添加广播方式升级

prot_cmd/cmd_pc.cpp

@@ -30,8 +30,8 @@ myarray moter_ctrl(myarray op)
       moter->moter_run = 1;
       count = -moter->moter_count - 100;
       moter->moter_count = 0;
-      QString s = QString("moter %1").arg(count);
-      r = s.toLocal8Bit();
+      mystring s = mystring("moter %1").arg(count);
+      r = myarray(s.data());
     }
     else
     {
@@ -47,8 +47,9 @@ myarray moter_ctrl(myarray op)
       moter->moter_run = 1;
       count = cfg_->moter_count - moter->moter_count;
       moter->moter_count += count;
-      QString s = QString("moter %1").arg(count);
-      r = s.toLocal8Bit();
+      mystring s = mystring("moter %1").arg(count);
+      r = myarray(s.data());
+      qDebug("moter down:%s",s.data());
     }
     else
     {
@@ -56,7 +57,8 @@ myarray moter_ctrl(myarray op)
       return r;
     }
   }
-  return 0;
+  qDebug("moter ctrl:%s",op.data());
+  return r;
 }
 
 
@@ -68,23 +70,24 @@ int selfdev_check::dolater(int cmd, myarray data)
   mycfg *cfg=syscfg();
   busy=1;
   connect(this, &selfdev_check::send_to_m4_signal, m4, &prot_m4::send_data_slot);
-  m4->set_irq_fun([=](myarray data)
-    {
-      m4->del_irq_fun(nullptr,"moter ");
-      if(data=="down"){
-        // 这里开始检测
-        QList<int> addrs=cfg->calc_slave_addrs();
-        HandleSlave *s=new slave_check();
-        foreach(int addr, addrs){
-          bool ack=slave->set_slave_handle(addr,s);
-          if(ack==false){
-            qWarning("addr %d handle is busy.",addr);
-          }else{
-            connect(s,&HandleSlave::end_signal,this,&selfdev_check::slave_end_slot);
-          }
+  prot_m4_cb moter_down_cb=[=](myarray data)
+  {
+    m4->del_irq_fun(moter_down_cb,"moter ");
+    if(data=="down"){
+      // 这里开始检测
+      QList<int> addrs=cfg->calc_slave_addrs();
+      HandleSlave *s=new slave_check();
+      foreach(int addr, addrs){
+        bool ack=slave->set_slave_handle(addr,s);
+        if(ack==false){
+          qWarning("addr %d handle is busy.",addr);
+        }else{
+          connect(s,&HandleSlave::end_signal,this,&selfdev_check::slave_end_slot);
         }
       }
-    },"moter ");
+    }
+  };
+  m4->set_irq_fun(moter_down_cb,"moter ");
   emit send_to_m4_signal(moter_ctrl("down"));
   slave_acked.clear();
   for(int i=0;i<cfg->slave_num;i++){
@@ -148,8 +151,32 @@ void selfdev_check::slave_end_slot(int addr,int ack, myarray data)
 static HandlePc *get_selfdev_check(){
   return new selfdev_check();
 }
+protpc_export(0x30, get_selfdev_check);
 
-protpc_export(0xff, get_selfdev_check);
+int selfdev_moter::dolater(int cmd, myarray data)
+{
+  prot_m4 *m4 = protM4();
+  connect(this, &selfdev_moter::send_to_m4_signal, m4, &prot_m4::send_data_slot);
+  if(data[0]==0x02){
+    emit send_to_m4_signal(moter_ctrl("up"));
+  }else if(data[0]==0x03){
+    emit send_to_m4_signal(moter_ctrl("down"));
+  }
+  emit send_data_signal(0x40,myarray(1,char(0)));
+  return 0;
+}
+
+void selfdev_moter::timeout(){
+
+}
+
+
+
+static HandlePc *get_selfdev_moter(){
+  return new selfdev_moter();
+}
+
+protpc_export(0x40, get_selfdev_moter);
 
 
 

prot_cmd/cmd_pc.h

@@ -22,4 +22,22 @@ signals:
   void send_to_m4_signal(myarray data);
 };
 
+
+
+// 电机 自研批检仪
+class selfdev_moter : public HandlePc
+{
+  Q_OBJECT
+public:
+  selfdev_moter() : HandlePc() {}
+  ~selfdev_moter() {}
+  int dolater(int cmd, myarray data);
+  void timeout();
+signals:
+  void send_to_m4_signal(myarray data);
+};
+
+
+
+
 #endif

prot_cmd/cmd_slave.cpp

@@ -2,23 +2,26 @@
 #include "base/mycfg.h"
 #include "base/check_cfg.h"
 #include "QDebug"
+#include "base/crc.h"
 
