移植到stm32f1，实现手动线赋码控制器功能

2023-09-09 17:27:06 +08:00
parent 8d779a68f3
commit 7baa63de05
382 changed files with 36618 additions and 148064 deletions
--- a/source/task/process.c
+++ b/source/task/process.c
@@ -0,0 +1,569 @@
+#include "board.h"
+#include "rtthread.h"
+#include "debug.h"
+#include "string.h"
+#include "dev_flash.h"
+#include "prot_uc.h"
+#include "input.h"
+#include "mystdlib.h"
+#include "transmit.h"
+#include "mymisc.h"
+#include "process.h"
+#include "tran_for_coder2ch.h"
+#include "coder_judge.h"
+
+
+/*
+
+赋码操作流程控制
+
+*/
+
+
+
+// 定义输入通道别名
+//#define INPUT_STOP_KEY            0
+//#define INPUT_CHECK_KEY           1
+//#define INPUT_MARK_END            2
+//#define INPUT_POS_LEFT            6
+//#define INPUT_POS_RIGHT           7
+// 调试用输入通道别名
+#define INPUT_STOP_KEY            0
+#define INPUT_CHECK_KEY           1
+#define INPUT_MARK_END            2
+#define INPUT_POS_LEFT            3
+#define INPUT_POS_RIGHT           4
+
+
+// 定义输出通道别名
+#define OUTPUT_PUSH_CYLINDER      0
+#define OUTPUT_SHELL_BAFFLE       1
+#define OUTPUT_CLAMP_CYLINDER     2
+#define OUTPUT_LED_OK             3
+#define OUTPUT_LED_ERR            4
+#define OUTPUT_MARK               7
+
+// 定义总线选择
+#define BUS_SELECT_LEFT           0
+#define BUS_SELECT_RIGHT          1
+
+// 定义推料气缸方向
+#define PUSH_DIR_TO_RIGHT         1
+#define PUSH_DIR_TO_LEFT          0
+
+// 定义输出通道数量
+#define OUTPUT_CHANNEL_NUM        10
+
+
+// 急停时不动作
+#define SAFE_CHECK(s)\
+  if(s->stop_state) return
+
+// 设置当前步骤
+#define SET_STEP(s,d)\
+  if(s/right_idle){s=right_##d;}else{s=left_##d;}
+  
+// 校验当前步骤是返回1，不是返回0
+#define CHECK_STEP(s,d)\
+  (s/right_idle)?(s==right_##d):(s==left_##d)
+
+// 获取到位传感器通道
+#define GET_POS_CHANNEL(s) \
+  (s/right_idle)?INPUT_POS_RIGHT:INPUT_POS_LEFT
+
+// 获取当前使用的总线
+#define GET_BUS_CHANNEL(s)\
+  (s/right_idle)?BUS_SELECT_RIGHT:BUS_SELECT_LEFT
+
+// 获取当前推料气缸的方向
+#define GET_PUSH_DIR(s)\
+  (s/right_idle)?PUSH_DIR_TO_LEFT:PUSH_DIR_TO_RIGHT
+  
+// 重置状态
+#define RESET_STEP(s)\
+  if(s<right_idle){s=right_idle;}else{s=left_idle;}
+
+// 设置指示灯状态
+#define SET_LED_OK()\
+  {output_set(&s->output[OUTPUT_LED_ERR],0);\
+  output_set(&s->output[OUTPUT_LED_OK],1);}
+#define SET_LED_ERR()\
+  {output_set(&s->output[OUTPUT_LED_ERR],1);\
+  output_set(&s->output[OUTPUT_LED_OK],0);}
+#define SET_LED_OFF()\
+  {output_set(&s->output[OUTPUT_LED_ERR],0);\
+  output_set(&s->output[OUTPUT_LED_OK],0);}
+  
+// 设置输出通道状态
+#define SET_OUTPUT(c,p)\
+  output_set(&s->output[c],p);
+
+// 复位输出状态
+#define RESET_OUTPUT()\
+  {output_set(&s->output[OUTPUT_SHELL_BAFFLE],0);\
+  output_set(&s->output[OUTPUT_CLAMP_CYLINDER],0);\
+  output_set(&s->output[OUTPUT_MARK],0);}
+
+
+
+typedef struct{
+  gpioout_def *dev;
+  int state;
