update

2 years ago · e5bf2e6eb6
6 changed files with 107 additions and 74 deletions
--- a/README.md
+++ b/README.md
@ -23,4 +23,9 @@ TMC4361芯片异常
    编码器的供电电压和TMC的芯片电压不匹配时会出现TMC4361芯片无法工作的问题。


+```
+
+```
+    TODO:
+        1. 转盘卡住了异常捕获。
 ```
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
--- a/dep/libtrinamic
+++ b/dep/libtrinamic
@ -1 +1 @@
-Subproject commit b0450ea2b7b4892637b4885c2518d3b8db245588
+Subproject commit a06ef2f6d468540c3cb04c5ce5c65e0d476af9f4
--- a/src/board/hardware.hpp
+++ b/src/board/hardware.hpp
@ -30,7 +30,6 @@ class Hardware : public IflytopCanSlaveListener,  //

 private:
  TMC4361A        tmc4361motor1;
-  TMP117          tmp117[4];
  FanStateMonitor m_fanStateMonitor[6];
  IflytopCanSlave canSlaveService;
  bool            m_canOnRxDataFlag;
@ -40,6 +39,8 @@ class Hardware : public IflytopCanSlaveListener,  //
  int               m_listenerNum;

 public:
+  TMP117 tmp117[4];
+
 public:
  /*******************************************************************************
   *                                  ListenerImpl                               *
--- a/src/lncubator_rotating_control_service.cpp
+++ b/src/lncubator_rotating_control_service.cpp
@ -3,11 +3,22 @@
 using namespace iflytop;
 #define TAG "LRCS"

+#define UPDATE_ZERO_POSITION_ALWAYS 1
+
 const uint32_t LncubatorRotatingControlService::mc_onecircle_ustep_num    = (256 * 200 * 50);
 const uint32_t LncubatorRotatingControlService::mc_default_velocity       = 500000;  // 500kpps
 const uint32_t LncubatorRotatingControlService::mc_one_sub_position_width = (256 * 200 * 50) / 20;

-LncubatorRotatingControlService::LncubatorRotatingControlService() {}
+LncubatorRotatingControlService::LncubatorRotatingControlService() {
+  m_hardware       = NULL;
+  m_motor          = NULL;
+  m_os             = NULL;
+  m_workfinished   = false;
+  m_dowhat         = kidle;
+  m_maxVelocity    = mc_default_velocity;
+  m_inletPosition  = 0;
+  m_outletPosition = m_inletPosition + mc_one_sub_position_width / 2;
+}
 LncubatorRotatingControlService::~LncubatorRotatingControlService() {}
 void LncubatorRotatingControlService::initialize(Hardware* hardware) {  //
  m_hardware       = hardware;
@ -31,7 +42,15 @@ void LncubatorRotatingControlService::setVelocity(int32_t velocityMax) { m_maxVe
 void LncubatorRotatingControlService::registerListener(LncubatorRotatingControlServiceListener* listener) {  //
  m_listener = listener;
 }
-
+void LncubatorRotatingControlService::calibrationPosition(refpoint_t refpoint) {
+  /**
+   * @brief 此时是孵育船1对其了入口
+   */
+  if (refpoint == REFPOINT_TYPE_INLET) {
+    m_inletPosition  = tmc_getPosition();
+    m_outletPosition = normalizePosition(m_inletPosition + mc_onecircle_ustep_num / 2);
+  }
+}
 /*******************************************************************************
 *                                  motorHelp                                  *
 *******************************************************************************/
@ -58,7 +77,7 @@ int32_t LncubatorRotatingControlService::normalizePosition(int32_t position) {
 }
 void LncubatorRotatingControlService::tmc_moveBy(int32_t relativePosition) { m_motor->moveBy(relativePosition, m_maxVelocity); }
 /*******************************************************************************
- *                                TriggerEvent                                 *