 
 
 int slave_check::start(myarray data)
 {
   mycfg *cfg_=syscfg();
-  int timeout=100000;
+  check_cfg *ccfg_=check_plan();
+  int timeout=ccfg_->get_check_time_out();
   busy=1;
   cmd=0x0c;
   qDebug("addr %d start check,timeout=%d",addr,timeout);
-  send_data(cmd,myarray());
+  send_data(cmd,myarray(),3);
   timeout_start(timeout);
   return 0;
 }
 
 void slave_check::timeout()
 {
+  timeout_stop();
   qWarning("addr %d check timeout.",addr);
   end(1,myarray());
   busy=0;
@@ -30,11 +33,255 @@ int slave_check::dolater(int cmd, myarray data)
     qWarning("addr %d recv err cmd:%02x",addr,cmd);
     return 1;
   }
-  end(0,data);
-  busy=0;
+  timeout_stop_retry();
+  if(data.size()<=16){
+    qDebug("addr %d recv first ack.",addr);
+  }else{
+    qDebug("addr %d recv secend ack.",addr);
+    send_data(0x14,myarray(),1);
+    end(0,data);
+    busy=0;
+    timeout_stop();
+  }
   return 0;
 }
 
 
 
 
+
+void slave_result::timeout()
+{
+  timeout_stop();
+  qWarning("addr %d result timeout.",addr);
+  end(1,myarray());
+  busy=0;
+}
+
+int slave_result::start(myarray data)
+{
+  int timeout=2000;
+  busy=1;
+  cmd=0x02;
+  qDebug("addr %d read result,timeout=%d",addr,timeout);
+  send_data(cmd,myarray(),10);
+  timeout_start(timeout);
+  return 0;
+}
+
+int slave_result::dolater(int cmd, myarray data)
+{
+  if(cmd!=this->cmd){
+    qWarning("addr %d recv err cmd:%02x",addr,cmd);
+    return 1;
+  }
+  timeout_stop_retry();
+  end(0,data);
+  busy=0;
+  timeout_stop();
+  return 0;
+}
+
+
+
+
+
+void slave_sethardver::timeout()
+{
+  timeout_stop();
+  qWarning("addr %d sethardver timeout.",addr);
+  end(1,myarray());
+  busy=0;
+}
+
+int slave_sethardver::start(myarray data)
+{
+  int timeout=2000;
+  busy=1;
+  cmd=0x03;
+  qDebug("addr %d read sethardver,timeout=%d",addr,timeout);
+  send_data(cmd,data,10);
+  timeout_start(timeout);
+  return 0;
+}
+
+int slave_sethardver::dolater(int cmd, myarray data)
+{
+  if(cmd!=this->cmd){
+    qWarning("addr %d recv err cmd:%02x",addr,cmd);
+    return 1;
+  }
+  timeout_stop_retry();
+  end(0,data);
+  busy=0;
+  timeout_stop();
+  return 0;
+}
+
+
+
+
+
+
+void slave_setresver::timeout()
+{
+  timeout_stop();
+  qWarning("addr %d setresver timeout.",addr);
+  end(1,myarray());
+  busy=0;
+}
+
+int slave_setresver::start(myarray data)
+{
+  int timeout=2000;
+  busy=1;
+  cmd=0x04;
+  qDebug("addr %d read setresver,timeout=%d",addr,timeout);
+  send_data(cmd,data,10);
+  timeout_start(timeout);
+  return 0;
+}
+
+int slave_setresver::dolater(int cmd, myarray data)
+{
+  if(cmd!=this->cmd){
+    qWarning("addr %d recv err cmd:%02x",addr,cmd);
+    return 1;
+  }
+  timeout_stop_retry();
+  end(0,data);
+  busy=0;
+  timeout_stop();
+  return 0;
+}
+
+
+
+
+
+
+
+void slave_resvalue::timeout()
+{
+  timeout_stop();
+  qWarning("addr %d resvalue timeout.",addr);
+  end(1,myarray());
+  busy=0;
+}
+
+int slave_resvalue::start(myarray data)
+{
+  int timeout=2000;
+  busy=1;
+  cmd=0x05;
+  qDebug("addr %d read resvalue,timeout=%d",addr,timeout);
+  send_data(cmd,data,10);
+  timeout_start(timeout);
+  return 0;
+}
+
+int slave_resvalue::dolater(int cmd, myarray data)
+{
+  if(cmd!=this->cmd){
+    qWarning("addr %d recv err cmd:%02x",addr,cmd);
+    return 1;
+  }
+  timeout_stop_retry();
+  end(0,data);
+  busy=0;
+  timeout_stop();
+  return 0;
+}
+
+
+
+
+
+
+// 定义地址宏
+// 本程序中程序下载地址不是这个地址，在此用来计算偏移量
+#define MCU_APP_ADDR_BASE       0x8004000
+#define MCU_TASKID_ADDR_BASE    0x803f000
+#define MCU_JWT_ADDR_BASE       0x803B000
+
+
+
+void boardcast_updata::timeout()
+{
+  timeout_stop();
+  qWarning("addr %d updata timeout.",addr);
+  end(1,myarray());
+  busy=0;
+}
+
+int boardcast_updata::start(myarray data)
+{
+  int timeout=5000;
+  busy=1;
+  qWarning()<<"addr "<<addr<<" updata start.";
+  timeout_start(timeout);
+  // 擦除
+  step=0;
+  send_data(0xfe,data,10);
+  return 0;
+}
+
+int boardcast_updata::dolater(int cmd, myarray data)
+{
+  timeout_stop_retry();
+  timeout_start(5000);
+  if(step==0){
+    if(send_packet()==true){
+      step=1;
+    }
+  }else if(step==1){
+    uint32_t addr_start=MCU_APP_ADDR_BASE;
+    uint32_t addr_end=MCU_APP_ADDR_BASE+count_sent;
+    uint32_t crc32=crc::crc32(this->data);
+    myarray s;
+    s.append((addr_start)&0xff);
+    s.append((addr_start>>8)&0xff);
+    s.append((addr_start>>16)&0xff);
+    s.append((addr_start>>24)&0xff);
+    s.append((addr_end)&0xff);
+    s.append((addr_end>>8)&0xff);
+    s.append((addr_end>>16)&0xff);
+    s.append((addr_end>>24)&0xff);
+    s.append((crc32)&0xff);
+    s.append((crc32>>8)&0xff);
+    s.append((crc32>>16)&0xff);
+    s.append((crc32>>24)&0xff);
+    send_data(0xfb,s,10);
+    step=2;
+  }else if(step==2){
+    end(0,data);
+    busy=0;
+  }
+  return 0;
+}
+
+bool boardcast_updata::send_packet()
+{
+  if(count_sent<data.size()){
+    uint32_t addr=MCU_APP_ADDR_BASE+count_sent;
+    int pack_size=240;
+    myarray s;
+    if(pack_size>data.size()-count_sent){
+      pack_size=data.size()-count_sent;
+    }
+    s.append((addr)&0xff);
+    s.append((addr>>8)&0xff);
+    s.append((addr>>16)&0xff);
+    s.append((addr>>24)&0xff);
+    s+=data.mid(count_sent,pack_size);
+    count_sent+=pack_size;
+    send_data(0xfc,s,10);
+  }
+  if(count_sent<data.size()){
+    return false;
+  }else{
+    return true;
+  }
+}
+
+

