396 lines
9.6 KiB
C++
396 lines
9.6 KiB
C++
/**
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***************************************************************************************
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* @file buffer.cpp
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* @author lijihu
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* @version V1.0.0
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* @date 2025/05/10
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* @brief 实现缓冲器功能
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*缓冲器说明
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光感：遮挡1，不遮挡0；
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耗材开关：有耗材0，无耗材1；
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按键：按下0，松开1；
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引脚：
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HALL1 --> PB2 (光感3)
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HALL2 --> PB3 (光感2)
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HALL3 --> PB4 (光感1)
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ENDSTOP_3 --> PB7(耗材开关)
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KEY1 --> PB13(后退)
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KEY2 --> PB12(前进)
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*
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* @note
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***************************************************************************************
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* 版权声明 COPYRIGHT 2025 xxx@126.com
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***************************************************************************************
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**/
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#include "buffer.h"
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TMC2209Stepper driver(UART, UART, R_SENSE, DRIVER_ADDRESS);
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Buffer buffer={0};//存储个传感器状态
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Motor_State motor_state=Stop;
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bool is_front=false;//前进标志位
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uint32_t front_time=0;//前进时间
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const int EEPROM_ADDR_TIMEOUT = 0;
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const uint32_t DEFAULT_TIMEOUT = 30000;
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uint32_t timeout=30000;//超时时间，单位：ms;
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bool is_error=false;//错误标志位，如果连续30s推送耗材没停过，则认为错误
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String serial_buf;
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static HardwareTimer timer(TIM6);//超时出错
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void buffer_init(){
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buffer_sensor_init();
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buffer_motor_init();
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delay(1000);
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EEPROM.get(EEPROM_ADDR_TIMEOUT, timeout);
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// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
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if (timeout == 0xFFFFFFFF || timeout == 0) {
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timeout = DEFAULT_TIMEOUT;
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EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
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Serial.println("EEPROM is empty");
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} else {
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Serial.print("read timeout: ");
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Serial.println(timeout);
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}
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timer.pause();
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timer.setPrescaleFactor(48);//48分频 48000000/48=1000000
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timer.setOverflow(1000);//1ms
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timer.attachInterrupt(&timer_it_callback);
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timer.resume();
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}
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void buffer_loop(){
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uint32_t lastToggleTime = millis(); // 记录上次切换的时间
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while(1)
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{
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if(millis() - lastToggleTime >= 500) // 每隔 500ms
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{
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lastToggleTime = millis(); // 记录当前时间
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digitalToggle(ERR_LED);
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}
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//1、读取各传感器的值
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read_sensor_state();
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#if DEBUG
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buffer_debug();
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while(Serial.available()>0){
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char c=Serial.read();
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serial_buf+=c;
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int pos_enter = -1;
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pos_enter = serial_buf.indexOf("\n");
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if(pos_enter != -1){
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String str=serial_buf.substring(0,pos_enter);
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serial_buf=serial_buf.substring(pos_enter+1);
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if(strstr(str.c_str(),"gconf")!=NULL){
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TMC2208_n::CHOPCONF_t gconf{0};
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// 提取 "gconf" 后面的十六进制字符串
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int pos = str.indexOf("gconf");
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if (pos != -1) {
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String hexPart = str.substring(pos + 5); // 跳过 "gconf"
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hexPart.trim(); // 去除前后空白符
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// 将字符串转换为 32 位无符号整数
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uint32_t hexValue = strtoul(hexPart.c_str(), NULL, 16);
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// 赋值给结构体（按你的结构定义赋值）
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gconf.sr = hexValue; // 假设 sr 是结构体中的原始寄存器值字段
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}
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driver.GCONF(gconf.sr);
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Serial.print("write GCONF:0x");
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Serial.println(gconf.sr,HEX);
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Serial.print("read GCONF: 0x");
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Serial.println(driver.GCONF(),HEX);
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}
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}
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}
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#else
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motor_control();
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while(Serial.available()>0){
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char c=Serial.read();
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serial_buf+=c;
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}
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if(serial_buf.length()>0){
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if(serial_buf=="rt"){