+ *                                JobBasic                                 *
 *******************************************************************************/
 void LncubatorRotatingControlService::Hardware_onHomeRefSwitchISR() {
  /**
@ -66,84 +85,67 @@ void LncubatorRotatingControlService::Hardware_onHomeRefSwitchISR() {
   */
  m_homeKeyTriggered = true;
 }
-void LncubatorRotatingControlService::triggerEvent(interevent_t event) {}
-
-void LncubatorRotatingControlService::periodicJob() {
+void LncubatorRotatingControlService::triggerEvent(interevent_t event) {
  if (kmoveToHomeJob == m_dowhat) {
-    doRotateToHomeJob(kPeriodicJobEvent);
+    doRotateToHomeJob(event);
  } else if (kmoveSubPositionJob == m_dowhat) {
-    doMoveToSubPositionJob(kPeriodicJobEvent);
+    doMoveToSubPositionJob(event);
  } else if (kmoveByJob == m_dowhat) {
-    doMoveByJob(kPeriodicJobEvent);
+    doMoveByJob(event);
  }
+}
+void LncubatorRotatingControlService::periodicJob() {
+  triggerEvent(kPeriodicJobEvent);
  if (m_homeKeyTriggered) {
    m_homeKeyTriggered = false;
-    if (kmoveToHomeJob == m_dowhat) {
-      doRotateToHomeJob(kPeriodicJobEvent);
-    } else if (kmoveSubPositionJob == m_dowhat) {
-      doMoveToSubPositionJob(kPeriodicJobEvent);
-    } else if (kmoveByJob == m_dowhat) {
-      doMoveByJob(kPeriodicJobEvent);
-    }
+    triggerEvent(kHomeSwitchTriggeredEvent);
  }
 }
 void LncubatorRotatingControlService::TMC4361A_onEvent(uint32_t event) {
  if (event & TMC4361A::event_mask_t::ktarget_reached) {
-    if (kmoveToHomeJob == m_dowhat) {
-      doRotateToHomeJob(kTMC4361AReachTargetEvent);
-    } else if (kmoveSubPositionJob == m_dowhat) {
-      doMoveToSubPositionJob(kTMC4361AReachTargetEvent);
-    } else if (kmoveByJob == m_dowhat) {
-      doMoveByJob(kTMC4361AReachTargetEvent);
-    }
+    triggerEvent(kTMC4361AReachTargetEvent);
+  }
+}
+void LncubatorRotatingControlService::changeState(dowhat_t tostate) {
+  m_dowhat = tostate;
+  if (tostate == kidle) {
+    m_workfinished = true;
+  } else {
+    m_workfinished = false;
  }
 }
+
 /*******************************************************************************
 *                               RotateToHomeJob                               *
 *******************************************************************************/
-
 void LncubatorRotatingControlService::moveToHome() {
  if (m_dowhat != kidle) return;
-  m_dowhat = kmoveToHomeJob;
+  changeState(kmoveToHomeJob);
  moveBy(mc_onecircle_ustep_num * 2);
 }
 void LncubatorRotatingControlService::doRotateToHomeJob(interevent_t event) {
  if (event == kPeriodicJobEvent) {
-    if (m_homeKeyTriggered) {
-      m_homeKeyTriggered = false;
-      /**
-       * @brief 零点光电触发,记录零点位置
-       */
-      m_motor->stop();
-      m_motor->setZeroPoint();
-      m_dowhat = kidle;
-      ZLOGI(TAG, "find Zero Point");
-      if (m_listener) m_listener->LncubatorRotatingControlService_onMoveToHomeJobFinished();
-    }
+  } else if (event == kHomeSwitchTriggeredEvent) {
+    m_motor->stop();
+    m_motor->setZeroPoint();
+    changeState(kidle);
+    ZLOGI(TAG, "find Zero Point");
+    if (m_listener) m_listener->LncubatorRotatingControlService_onMoveToHomeJobFinished();
  } else if (event == kTMC4361AReachTargetEvent) {
    /**
     * @brief 电机转了两圈依然没有找到零点
     */
    if (m_listener) m_listener->LncubatorRotatingControlService_onException(kGoHomeFail);