prot_cmd/cmd_slave.h

@@ -4,6 +4,8 @@
 #include "prot/prot_slave.h"
 
 
+
+// 从机检测命令
 class slave_check:public HandleSlave
 {
 public:
@@ -13,4 +15,84 @@ public:
     void timeout();
 };
 
+
+
+
+// 获取检测结果命令
+class slave_result:public HandleSlave
+{
+public:
+    slave_result():HandleSlave(){}
+    int start(myarray data);
+    int dolater(int cmd, myarray data);
+    void timeout();
+};
+
+
+
+
+// 设置硬件版本号命令
+class slave_sethardver:public HandleSlave
+{
+public:
+    slave_sethardver():HandleSlave(){}
+    int start(myarray data);
+    int dolater(int cmd, myarray data);
+    void timeout();
+};
+
+
+
+
+// 设置电阻校准值命令
+class slave_setresver:public HandleSlave
+{
+public:
+    slave_setresver():HandleSlave(){}
+    int start(myarray data);
+    int dolater(int cmd, myarray data);
+    void timeout();
+};
+
+
+
+
+// 获取电阻值命令
+class slave_resvalue:public HandleSlave
+{
+public:
+    slave_resvalue():HandleSlave(){}
+    int start(myarray data);
+    int dolater(int cmd, myarray data);
+    void timeout();
+};
+
+
+
+
+
+
+// 程序升级
+class boardcast_updata:public HandleBoardCast
+{
+public:
+  boardcast_updata():HandleBoardCast(){step=0;count_sent=0;}
+  int start(myarray data);
+  int dolater(int cmd, myarray data);
+  void timeout();
+  bool send_packet();
+private:
+  int step;
+  myarray data;
+  int count_sent;
+};
+
+
+
+
+
+
+
+
+
 #endif // CMD_SLAVE_H