From e5bf2e6eb69d18be57ca62544f8c952d7266de39 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 19 Apr 2023 16:56:10 +0800 Subject: [PATCH] update --- README.md | 5 ++ app/MDK-ARM/app.uvguix.h_zha | 50 ++++++++---- dep/libtrinamic | 2 +- src/board/hardware.hpp | 3 +- src/lncubator_rotating_control_service.cpp | 120 +++++++++++++++-------------- src/lncubator_rotating_control_service.hpp | 1 + 6 files changed, 107 insertions(+), 74 deletions(-) diff --git a/README.md b/README.md index 3f4fb0c..14f8371 100644 --- 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。 ``` \ 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 b153bf4..9341439 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -110,8 +110,8 @@ 0 - 435 - 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898 @@ -3603,11 +3603,11 @@ 0 100 - 1 + 3 ..\..\src\board\hardware.cpp 0 - 350 + 356 380 1 @@ -3615,9 +3615,27 @@ ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal.cpp - 27 + 16 346 - 369 + 359 + 1 + + 0 + + + ..\..\src\lncubator_temperature_control_service.cpp + 37 + 42 + 66 + 1 + + 0 + + + ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp + 52 + 72 + 95 1 0 diff --git a/dep/libtrinamic b/dep/libtrinamic index b0450ea..a06ef2f 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit b0450ea2b7b4892637b4885c2518d3b8db245588 +Subproject commit a06ef2f6d468540c3cb04c5ce5c65e0d476af9f4 diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp index b650b8c..f47f0fc 100644 --- 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 * diff --git a/src/lncubator_rotating_control_service.cpp b/src/lncubator_rotating_control_service.cpp index 5b5b414..3d8d77c 100644 --- 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; } diff --git a/src/lncubator_rotating_control_service.hpp b/src/lncubator_rotating_control_service.hpp index 4781d7b..c6884de 100644 --- 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();