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rk3399_arm_lvds
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rk3399_arm_lvds/motorboard/motorboard.cpp

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initial commit
2024-03-05 03:46:18 +00:00
#include "motorboard.h"
#include <iostream>
#include "PinMonitor.h"
#include "uartregsaccess.h"
#include <iomanip>
#include "stringex.hpp"
#include "config.h"
#include "StopWatch.h"
#include "applog.h"
#include "StateControl.h"
#include "Displaydef.h"
#include "MotorConfig.h"
#include "DisplayCenter.h"
#include <bitset>
#include "SensorConfig.h"
static const std::string loggername = "MotorBoard";
MotorBoard::MotorBoard(std::shared_ptr<WakeUp> wake)
: devPort(MOTOR_UART),
m_glue({nullptr, nullptr, nullptr,nullptr,nullptr,nullptr,nullptr}),
autopaperkeystop(nullptr),
m_config({0})
{
LOG_INIT();
//m_uartEnable.reset(new GpioOut(149));
//m_uartEnable->setValue(Gpio::Low);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
//m_uartEnable->setValue(Gpio::High);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
m_os_mode = os_mode();
m_statecontrol.reset(new StateControl(m_regsAccess,wake));
m_wake = wake;
init_sensor_duty();
}
static int paperinnum = 0;
void MotorBoard::start(HGScanConfig cfg)
{
m_config = cfg;
keep_last_paper=false;
paperinnum = 0;
m_paperout_count = 0;
clear_error();
set_motor_stop(false);
set_time_error(120);
set_double_inpect(m_config.g200params.double_feed_enbale);
set_staple_inpect(m_config.g200params.stable_enbale);
set_paper_inspect(0);
set_auto_paper(m_config.g200params.is_autopaper,m_config.g200params.en_anlogic_key);
set_screw_inpect(m_config.g200params.screw_detect_enable);
set_screw_level(m_config.g200params.screw_detect_level);
set_long_paper(true);
set_double_out_en(m_config.g200params.double_out_en);
unsigned int val;
SMBCONFIG *smbc = (SMBCONFIG *)(&val);
read(0, val);
smbc->enable = 0;
write(0, val);
smbc->enable = 1;
write(0, val);
en_lifter();
}
void MotorBoard::stop()
{
printf("MotorBoard Stop \n");
unsigned int val;
SMBCONFIG *smbc = (SMBCONFIG *)(&val);
read(0, val);
smbc->enable = 0;
write(0, val);
}
bool MotorBoard::en_lifter()
{
unsigned int val;
SMBCONFIG *smbc = (SMBCONFIG *)(&val);
read(0x00, val);
smbc->lifter_en = 1;
write(0x00, val);
smbc->lifter_en = 0;
return write(0x00, val);
}
void MotorBoard::pick_paper(void)
{
unsigned int val,pick_en;
SMBCONFIG *smbc = (SMBCONFIG *)(&val);
read(0x00, val);
smbc->pick_paper = 0;
write(0x00, val);
std::this_thread::sleep_for(std::chrono::microseconds(400));
smbc->pick_paper = 1;
write(0x00, val);
std::string v_str = std::to_string(m_version);
if(v_str.size()<8)
return;
uint32_t date = atoi(v_str.substr(2,6).c_str());
#ifdef G100
if(date < 231115)
return;
#else
if(date < 231122)
return;
#endif
std::this_thread::sleep_for(std::chrono::milliseconds(5));
read(0x09,pick_en);
if(!(pick_en&0xffff))
{
smbc->pick_paper = 0;
write(0x00, val);
std::this_thread::sleep_for(std::chrono::microseconds(400));
smbc->pick_paper = 1;
write(0x00, val);
}
// smbc->pick_paper = 0;
// write(0x00, val);
}
void MotorBoard::clean_paper_road(){
unsigned int val;
SMB_FUNC *smbc = (SMB_FUNC *)(&val);
read(6, val);
if(smbc->param.work_mode == 0)
{
smbc->param.func_clean_passthro = 1;
write(6, val);
smbc->param.func_clean_passthro = 0;
write(6, val);
}
else{
printf("\n 非空闲模式不允许清理纸道！！！！");
}
}
void MotorBoard::clear_error()
{
unsigned int val;
SMBCONFIG *smbc = (SMBCONFIG *)(&val);
read(0, val);
smbc->error_clean = 1;
write(0, val);
smbc->error_clean = 0;
write(0, val);
