实现电机，按键，虚拟串口，未验证

source/task/commend.c

@@ -0,0 +1,109 @@
+#include "commend.h"
+#include "string.h"
+#include "mystring.h"
+#include "bytearray.h"
+//#include "mystdlib.h"
+#include "debug.h"
+#include "board.h"
+
+#define CMD_RETURN_BUFF_SIZE 4096
+
+
+
+typedef struct{
+  char *data;
+}self_def;
+
+
+
+static self_def g_self;
+void *tappend(void *p,void *del);
+
+
+
+static commend_def *cmd_find(char *name)
+{
+  extern const int cmdstruct$$Base;
+  extern const int cmdstruct$$Limit;
+  commend_def *start=(commend_def *)&cmdstruct$$Base;
+  commend_def *end=(commend_def *)&cmdstruct$$Limit;
+  for(commend_def *t=start;t<end;t++)
+  {
+    if(strcmp(t->name,name)==0)
+    {
+      return t;
+    }
+  }
+  return 0;
+}
+
+
+
+
+
+void cmd_recv_slot(void *obj,const char *coder,uint8_t cmd,array_def *data,char *err_str)
+{
+  self_def *s=&g_self;
+  commend_def *commd;
+  if((strcmp(err_str,"ok")!=0)||(cmd!=0)){
+    return;
+  }
+  list_def *argv=str_split(str_simplified((const char *)arr_data(data)),' ');
+  DBG_LOG("list_str=%s",str_temp(list_string(argv)));
+  commd=cmd_find(list_get_str(argv,0));
+  if(commd&&commd->fun) commd->fun(argv);
+  else cmd_print("unknown cmd of \"%s\"",list_get_str(argv,0));
+}
+
+
+static int cmd_init(void)
+{
+  self_def *s=&g_self;
+  if(s->data==0){
+    s->data=calloc(CMD_RETURN_BUFF_SIZE,sizeof(char));
+  }
+  app_variable("cmd",s,0);
+  return 0;
+}
+app_init_export(cmd_init);
+
+
+int cmd_print(const char *fmt,...)
+{
+  self_def *s=&g_self;
+  if(s->data==0) return 0;
+  va_list args;
+  size_t length=0;
+  va_start(args, fmt);
+  length += vsnprintf(&s->data[length], CMD_RETURN_BUFF_SIZE - length - 1, fmt, args);
+  if (length > CMD_RETURN_BUFF_SIZE - 1)
+    length = CMD_RETURN_BUFF_SIZE - 1;
+  va_end(args);
+  memcpy(&s->data[length],"\r\n",2);
+  length+=2;
+  s->data[length]=0;
+  array_def *arr=arr_creat();
+  arr_appends(arr,s->data,length);
+  emit cmd_reply_signal(s,0,arr_temp(arr));
+  return length;
+}
+
+
+
+
+static int cmd_help(list_def *argv)
+{
+  extern const int cmdstruct$$Base;
+  extern const int cmdstruct$$Limit;
+  commend_def *start=(commend_def *)&cmdstruct$$Base;
+  commend_def *end=(commend_def *)&cmdstruct$$Limit;
+  cmd_print("help ->");
+  for(commend_def *t=start;t<end;t++)
+  {
+    cmd_print("%-15s: %s",t->name,t->help);
+  }
+  return 0;
+}
+
+commend_export(help,cmd_help,"print the help str of cmds.")
+

source/task/commend.h

@@ -0,0 +1,49 @@
+#ifndef commend_h__
+#define commend_h__
+
+
+#include "list.h"
+#include "bytearray.h"
+#include "signal.h"
+
+
+// 执行命令函数不能调用延时函数
+typedef int (*cmd_fun_def)(list_def *argv /* str */);
+
+
+
+typedef struct{
+  const char *name;
+  const char *help;
+  cmd_fun_def fun;
+}commend_def;
+
+
+
+
+#define commend_export(name_,fun_,help_) \
+  const static char __cmd_##name_##_name[] SECTION(".rodata.cmdstr") = #name_; \
+  const static char __cmd_##name_##_help[] SECTION(".rodata.cmdstr") = help_; \
+  RT_USED static commend_def _cmd_##name_ SECTION("cmdstruct")= \
+  {\
+    .name=__cmd_##name_##_name,\
+    .help=__cmd_##name_##_help,\
+    .fun=fun_,\
+  };
+
+
+
+
+
+int cmd_print(const char *fmt,...);
+
+
+  
+signal cmd_reply_signal(void *obj,uint8_t cmd,array_def *data);
+
+void cmd_recv_slot(void *obj,const char *codec_name,uint8_t cmd,array_def *data,char *err_str);  
+
+
+
+#endif
+