+}output_def;
+
+
+
+// 设置输出状态
+static int output_set(output_def *s,int state)
+{
+  s->dev->set(s->dev,state);
+  s->state=state;
+  return 0;
+}
+
+
+typedef enum{
+  left_idle=0,
+  left_push,
+  left_requst,
+  left_code,
+  right_idle,
+  right_push,
+  right_requst,
+  right_code,
+}process_step;
+
+
+  
+typedef struct{
+  int inited;
+  int run;
+  void *tran;
+  array_def *code_data;// 赋码数据
+  rt_timer_t timer;
+  int busy;// 忙，此时不再响应启动按键
+  process_step step;// 流程步数0为空闲
+  int stop_state;// 急停标志，值1时不运行
+  output_def output[OUTPUT_CHANNEL_NUM];
+  output_def led;
+  output_def mod1_use;
+  output_def bus_sel;
+  output_def mod_sel;
+}self_def;
+
+
+static self_def g_self;
+
+
+
+static const char *g_errinfo_table[]={
+  "",
+  "左侧到位检测失败",
+  "左侧请求三码数据失败",
+  "左侧赋码失败",
+  "",
+  "右侧到位检测失败",
+  "右侧请求三码数据失败",
+  "右侧赋码失败",
+};
+//static const char *g_errinfo_table[]={
+//  "",
+//  "left pos check failed",
+//  "left 3code request failed",
+//  "left code failed",
+//  "",
+//  "right pos check failed",
+//  "right 3code request failed",
+//  "right code failed",
+//};
+
+
+
+
+
+
+
+// 急停按钮响应函数
+static void process_stop(void *arg)
+{
+  self_def *s=arg;
+  s->stop_state=1;
+  SET_LED_ERR();
+  DBG_LOG("stop key pressed.");
+}
+static void process_run(void *arg)
+{
+  self_def *s=arg;
+  s->stop_state=0;
+  SET_LED_OFF();
+  DBG_LOG("stop key unpressed.");
+}
+
+
+// 异常上报函数
+static void process_send_errinfo(void *arg)
+{
+  self_def *s=arg;
+  const char *err_info=g_errinfo_table[s->step];
+  int errlen=strlen(err_info);
+
+  array_def *a=arr_creat();
+  arr_append(a,s->step);
+  arr_appends(a,err_info,errlen);
+  process_send_signal(s,0x8c,arr_temp(a));
+}
+
+// 超时响应函数
+static void process_timeout(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  
+  // 上报异常信息
+  process_send_errinfo(s);
+
+  DBG_WARN("timeout,errcode=%d",s->step);
+  
+  if(CHECK_STEP(s->step,push)){
+    // 取消到位回调
+    input_set_callback_once(GET_POS_CHANNEL(s->step),1,0,0);
+  }
+  
+  // 重置状态
+  RESET_STEP(s->step);
+  // 复位输出状态
+  RESET_OUTPUT();
+  
+  s->busy=0;
+  SET_LED_ERR();
+}
+// 重置定时器
+static void process_timer_start(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  if(s->timer==0)
+  {
+    s->timer=rt_timer_create("proc_tim",process_timeout,s,
+      rt_tick_from_millisecond(5000),
+      RT_TIMER_FLAG_ONE_SHOT|RT_TIMER_FLAG_SOFT_TIMER);
+  }
+  rt_timer_start(s->timer);
+}
+
+// 停止定时器
+static void process_timer_stop(void *arg)
+{
+  self_def *s=arg;
+  if(s->timer){
+    rt_timer_stop(s->timer);
+  }
+}
+
+
+
+
+
+
+
+// 检测按键响应函数
+static void process_check_start(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  if(s->busy) {
+    DBG_WARN("check is running.");
+    return;