}
bool MotorBoard::wait_arrival_top(int timeout_ms)
{
return cv_arrival_top.wait(timeout_ms);
}
bool MotorBoard::wait_paper_in(int timeout_ms)
{
return cv_paper_in.wait(timeout_ms);
}
bool MotorBoard::wait_error(int timeout_ms)
{
return cv_error.wait(timeout_ms);
}
bool MotorBoard::wait_paper_out(int timeout_ms)
{
// StopWatch sw;
// LOG_TRACE("wait_paper_out ");
// while(sw.elapsed_ms()<timeout_ms)
// {
// if(m_paperout_count > 0)
// {
// m_paperout_count--;
// return true;
// }
// std::this_thread::sleep_for(std::chrono::milliseconds(1));
// }
// return false;
return cv_paper_out.wait(timeout_ms);
}
bool MotorBoard::wait_done(int timeout_ms)
{
return cv_scan_done.wait(timeout_ms);
}
int MotorBoard::os_mode()
{
// unsigned int val;
// read(0x02, val);
// SMB_MODE *smb_mode = (SMB_MODE *)&val;
// return smb_mode->scan_mode;
unsigned int val;
read(0x06,val);
SMB_FUNC smb_func = *(SMB_FUNC*)&val;
return smb_func.param.work_mode == 1;
}
bool MotorBoard::paper_ready()
{
unsigned int val;
read(0x02, val);
SMB_MODE *smb_mode = (SMB_MODE *)&val;
return smb_mode->feeding_paper_ready;
}
bool MotorBoard::is_scanning()
{
unsigned int val;
read(0x02, val);
SMB_MODE *smb_mode = (SMB_MODE *)&val;
return smb_mode->work_status;
}
int MotorBoard::paper_counter()
{
unsigned int val;
read(0x02, val);
SMBMODE *smb_mode = (SMBMODE *)&val;
return smb_mode->scan_num;
}
bool MotorBoard::set_paper_inspect_param(unsigned int value /* = 1000 */)
{
unsigned int val;
if (!read(0x04, val))
return false;
SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
smb_config_ext->error_range_set = value;
return write(0x04, val);
}
bool MotorBoard::get_keeplastpaper(){
return keep_last_paper;
}
bool MotorBoard::set_paper_inpect_info(unsigned int value)
{
unsigned int val;
if (!read(0x04, val))
return false;
SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
smb_config_ext->paper_infor = value;
return write(0x04, val);
}
bool MotorBoard::set_paper_inspect(bool enable /* = true */)
{
unsigned int val;
if (!read(0x04, val))
return false;
SMBCONFIGEXT *smb_config_ext = (SMBCONFIGEXT *)&val;
smb_config_ext->paper_size_check_en = enable;
return write(0x04, val);
}
bool MotorBoard::set_double_inpect(bool enable)
{
unsigned int val;
if (!read(0x00, val))
return false;
enable?m_statecontrol->lcdcontrol(4):m_statecontrol->lcdcontrol(5);
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->double_paper = enable;
return write(0x00, val);
}
bool MotorBoard::get_doublle_inpect()
{
return 0;
}
bool MotorBoard::set_double_out_en(bool enable)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->double_out_en = enable;
return write(0x00, val);
}
bool MotorBoard::get_double_out_en()
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
return smb_config->double_out_en;
}
bool MotorBoard::set_staple_inpect(bool enable)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->staple_enable = enable;
return write(0x00, val);
}
bool MotorBoard::get_staple_inpect()
{
return 0;
}
bool MotorBoard::set_cuospeed(int value)
{
unsigned int val;
if (!read(0x4, val))
return false;
SMBCONFIGEXT *smb_config = (SMBCONFIGEXT *)&val;
smb_config->cuo_speed = value;
return write(0x04, val);
}
// bool MotorBoard::set_en600DPI(bool en)
// {
// unsigned int val;
// if (!read(0x00, val))
// return false;
// SMBCONFIG *smb_config = (SMBCONFIG *)&val;
// smb_config->dpi600 = en?1:0;
// return write(0x00, val);
// }
bool MotorBoard::set_color_mode(int mode)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->color_mode = mode;
return write(0x00, val);
}