source/task/key.c

@@ -0,0 +1,95 @@
+
+#include "board.h"
+#include "rtthread.h"
+#include "debug.h"
+#include "string.h"
+#include "dev_flash.h"
+#include "commend.h"
+#include "key.h"
+#include "mystdlib.h"
+
+
+
+// 作为批检仪使用时读取按键
+
+
+typedef struct{
+  int inited;
+  int run;
+  int input;
+  int input_lock;
+  void *tran;
+}self_def;
+
+
+static self_def g_self;
+
+static void request_check(void *p);
+
+static void key_thread(void *arg)
+{
+  self_def *s=arg;
+  gpioin_def *in1;
+  in1=dev_get("key");
+  in1->init(in1);
+  s->input=0;
+  s->input_lock=1;
+  
+  while (s->run)
+  {
+    rt_thread_mdelay(20);
+    s->input=(in1->state(in1));
+    if(s->input!=s->input_lock)
+    {
+      DBG_LOG("key=%08X",s->input);
+      s->input_lock=s->input;
+      if((s->input&1)==0)
+      {
+        // 发送按键按下消息
+        cmd_print("key pressed");
+      }
+    }
+  }
+    
+}
+
+// 获取实时按键状态,1按下
+int key_pressed(void)
+{
+  self_def *s=&g_self;
+  return !s->input;
+}
+
+
+// cmd=0x37
+static void request_check(void *p)
+{
+  const sys_param_def *par=sys_param();
+  array_def *d=arr_creat();
+  emit key_send_signal(p,0x37,arr_temp(d));
+  //DBG_LOG("tcp liver:%s",str_temp(arr_string(d)));
+}
+
+
+
+
+
+
+
+static int init_thread(void)
+{
+  if(strcmp(sys_param()->device_type,"checker")==0)
+  {
+    self_def *s=&g_self;
+    s->inited=1;
+    s->run=1;
+    rt_thread_t rt_t=rt_thread_create("key_t",key_thread,s,1024,15,20);
+    rt_thread_startup(rt_t);
+    DBG_LOG("key thread created.");
+  }
+  return 0;
+}
+app_init_export(init_thread)
+
+
+

source/task/key.h

@@ -0,0 +1,28 @@
+#ifndef key_h__
+#define key_h__
+
+
+#include "rtthread.h"
+#include "signal.h"
+#include "bytearray.h"
+
+
+
+
+
+signal key_send_signal(void *obj,uint8_t cmd,array_def *data);
+
+
+
+
+int key_pressed(void);
+
+
+
+
+
+
+
+
+
+#endif