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Serial.print("read timeout=");
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Serial.println(timeout);
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serial_buf="";
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}
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else if(serial_buf.startsWith("set")){
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serial_buf.remove(0,3);
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int64_t num=serial_buf.toInt();
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if(num<0||num>0xffffffff){
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serial_buf="";
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Serial.println("Error: Invalid timeout value.");
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continue;
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}
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timeout=num;
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EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
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serial_buf="";
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Serial.print("set succeed! timeout=");
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Serial.println(timeout);
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}
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else{
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Serial.println(serial_buf.c_str());
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Serial.println("command error!");
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serial_buf="";
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}
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}
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#endif
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}
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}
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void buffer_sensor_init(){
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//传感器初始化
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pinMode(HALL1,INPUT);
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pinMode(HALL2,INPUT);
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pinMode(HALL3,INPUT);
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pinMode(ENDSTOP_3,INPUT);
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pinMode(KEY1,INPUT);
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pinMode(KEY2,INPUT);
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//耗材指示灯初始化
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pinMode(DUANLIAO,OUTPUT);
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pinMode(ERR_LED,OUTPUT);
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pinMode(START_LED,OUTPUT);
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}
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void buffer_motor_init(){
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//电机驱动引脚初始化
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pinMode(EN_PIN, OUTPUT);
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pinMode(STEP_PIN, OUTPUT);
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pinMode(DIR_PIN, OUTPUT);
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digitalWrite(EN_PIN, LOW); // Enable driver in hardware
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//电机驱动初始化
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driver.begin(); // UART: Init SW UART (if selected) with default 115200 baudrate
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driver.beginSerial(9600);
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driver.I_scale_analog(false);
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driver.toff(5); // Enables driver in software
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driver.rms_current(I_CURRENT); // Set motor RMS current
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driver.microsteps(Move_Divide_NUM); // Set microsteps to 1/16th
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driver.VACTUAL(STOP); // Set velocity
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driver.en_spreadCycle(true);
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driver.pwm_autoscale(true);
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}
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/**
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* @brief 读取各传感器状态
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* @param NULL
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* @retval NULL
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**/
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void read_sensor_state(void)
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{
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buffer.buffer1_pos1_sensor_state= digitalRead(HALL3);
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buffer.buffer1_pos2_sensor_state= digitalRead(HALL2);
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buffer.buffer1_pos3_sensor_state= digitalRead(HALL1);
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buffer.buffer1_material_swtich_state=digitalRead(ENDSTOP_3);
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buffer.key1=digitalRead(KEY1);
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buffer.key2=digitalRead(KEY2);
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}
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/**
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* @brief 电机控制
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* @param NULL
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* @retval NULL
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**/
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void motor_control(void)
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{
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static Motor_State last_motor_state=Stop;
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//按键控制电机
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//按键1按下
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if(!digitalRead(KEY1))
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{
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WRITE_EN_PIN(0);//使能
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driver.VACTUAL(STOP); //停止
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driver.shaft(BACK);
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driver.VACTUAL(VACTRUAL_VALUE);
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while(!digitalRead(KEY1));//等待松手
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driver.VACTUAL(STOP); //停止
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motor_state=Stop;
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is_front=false;
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front_time=0;
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is_error=false;
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WRITE_EN_PIN(1);//失能
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}
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else if(!digitalRead(KEY2))//按键2按下
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{
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WRITE_EN_PIN(0);
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driver.VACTUAL(STOP); //停止
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driver.shaft(FORWARD);
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driver.VACTUAL(VACTRUAL_VALUE);
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while(!digitalRead(KEY2));
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driver.VACTUAL(STOP); //停止
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motor_state=Stop;
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is_front=false;
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front_time=0;
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is_error=false;
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WRITE_EN_PIN(1);
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}