+  }
+  s->busy=1;
+  SET_LED_OFF();
+  process_timer_start(s);
+  SET_STEP(s->step,push);
+  
+  // 启动推料气缸
+  SET_OUTPUT(OUTPUT_PUSH_CYLINDER,GET_PUSH_DIR(s->step));
+  
+  // 设置到位回调
+  void process_pos(void *arg);
+  input_set_callback_once(GET_POS_CHANNEL(s->step),1,process_pos,s);
+
+  // 选择当前使用的总线
+  output_set(&s->bus_sel,GET_BUS_CHANNEL(s->step));
+  
+  DBG_LOG("check_start key pressed.");
+}
+
+
+// 到位响应函数
+static void process_pos(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  int chip=coder_extract_chip(0);
+  
+  // 请求三码数据
+  array_def *a=arr_creat();
+  arr_append(a,chip);
+  emit process_send_signal(s,0x8b,arr_temp(a));
+  SET_STEP(s->step,requst);
+  process_timer_start(s);
+  
+  // 打开线夹
+  SET_OUTPUT(OUTPUT_CLAMP_CYLINDER,1);
+  
+  DBG_LOG("pos in place.");
+}
+
+
+// 开始注码响应函数
+static void process_start_slot(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  SET_STEP(s->step,code);
+  process_timer_stop(s);
+  
+  DBG_LOG("start code.");
+}
+
+// 赋码结束响应函数
+static void process_end_slot(void *obj,int ack,array_def *data)
+{
+  self_def *s=obj;
+  SAFE_CHECK(s);
+  if(ack){
+    SET_LED_ERR();
+    // 发送异常信息
+    process_send_errinfo(s);
+    // 发送赋码结果
+    emit tran_send_signal(s->tran,0x82,data);
+    // 复位输出状态
+    RESET_OUTPUT();
+    // 复位步骤
+    RESET_STEP(s->step);
+    s->busy=0;
+    return;
+  }else{
+    SET_LED_OK();
+  }
+  // 保存到内部存储
+  if(s->code_data){
+    arr_delete(s->code_data);
+  }
+  s->code_data=arr_duplicate(data);
+  
+  // 关闭线夹
+  SET_OUTPUT(OUTPUT_CLAMP_CYLINDER,0);
+  
+  // 打开挡板
+  SET_OUTPUT(OUTPUT_SHELL_BAFFLE,1);
+  
+  // 400ms 后开始打标
+  void process_mark_start(void *arg);
+  later_execute(process_mark_start,s,400);
+  
+  // 5s 后打标结束
+  void process_mark_end(void *arg);
+  later_execute(process_mark_end,s,5000);
+}
+
+
+
+// 开始打标回调函数
+static void process_mark_start(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+  
+  SET_OUTPUT(OUTPUT_MARK,1);
+  DBG_LOG("mark start.");
+}
+
+// 打标结束回调函数
+static void process_mark_end(void *arg)
+{
+  self_def *s=arg;
+  SAFE_CHECK(s);
+
+  // 关闭挡板
+  SET_OUTPUT(OUTPUT_SHELL_BAFFLE,1);
+  
+  SET_OUTPUT(OUTPUT_MARK,0);
+  
+  // 发送注码结果
+  if(s->code_data){
+    emit tran_send_signal(s->tran,0x82,s->code_data);
+  }
+  
+  // 复位输出状态
+  RESET_OUTPUT();
+  // 复位步骤
+  RESET_STEP(s->step);
+  s->busy=0;
+  
+  DBG_LOG("mark end.");
+}
+
+
+
+
+
+
+
+
+
+// 线程初始化
+static void process_init(void *arg)
+{
+  self_def *s=arg;
+  
+  // 初始化输出通道
+  char gpioout_name[]="gpioout0";
+  for(int i=0;i<OUTPUT_CHANNEL_NUM;i++)
+  {
+    gpioout_name[7]='0'+i;
+    s->output[i].dev=dev_get(gpioout_name);
+    s->output[i].dev->init(s->output[i].dev);
+  }
+  
+  // 初始化led
+  s->led.dev=dev_get("led");