source/task/moter.c

@@ -0,0 +1,203 @@
+#include "moter.h"
+#include "dev_flash.h"
+#include "debug.h"
+#include "commend.h"
+#include "mymisc.h"
+#include "board.h"
+
+
+// <20><><EFBFBD><EFBFBD>״̬
+typedef enum{
+  STOP=0,
+  INITING=1,
+  DOWNING=2,
+  UPING=3,
+}moter_stat;
+
+
+typedef struct{
+  int inited;
+  pwm_def *pwm;
+  rt_event_t event;
+  int run;
+  int want_count;
+  int count;
+  int max_count;
+  moter_stat stat;
+  void (*fun_in_end)(void *t);
+  void *t;
+}self_def;
+
+
+self_def g_self;
+
+
+
+#define MOTER_MAX_COUNT 22000
+
+#define MOTER_END_EVENT 0x1
+
+
+
+
+
+
+static void end_irq(void *t)
+{
+  self_def *s=t;
+  if(s->inited)
+    rt_event_send(s->event,MOTER_END_EVENT);
+}
+
+
+
+static void moter_run(void *t)
+{
+  self_def *s=t;
+  uint32_t ev;
+  while(s->run)
+  {
+    rt_event_recv(s->event,0xffffffff,RT_EVENT_FLAG_OR|RT_EVENT_FLAG_CLEAR,RT_WAITING_FOREVER,&ev);
+    if(ev&MOTER_END_EVENT)
+    {
+      if(s->stat==INITING)
+      {
+        s->count=0;
+      }else if(s->stat==DOWNING)
+      {
+        s->count+=s->want_count;
+      }else if(s->stat==UPING)
+      {
+        // <20><><EFBFBD><EFBFBD>ʱ s->want_count Ϊ<><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD>Ǽ<EFBFBD>
+        s->count+=s->want_count;
+        if(s->count<0) s->count=0;
+      }
+      s->stat=STOP;
+      DBG_LOG("moter stoped.");
+      emit moter_end_signal(s);
+      if(s->fun_in_end){
+        s->fun_in_end(s->t);
+        s->fun_in_end=0;
+        s->t=0;
+      }
+    }
+    ev=0;
+  }
+}
+
+
+
+
+// <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
+void moter_down(void (*fun)(void *t),void *t)
+{
+  self_def *s=&g_self;
+  if(fun){
+    s->fun_in_end=fun;
+    s->t=t;
+  }
+  moter_start(0,s->max_count-s->count);
+}
+
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
+void moter_up(void (*fun)(void *t),void *t)
+{
+  self_def *s=&g_self;
+  if(fun){
+    s->fun_in_end=fun;
+    s->t=t;
+  }
+  moter_start(0,-s->count-100);
+}
+
+
+void moter_start(int fre,int step_count)
+{
+  self_def *s=&g_self;
+  if(s->inited==0)
+  {
+    DBG_WARN("moter object is not inited.");
+    return;
+  }
+  moter_start_slot(s,fre,step_count);
+}
+
+void moter_start_slot(void *t,int fre,int step_count)
+{
+  self_def *s=t;
+  if(s->stat!=STOP)
+  {
+    DBG_WARN("moter is running!");
+    return ;
+  }
+  if(s->count+step_count>s->max_count)
+  {
+    DBG_WARN("steps count exceeded limit!,max=%d",s->max_count);
+    end_irq(s);
+    return ;
+  }
+  else{
+    DBG_LOG("s->count=%d,step_count=%d,s->max_count=%d",s->count,step_count,s->max_count);
+  }
+  if(step_count>0){
+    s->stat=DOWNING;
+  }else if(step_count<0){
+    s->stat=UPING;
+  }else{
+    DBG_WARN("step_count can not == 0");
+    return ;
+  }
+  s->want_count=step_count;
+  pwm_def *pwm=s->pwm;
+  pwm->set_fre(pwm,fre);
+  pwm->start(pwm,step_count);
+}
+
+
+void moter_init(void *t)
+{
+  self_def *s=t;
+  DBG_LOG("moter init to zero.");
+  pwm_def *pwm=s->pwm;
+  pwm->set_fre(pwm,2000);
+  pwm->start(pwm,-22000);
+}
+
+int init_moter(void)
+{
+  self_def *s=&g_self;
+  const sys_param_def *par=sys_param();
+  if(strcmp(par->device_type,"checker")==0){
+    pwm_def *pwm=dev_get("pwm1");
+    if(pwm==0){
+      cmd_print("can not find device \"pwm1\"");
+      return -1;
+    }
+    pwm->init(pwm);
+    pwm->set_irq_fun(pwm,end_irq,s);
+    s->pwm=pwm;
+    s->stat=INITING;
+    if((par->moter_max_count>25000)||(par->moter_max_count<1000))
+    {
+      s->max_count=MOTER_MAX_COUNT;
+    }else{
+      s->max_count=par->moter_max_count;
+    }
+    s->count=s->max_count;
+    s->event=rt_event_create("moter_e",RT_IPC_FLAG_FIFO);
+    s->inited=1;
+    s->run=1;
+    rt_thread_t rt_t=rt_thread_create("moter_t",moter_run,s,2048,3,20);
+    rt_thread_startup(rt_t);
+    later_execute(moter_init,s,500);
+    app_variable("moter",s,0);
+  }
+  return 0;
+}
+app_init_export(init_moter)
+
+
+
+
+
+

source/task/moter.h

@@ -0,0 +1,31 @@
+#ifndef moter_h__
+#define moter_h__
+
+
+#include "signal.h"
+#include "bytearray.h"
+#include "list.h"
+#include "board.h"
+
+
+
+
+signal moter_end_signal(void *m);
+
+void moter_start_slot(void *t,int fre,int step_count);
+
+void moter_start(int fre,int step_count);
+
+void moter_down(void (*fun)(void *t),void *t);
+
+void moter_up(void (*fun)(void *t),void *t);
+
+
+
+
+
+
+
+
+#endif
+