bool MotorBoard::set_slowmoire(bool en){
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->slow_moire = en;
return write(0x00, val);
}
int MotorBoard::get_color_mode()
{
return 0;
}
bool MotorBoard::set_speed_mode(int mode)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->speed_set_enable = 1;
smb_config->v_setting = mode;
write(0x00, val);
smb_config->speed_set_enable = 0;
return write(0x00, val);
}
bool MotorBoard::set_speed_mode_v_temp(int mode)
{
unsigned int val;
if (!read(0x00, val))
return false;
printf(" set v_tmp = %d \n",mode);
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->speed_set_enable = 1;
smb_config->v_temp = mode;
write(0x00, val);
smb_config->speed_set_enable = 0;
return write(0x00, val);
}
int MotorBoard::get_speed_mode()
{
unsigned int val;
if (!read(0x00, val))
return -1;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
return smb_config->v_setting;
}
std::shared_ptr<IRegsAccess> MotorBoard::regs()
{
return m_regsAccess;
}
static int countindex =0;
void MotorBoard::pin_call(unsigned int pinNum)
{
static int index = 0;
// int os_m = os_mode(); //安路屏蔽计数 扫描过程中无法操作按键
// if (m_os_mode != os_m)
// {
// m_os_mode = os_m;
// cv_os_mode.notify_all();
// if (m_glue.m_os_mode_call)
// m_glue.m_os_mode_call(m_os_mode);
// }
// if (m_os_mode) //安路屏蔽计数返回 以刷新计数状态
// {
// LOG_TRACE("not scan mode");
// return;
// }
unsigned int val;
SMBSTATUS *smb_status = (SMBSTATUS *)&val;
if (!read(0x01, val))
LOG_TRACE("read error");
LOG_TRACE(string_format("status %08x", val));
if(val & 0x800){
//printf("\n keep_last_paper ");
keep_last_paper=true;
}
if(val & 0x1000)
{
if(m_glue.m_set_sleepmode_call)
m_glue.m_set_sleepmode_call(val & 0xf000);
}
if(val & 0x80000)
{
if(m_glue.m_mltop_call)
m_glue.m_mltop_call(val);
}
if(smb_status->auto_feed)
{
if(m_glue.m_auto_paper)
m_glue.m_auto_paper(1);
}
if (val & 0x7c003FE)
{
SetKeyState(false);
cv_error.notify_all();
if (m_glue.m_error_call)
m_glue.m_error_call(val & 0x30efe); //0xefe index of 16:aquireimage error index of bit 17 :size check error
if(val & 0x30efe){
cv_paper_out.notify_all();
cv_paper_in.notify_all();
m_paperout_count++;
}
errormsg(val & 0x1c003fa);
if((val & 0x4) ||(val & 0x02000000))
{
if(m_glue.m_coveropen_call)
m_glue.m_coveropen_call((val & 0x4));//cover open & 0x04
if(val & 0x4){
PutMsg(DisType::Dis_Err_CoverOpen,0,ClearScreen::All);
set_auto_paper(false,false);
autopaperkeystop?autopaperkeystop():void(0);
if(m_statecontrol){
m_statecontrol->setcoverstate(true);
m_statecontrol->setmenuindex(0);
}
}
else{
PutMsg(DisType::Dis_Idel,0,ClearScreen::All);
m_statecontrol?m_statecontrol->setcoverstate(false):void();
}
return;
}
if(smb_status->double_clean_f)
PutMsg(DisType::Dis_Idel,0,ClearScreen::All);
LOG_TRACE("error");
return;
}
else
{
if (!smb_status->scan_pulse)
{
cv_paper_in.notify_all();
unsigned int papercount = 0;
read(0x02,papercount);
SMBMODE smbmode = *(SMBMODE*)&papercount;
printf("paper in arm count = %d ,motorcount = %d\n",++countindex,smbmode.scan_num);
startcapimage(true);
PutMsg(DisType::Dis_Scan_Page, smbmode.scan_num,ClearScreen::BOT);
}
if(smb_status->paper_left)
{
cv_paper_out.notify_all();
m_paperout_count++;
//printf("paper out time = %s \n",GetCurrentTimeStamp(2).c_str());
startcapimage(true);
LOG_TRACE(string_format("m_paperout_count %s",to_string(m_paperout_count)));
}
}
if (val & 0x400)
{
LOG_TRACE("done");
cv_scan_done.notify_all();
if (m_glue.m_scan_done_call)
m_glue.m_scan_done_call();
cv_paper_out.notify_all();
cv_paper_in.notify_all();
clear_error();
SetKeyState(false);
