data, size_t length);
+  virtual void TMC4361APort_setSubICENNPinState(uint16_t channel, bool state);
+
+ public:
 };
 
 }  // namespace iflytop

src/board/libtmcimpl.cpp

@@ -2,22 +2,3 @@
 #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); };
-void TMC4361AImpl::setSubICENNPinState(bool state) { m_deviceIoService->tmc_subic_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);
-}
-}  // namespace iflytop

src/board/libtmcimpl.hpp

@@ -4,24 +4,3 @@
 #include "libiflytop_micro/stm32/basic/basic.h"
 #include "libtrinamic/src/ic/tmc2160.hpp"
 #include "libtrinamic\src\ic\tmc4361A.hpp"
-namespace iflytop {
-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);
-  virtual void setENNPinState(bool state);
-  virtual bool getTargetReachedPinState();
-  virtual void sleepus(int32_t us);
-  virtual void readWriteArray(uint8_t *data, size_t length);
-  virtual void setSubICENNPinState(bool state);
-
- public:
-  void initialize(DeviceIoService *deviceIoService, uint8_t channel, driver_ic_type_t driver_ic_type, TMC4361AConfig_t *config);
-};
-}  // namespace iflytop

src/project_board.hpp → src/board/project_board.hpp

@@ -3,20 +3,23 @@
 #define VERSION "v1.0"
 // 设备ID
 #define DEVICE_ID 0x02
-
 // 调试串口
 #define DEBUG_UART huart1
-
 // 调试指示灯
 #define DEBUG_LIGHT_PORT GPIOE
 #define DEBUG_LIGHT_PIN  GPIO_PIN_8
-
 // 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置
 // http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md
 #define DELAY_US_TIMER htim6
 
-// 电机编号
+//
+
+/*******************************************************************************
+ *                                     TMC                                     *
+ *******************************************************************************/
+// 电机通道编号
 #define MOTOR_1_TMC4361A_CHANNEL 1
-#define MOTOR_1_TMC2160_CHANNEL  2
 
-// 
+#define TMC_HOME_REF_GPIO_PIN      GPIO_PIN_3
+#define TMC_HOME_REF_GPIO_PORT     GPIOD
+#define TMC_HOME_REF_GPIO_IRQ_MODE GPIO_MODE_IT_RISING

src/lncubator_rotating_control_service.cpp

@@ -1,6 +1,7 @@
 #include "lncubator_rotating_control_service.hpp"
 
 using namespace iflytop;
+#define TAG "LRCS"
 
 const uint32_t LncubatorRotatingControlService::mc_onecircle_ustep_num = (256 * 200 * 50);
 const uint32_t LncubatorRotatingControlService::mc_default_velocity    = 500000;  // 500k
@@ -30,15 +31,39 @@ void LncubatorRotatingControlService::initialize(Hardware* hardware) {  //
    * @brief 电机必须工作在位置模式
    */
   m_motor->setMotorInPositionMode();
+  hardware->m_deviceIoService.onHomeRefSwitch.connect(this, onHomeSwitchKey);
 }
 void LncubatorRotatingControlService::moveToHome() {
   m_dowhat = krotateToHome;
   m_motor->moveTo(mc_onecircle_ustep_num * 2, m_maxVelocity);
 }
-
+void LncubatorRotatingControlService::onHomeSwitchKey() {
+  /**
+   * @brief 电机零点光电触发
+   */
+  m_homeKeyTriggered = true;
+}
 void LncubatorRotatingControlService::setVelocity(uint32_t velocityMax) { m_maxVelocity = velocityMax; }
 void LncubatorRotatingControlService::rotate(uint32_t count) { m_motor->moveBy(count, m_maxVelocity); }
 void LncubatorRotatingControlService::periodicJob() {
-  if (krotateToHome) {
+  if (krotateToHome == m_dowhat) {
+    doRotateToHomeJob();
   }
 }
+
+void LncubatorRotatingControlService::doRotateToHomeJob() {
+  if (m_homeKeyTriggered) {
+    m_homeKeyTriggered = false;
+    /**
+     * @brief 零点光电触发,记录零点位置
+     */
+    m_homePosition = m_motor->getENC_POS();
+    m_motor->stop();
+    m_dowhat = kidle;
+    ZLOGI(TAG, "home position:%d", m_homePosition);
+  }
+}
+
+void LncubatorRotatingControlService::registerListener(LncubatorRotatingControlServiceListener* listener) {  //
+  m_listener = listener;
+}