-    m_dowhat = kidle;
-  }
-}
-void LncubatorRotatingControlService::calibrationPosition(refpoint_t refpoint) {
-  /**
-   * @brief 此时是孵育船1对其了入口
-   */
-  if (refpoint == REFPOINT_TYPE_INLET) {
-    m_inletPosition  = tmc_getPosition();
-    m_outletPosition = normalizePosition(m_inletPosition + mc_onecircle_ustep_num / 2);
+    changeState(kidle);
  }
 }

 /*******************************************************************************
- *                                  moveToSubPosition                          *
+ *                                  moveToSubPositionJob                          *
 *******************************************************************************/
 void LncubatorRotatingControlService::moveToSubPosition(refpoint_t refpoint, int32_t positionIndex) {
  if (m_dowhat != kidle) return;
-  m_dowhat = kmoveSubPositionJob;
+  changeState(kmoveSubPositionJob);
  // 出口
  if (refpoint == REFPOINT_TYPE_OUTLET) {
    int32_t targetPosition = m_outletPosition + positionIndex * mc_one_sub_position_width;
@ -157,12 +159,16 @@ void LncubatorRotatingControlService::moveToSubPosition(refpoint_t refpoint, int
 }
 void LncubatorRotatingControlService::doMoveToSubPositionJob(interevent_t event) {
  if (event == kPeriodicJobEvent) {
+  } else if (event == kHomeSwitchTriggeredEvent) {
+#if UPDATE_ZERO_POSITION_ALWAYS
+    m_motor->setZeroPoint();
+#endif
  } else if (event == kTMC4361AReachTargetEvent) {
    /**
     * @brief moveToTarget
     */
    if (m_listener) m_listener->LncubatorRotatingControlService_onMoveSubPositionJobFinished();
-    m_dowhat = kidle;
+    changeState(kidle);
  }
 }

@ -171,18 +177,22 @@ void LncubatorRotatingControlService::doMoveToSubPositionJob(interevent_t event)
 *******************************************************************************/
 void LncubatorRotatingControlService::moveBy(int32_t pluseCount) {
  if (m_dowhat == kidle || m_dowhat == kmoveByJob) {
-    m_dowhat = kmoveByJob;
+    changeState(kmoveByJob);
    tmc_moveBy(pluseCount);
  }
 }
 void LncubatorRotatingControlService::doMoveByJob(interevent_t event) {
  if (event == kPeriodicJobEvent) {
+  } else if (event == kHomeSwitchTriggeredEvent) {
+#if UPDATE_ZERO_POSITION_ALWAYS
+    m_motor->setZeroPoint();
+#endif
  } else if (event == kTMC4361AReachTargetEvent) {
    /**
     * @brief moveToTarget
     */
    if (m_listener) m_listener->LncubatorRotatingControlService_onMoveByJobFinished();
-    m_dowhat = kidle;
+    changeState(kidle);
  }
 }
 /*******************************************************************************
@ -190,9 +200,7 @@ void LncubatorRotatingControlService::doMoveByJob(interevent_t event) {
 *******************************************************************************/
 void LncubatorRotatingControlService::stop() {
  if (m_dowhat == kidle) return;
-  if (m_dowhat == kmoveToHomeJob) {
-    m_motor->stop();
-    m_dowhat = kidle;
-    return;
-  }
+  m_motor->stop();
+  changeState(kidle);
+  return;
 }
--- a/src/lncubator_rotating_control_service.hpp
+++ b/src/lncubator_rotating_control_service.hpp
@ -121,6 +121,7 @@ class LncubatorRotatingControlService : public HardwareListener,  //
  void doRotateToHomeJob(interevent_t event);
  void doMoveToSubPositionJob(interevent_t event);
  void doMoveByJob(interevent_t event);
+  void changeState(dowhat_t state);

 private:
  int32_t tmc_getPosition();