if(m_wake.get())
m_wake->setsleepfalg(false);
}
}
bool MotorBoard::write(unsigned int addr, unsigned int val)
{
return m_regsAccess.get()?m_regsAccess->write(addr, val):false;
}
bool MotorBoard::read(unsigned int addr, unsigned int &val)
{
return m_regsAccess.get()?m_regsAccess->read(addr, val):false;
}
bool MotorBoard::set_time_error(int value){
unsigned int val;
if (!read(0x05, val))
return false;
SMBCONFIGTIME *smb_config = (SMBCONFIGTIME *)&val;
smb_config->error_time_set = value;
return write(0x05, val);
}
void MotorBoard::set_callbacks(MotorBoardGlue glue)
{
m_glue = glue;
}
bool MotorBoard::set_screw_inpect(bool enable)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->skew_enable = enable;
return write(0x00, val);
}
bool MotorBoard::get_screw_inpect()
{
unsigned int val;
read(0x00, val);
SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
return smb_mode->skew_enable;
}
bool MotorBoard::set_screw_level(int level)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->skew_parameter = level;
return write(0x00, val);
}
bool MotorBoard::set_auto_paper(bool enable,bool enkey){
unsigned int val;
if (!read(0x00, val))
return false;
m_statecontrol?m_statecontrol->setautopaperflag(enable,enkey):void(0);
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->autofeed_mode = enable;
return write(0x00, val);
}
bool MotorBoard::set_long_paper(bool enable)
{
unsigned int val;
if (!read(0x00, val))
return false;
SMBCONFIG *smb_config = (SMBCONFIG *)&val;
smb_config->paper = enable;
return write(0x00, val);
}
int MotorBoard::get_screw_level()
{
unsigned int val;
auto ret= read(0x00, val);
if(!ret)
return -1;
SMBCONFIG *smb_mode = (SMBCONFIG *)&val;
return smb_mode->skew_parameter;
}
void MotorBoard::start_countmode()
{
unsigned int regval=0;
read(0x06,regval);
LOG_TRACE(string_format("func6 regval = %08x",regval));
SMBFUNC func = *(SMBFUNC*)&regval;
func.param.work_mode =1;
func.param.func_feed_mid = 1;
func.param.func_clear_count = 1;
LOG_TRACE(string_format("func6 value = %08x",func.value));
write(0x06,func.value);
func.param.func_encount = 1;
func.param.key_sound = 1;
func.param.func_clear_count = 0;
LOG_TRACE(string_format("func6 value = %08x",func.value));
write(0x06,func.value);
func.param.func_encount = 0;
func.param.key_sound = 0;
LOG_TRACE(string_format("func6 value = %08x",func.value));
write(0x06,func.value);
}
void MotorBoard::PutMsg(DisType type,int value,ClearScreen clearscreen)
{
if(m_statecontrol.get())
m_statecontrol->PutMsg(type,value,clearscreen);
}
void MotorBoard::errormsg(uint value)
{
if(value & 0x4)
PutMsg(DisType::Dis_Err_CoverOpen,0,ClearScreen::All);
else if (value & 0x2)
PutMsg(DisType::Dis_Err_NoPaper,0,ClearScreen::All);
else if (value & 0x8)
PutMsg(DisType::Dis_Err_FeedError,0,ClearScreen::All);
// else if (value & 0x10)
// PutMsg(DisType::Dis_Err_JamIn,0,ClearScreen::All);
else if (value & 0x20)
PutMsg(DisType::Dis_Err_DoubleFeed,0,ClearScreen::All);
else if (value & 0x40)
PutMsg(DisType::Dis_Err_Stable,0,ClearScreen::All);
else if (value & 0x80)
PutMsg(DisType::Dis_Err_PaperScrew,0,ClearScreen::All);
else if (value & 0x00010000)
PutMsg(DisType::Dis_Err_AqrImgTimeout,0,ClearScreen::All);
else if((value & 0x1000010) == 0x1000010)
PutMsg(DisType::Dis_Err_JamIn,3,ClearScreen::All);
else if((value & 0x800010) == 0x800010)
PutMsg(DisType::Dis_Err_JamIn,2,ClearScreen::All);
else if((value & 0x400010) == 0x400010)
PutMsg(DisType::Dis_Err_JamIn,1,ClearScreen::All);
}
void MotorBoard::SetKeyState(bool value)
{
if(m_statecontrol)
m_statecontrol->setrunstate(value);
}