src/lncubator_rotating_control_service.hpp

@@ -1,5 +1,8 @@
 #pragma once
 #include "board\hardware.hpp"
+#include "libiflytop_micro\stm32\basic\stm32_hal_res_manager.hpp"
+#include "libiflytop_micro\stm32\component\state_machine\state_machine.hpp"
+
 namespace iflytop {
 /**
  * @brief
@@ -14,11 +17,19 @@ namespace iflytop {
  * 7. 读取校准值
  * 8. 写入校准值
  *
+ *
+ *
  */
 
 #define LNCUBATOR_MAX_POSITION_COUNT 20
 #define ZEROOFFSETCORRECTION         0
 
+class LncubatorRotatingControlServiceListener {
+ public:
+  virtual void OnlncubatorRotatingControlServiceException()   = 0;
+  virtual void OnlncubatorRotatingControlServiceJobFinished() = 0;
+};
+
 class LncubatorRotatingControlService {
  public:
   typedef enum {
@@ -35,23 +46,26 @@ class LncubatorRotatingControlService {
     kidle,
     krotateToTarget,
     krotateToHome,
+    kspeedMode,
   } dowhat_t;
   /* data */
   Hardware*       m_hardware;
   IflytopMicroOS* m_os;
-  TMC4361AImpl*   m_motor;
+  TMC4361A*       m_motor;
   dowhat_t        m_dowhat;
 
   // 零点位置
   uint32_t m_homePosition;
   // 便宜修正，第一个仓位中心距离零点的距离
   uint32_t m_homeOffsetCorrection;
-
   uint32_t m_maxVelocity = 0;
+  bool     m_workfinished;
+  bool     m_homeKeyTriggered;
 
-  bool m_workfinished;
+  LncubatorRotatingControlServiceListener* m_listener;
 
-  bool homeKeyTriggered;
+ private:
+  ZSLOT0(LncubatorRotatingControlService, onHomeSwitchKey);
 
  public:
   LncubatorRotatingControlService();
@@ -61,6 +75,8 @@ class LncubatorRotatingControlService {
   void setVelocity(uint32_t velocityMax);
   void rotate(uint32_t count);
 
+  void registerListener(LncubatorRotatingControlServiceListener* listener);
+
   void moveToHome();
   void moveTo(refpoint_t refpoint, uint32_t positionIndex);
   void stop();
@@ -74,5 +90,8 @@ class LncubatorRotatingControlService {
   void calibrationPosition(refpoint_t refpoint, uint32_t positionIndex);
 
   void periodicJob();
+
+ private:
+  void doRotateToHomeJob();
 };
 }  // namespace iflytop

src/umain.cpp

@@ -3,10 +3,10 @@
 
 #include "board/device_io_service.hpp"
 #include "board/libtmcimpl.hpp"
+#include "board/project_board.hpp"
 #include "libiflytop_micro\stm32\basic\basic.h"
 #include "libtrinamic/src/ic/tmc2160.hpp"
 #include "libtrinamic\src\ic\tmc4361A.hpp"
-#include "project_board.hpp"
 //
 #include "board/hardware.hpp"
 #include "i2c.h"
@@ -36,7 +36,7 @@ class Main {
 
 void Main::initialize() {
   zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
-		m_hardware.hardwareinit();
+  m_hardware.hardwareinit();
   // canSlaveService = &m_hardware.canSlaveService;
 }