+  s->led.dev->init(s->led.dev);
+  
+  // 初始化模块1使用，0把模块1连接到总线1，1不连接到总线1
+  // 如果要两个总线同时使用，则模块0必须连接到总线2
+  s->mod1_use.dev=dev_get("mod1_use");
+  s->mod1_use.dev->init(s->mod1_use.dev);
+  output_set(&s->mod1_use,1);
+  
+  // 初始化总线选择，0选择bus1，1选择bus2
+  s->bus_sel.dev=dev_get("bus_sel");
+  s->bus_sel.dev->init(s->bus_sel.dev);
+  output_set(&s->bus_sel,0);
+  
+  // 初始化模块选择,0选择模块0，1选择模块1
+  s->mod_sel.dev=dev_get("mod_sel");
+  s->mod_sel.dev->init(s->mod_sel.dev);
+  output_set(&s->mod_sel,0);
+  
+  
+  // 设置急停按钮
+  input_set_callback_always(INPUT_STOP_KEY,1,process_stop,s);
+  input_set_callback_always(INPUT_STOP_KEY,0,process_run,s);
+  // 设置启动按钮
+  input_set_callback_always(INPUT_CHECK_KEY,1,process_check_start,s);
+}
+
+
+
+
+static void process_thread(void *arg)
+{
+  self_def *s=arg;
+  process_init(s);
+
+  while (s->run)
+  {
+    rt_thread_mdelay(200);
+    output_set(&s->led,1);
+    rt_thread_mdelay(200);
+    output_set(&s->led,0);
+  }
+}
+
+
+
+
+static void init_later(void *t)
+{
+  void *protu=app_variable("protu",0,0);
+  if(protu){
+    protu_codec_set(protu,protu_find_codec("ym_checker"));
+    connect(t,process_send_signal,0,protu,protu_send_call);
+    DBG_LOG("process thread created");
+  }else{
+    DBG_WARN("can not fond variable \"protu\"");
+  }
+}
+static void init_tran(void *t)
+{
+  self_def *s=t;
+  s->tran=app_variable("tran",0,0);
+  if(s->tran){
+    connect(s->tran,code2_end_signal,0, t,process_end_slot);
+    connect(s->tran,code2_start_signal,0,t,process_start_slot);
+  }else{
+    DBG_WARN("can not fond variable \"tran\"");
+  }
+}
+
+
+
+
+
+static int init_thread(void)
+{
+  self_def *s=&g_self;
+  s->inited=1;
+  s->run=1;
+  rt_thread_t rt_t=rt_thread_create("process_t",process_thread,s,1024,15,20);
+  rt_thread_startup(rt_t);
+  app_valid_call("protu",init_later,s);
+  app_valid_call("tran",init_tran,s);
+  return 0;
+}
+app_init_export(init_thread)
+
+
+
+
+
+
+
+
+
+// 定义接收上位机命令用于模拟输入通道触发
+
+typedef struct{
+  ucport_def u;
+}pccmd_def;
+
+
+
+void (*g_input_fun_table[])(void *t)={
+  process_stop,
+  process_run,
+  process_check_start,
+  process_pos,
+};
+
+
+
+
+static ucport_def *process_pccmd(tran_def *t, uint8_t cmd,array_def *data)
+{
+  if(arr_length(data)<1){
+    DBG_WARN("cmd format err.");
+    return 0;
+  }
+  int ret=0;
+  pccmd_def *u=calloc(1,sizeof(pccmd_def));
+  
+  int table_len=LENGTH(g_input_fun_table);
+  int index=arr_get(data,0);
+  if(index>=0&&index<table_len){
+    DBG_LOG("call the pccmd fun.index=%d",index);
+    g_input_fun_table[index](&g_self);
+  }else{
+    DBG_WARN("can not find the pccmd fun.index=%d",index);
+  }
+  
+  return (ucport_def *)u;
+}
+
+
+transmit_export(ym_checker,0x90,process_pccmd)
+
+
+
+