void MotorBoard::set_keystopenable(bool value){
unsigned int regval=0;
read(0x06,regval);
LOG_TRACE(string_format("func6 regval = %08x",regval));
SMBFUNC func = *(SMBFUNC*)&regval;
func.param.key_stop_enable = value;
write(0x06,regval);
}
void MotorBoard::set_freq(int motor_choose,int speedmode,int colormode,int dpi)
{
MotorConfig cf;
auto params = cf.GetMotorSpeedParams(motor_choose == 1?0:1,MotorConfig::MTBDType::MT_DRV);
MotorSpeedParam param;
//printf("\n---node.dpi ==%d && node.colormode == %d && node.speed == %d----- ",dpi,colormode,speedmode);
for(auto &node : params)
{
if(node.dpi == dpi && node.colormode == colormode && node.speed == speedmode)
{
param = node.mt_param;
//printf("\n-------------------------------------------------");
break;
}
}
std::vector<std::uint32_t> table;
if(motor_choose == 0)
{
int x = (dpi == 1?(Get_static_jsonconfig().getscannerinfo().chu_motor_speed_200):(dpi == 2?Get_static_jsonconfig().getscannerinfo().chu_motor_speed_300 : Get_static_jsonconfig().getscannerinfo().chu_motor_speed_600));
unsigned int regval=0;
read(0x06,regval);
SMBFUNC func = *(SMBFUNC*)&regval;
func.param.motor_choose = motor_choose;
func.param.wr_en = 1;
write(0x06,func.value);
write(0x04,x);
//func.param.wr_en = 0;
//write(0x06,func.value);
return ;
}
if(motor_choose == 1)
table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
if(motor_choose == 2)
table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
if(motor_choose == 3)
table = frep_cfg(param.finalPeriod,param.Fmin,param.stepnum,param.a,param.offset,param.finalDelay,param.acceleration_time);
unsigned int regval=0;
read(0x06,regval);
SMBFUNC func = *(SMBFUNC*)&regval;
int start_addr_cuo = 0;
#ifdef G200
if(motor_choose ==1 && speedmode > 1 && dpi <3)
start_addr_cuo = 63;
if(motor_choose ==1 && dpi ==3)
start_addr_cuo = 127;
#endif
printf("\nstart_addr_cuo =%d ",start_addr_cuo);
for(int i =0;i<256;i++)
{
func.param.motor_choose = motor_choose;
func.param.wr_en = 1;
func.param.motor_addr =i;
write(0x06,func.value);
write(0x04,i<start_addr_cuo?0:table[i-start_addr_cuo]);
//printf("\nfreq= %x addr =%d ",table[i-start_addr_cuo],i);
}
func.param.wr_en = 0;
write(0x06,func.value);
}
void MotorBoard::init_statecontrol()
{
m_regsAccess.reset(new UartRegsAccess(devPort, bauds, 0x07, 0x87));
m_intPinMonitor.reset(new PinMonitor(intport, std::bind(&MotorBoard::pin_call, this, std::placeholders::_1)));
std::this_thread::sleep_for(std::chrono::milliseconds(10));
m_os_mode = os_mode();
m_statecontrol.reset(new StateControl(m_regsAccess,m_wake));
m_statecontrol->setautopaperstopcallback([&]{
autopaperkeystop?autopaperkeystop():void(0);
if(m_config.g200params.is_autopaper)
set_auto_paper(false,false);
});
init_sensor_duty();
PutMsg(DisType::Dis_Idel,0,ClearScreen::All);
}
void MotorBoard::release_statecontrol()
{
if(autopaperkeystop.operator bool())
autopaperkeystop();
set_auto_paper(false,false);
m_statecontrol.reset();
m_regsAccess.reset();
m_intPinMonitor.reset();
}
void MotorBoard::setautopaperkeystopcallback(std::function<void()> func){
if(func)
autopaperkeystop = func;
m_statecontrol?m_statecontrol->setautopaperstopcallback([&]{
autopaperkeystop?autopaperkeystop():void(0);
set_auto_paper(false,false);
}):void(0);
}
void MotorBoard::startcapimage(bool value)
{
// if(m_config.g200params.is_fixedpaper)
// return;
// FILE *fp = fopen("/sys/class/tty/ttyUSB0/device/huagao_scanner", "w");
// if (fp == NULL)
// perror("startcapimage open filed");
// else{
// fprintf(fp, "%d", value ? 1 : 0);
// fclose(fp);
// }
}
bool MotorBoard::set_sensor_pwm_duty(int sensorid,int duty)
{
//1：扫描；2：开盖；3：歪斜—1；4：歪斜-2；5：出纸口；6：有无纸
printf("set_sensor_pwm_duty type = %d duty = %d \n",sensorid,duty);
unsigned int val;
if (!read(0x05, val))
return false;
if(sensorid< 1 || sensorid >6)
return false;
if(duty< 2 || duty > 90)
return false;
SMBCONFIGTIME *smb_config_time = (SMBCONFIGTIME *)&val;
smb_config_time->sen_duty_set_sel = sensorid;
smb_config_time->duty_set = duty*8+50;
write(0x05, val);
smb_config_time->sen_duty_set_sel = 0;
return write(0x05, val);
}
bool MotorBoard::enable_sensor_pwm(int sensorid,bool en)
{
std::uint32_t val;
if (!read(0x05, val))
return false;
if(sensorid< 1 || sensorid >6)
return false;
std::bitset<32> bit(val);
bit.set(sensorid+6,en);
val = bit.to_ulong();
printf("enable_sensor_pwm = %d \n",val);
return write(0x05, val);
}
bool MotorBoard::set_ultrasonic_param(int type,int value){
//1：双张检测周期；2：有无纸检测周期；3：双张阈值；4：单张阈值；
unsigned int val;
if (!read(0x07, val))
return false;
if(type< 1 || type >4)
return false;
printf("set_ultrasonic_param type = %d value = %d \n",type,value);
SMB_Ultrasonic_Config *tmp = (SMB_Ultrasonic_Config *)&val;
switch (type)
{
case 1:
tmp->param.double_check_cyc = value;
break;
case 2:
tmp->param.paper_check_cyc = value;
break;
case 3:
tmp->param.double_max = value;
break;
case 4:
tmp->param.single_max = value;
break;
default:
break;
}
printf("val = %d \n",val);
tmp->param.send_cyc_en = 1;
write(0x07,val);
tmp->param.send_cyc_en = 0;
return write(0x07,val);
}
void MotorBoard::init_sensor_duty()
{
1.添加传感器占空比配置接口
2024-03-18 06:31:20 +00:00
SensorConfig::SensorConfig_Param p = Get_Static_SC().get_mem_param();
SensorConfig::SensorConfig_Param dft = Get_Static_SC().get_default_param();
initial commit
2024-03-05 03:46:18 +00:00
std::vector<uint32_t> params(sizeof(SensorConfig::SensorConfig_Param)/sizeof(uint32_t));
1.添加传感器占空比配置接口
2024-03-18 06:31:20 +00:00
std::vector<uint32_t> params_p(sizeof(SensorConfig::SensorConfig_Param)/sizeof(uint32_t));
std::vector<uint32_t> params_dft(sizeof(SensorConfig::SensorConfig_Param)/sizeof(uint32_t));
memcpy(&params_p[0],&p,sizeof(SensorConfig::SensorConfig_Param));
memcpy(&params_dft[0],&dft,sizeof(SensorConfig::SensorConfig_Param));
memcpy(&params[0],&dft,sizeof(SensorConfig::SensorConfig_Param));
if(p.Sensor_enable_config) memcpy(&params[0],&params_p[0],sizeof(uint32_t)*6);
if(p.Sensor_Double_enable_config) memcpy(&params[6],&params[6],sizeof(uint32_t)*4);
initial commit
2024-03-05 03:46:18 +00:00
for(int i = 0;i<params.size();i++){
if(((i >= 0) || (i < 6)) && (params[i] < 100))
{
set_sensor_pwm_duty(i+1,params[i]);
}
if((i >= 6) || (i < 10))
{
set_ultrasonic_param(i-5,params[i]);
}
}
}
std::uint32_t MotorBoard::get_ultrasonic_version(){
unsigned int val;
if (!read(0x07, val))
return 0;
SMB_Ultrasonic_Config *tmp = (SMB_Ultrasonic_Config *)&val;
tmp->param.rd_ver_en = 1;
write(0x07,val);
tmp->param.rd_ver_en = 0;
write(0x07,val);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
read(0x08,val);
return val;
}
std::string MotorBoard::getmbversion(){
u32 value = 0;
read(0x03, value);
m_version = value;
printf("mb version: = %s \n", std::to_string(value).c_str());
return std::to_string(value);
}
bool MotorBoard::set_motor_stop(bool value)
{
SMB_FUNC reg6;
if(!read(6,reg6.value))
return false;
reg6.param.motor_disable = value;
return write(6,reg6.value);
}
SMB_JAM_Time MotorBoard::get_jam_param()
{
SMB_JAM_Time jam_time{0};
read(0xa,jam_time.value);
return jam_time;
}
void MotorBoard::set_jam_param(SMB_JAM_Time jam_time)
{
write(0xa,jam_time.value);
}