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//判断耗材
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if(digitalRead(ENDSTOP_3))
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{
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//无耗材，停止电机
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driver.VACTUAL(STOP); //停止
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motor_state=Stop;
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//断料引脚输出低电平
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digitalWrite(DUANLIAO,0);
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//关闭指示灯
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digitalWrite(START_LED,0);
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is_front=false;
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front_time=0;
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is_error=false;
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WRITE_EN_PIN(1);
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return;//无耗材，结束
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}
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//有耗材，断料引脚输出高电平
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digitalWrite(DUANLIAO,1);
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//开启指示灯
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digitalWrite(START_LED,1);
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//判断是否有错误
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if(is_error){
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//停止电机
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driver.VACTUAL(STOP); //停止
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motor_state=Stop;
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WRITE_EN_PIN(1);
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return ;
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}
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//缓冲器位置记录
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if(buffer.buffer1_pos1_sensor_state) //缓冲器位置为1，耗材往前推
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{
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last_motor_state=motor_state; //记录上一次状态
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motor_state=Forward;
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is_front=true;
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}
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else if(buffer.buffer1_pos2_sensor_state) //缓冲器位置为2,电机停止转动
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{
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last_motor_state=motor_state; //记录上一次状态
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motor_state=Stop;
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is_front=false;
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front_time=0;
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}
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else if(buffer.buffer1_pos3_sensor_state) //缓冲器位置为3，回退耗材
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{
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last_motor_state=motor_state; //记录上一次状态
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motor_state=Back;
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is_front=false;
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front_time=0;
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}
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if(motor_state==last_motor_state)//如果上次状态跟这次状态一致，则不需要再次发送控制命令,结束此次函数
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return;
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//电机控制
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switch(motor_state)
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{
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case Forward://向前
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{
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WRITE_EN_PIN(0);
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if(last_motor_state==Back) driver.VACTUAL(STOP);//上次是后退，先停下再前进
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driver.shaft(FORWARD);
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driver.VACTUAL(VACTRUAL_VALUE);
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}break;
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case Stop://停止
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{
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WRITE_EN_PIN(1);
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driver.VACTUAL(STOP);
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}break;
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case Back://向后
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{
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WRITE_EN_PIN(0);
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if(last_motor_state==Forward) driver.VACTUAL(STOP);;//上次是前进，先停下再后退
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driver.shaft(BACK);
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driver.VACTUAL(VACTRUAL_VALUE);
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}break;
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}
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}
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void timer_it_callback(){
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if(is_front){//如果往前推
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front_time++;
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if(front_time>timeout){//如果超时
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is_error=true;
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}
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}
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}
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void buffer_debug(void){
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// Serial.print("buffer1_pos1_sensor_state:");Serial.println(buffer.buffer1_pos1_sensor_state);
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// Serial.print("buffer1_pos2_sensor_state:");Serial.println(buffer.buffer1_pos2_sensor_state);
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// Serial.print("buffer1_pos3_sensor_state:");Serial.println(buffer.buffer1_pos3_sensor_state);
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// Serial.print("buffer1_material_swtich_state:");Serial.println(buffer.buffer1_material_swtich_state);
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// Serial.print("key1:");Serial.println(buffer.key1);
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// Serial.print("key2:");Serial.println(buffer.key2);
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static int i=0;
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if(i<0x1ff){
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Serial.print("i:");
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Serial.println(i);
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driver.GCONF(i);
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driver.PWMCONF(i);
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i++;
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}
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uint32_t gconf = driver.GCONF();
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uint32_t chopconf=driver.CHOPCONF();
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uint32_t pwmconf = driver.PWMCONF();
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if(driver.CRCerror){
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Serial.println("CRCerror");
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}
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else{
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Serial.print("GCONF():0x");
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Serial.println(gconf,HEX);
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Serial.print("CHOPCONF():0x");
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char buf[11]; // "0x" + 8 digits + null terminator
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sprintf(buf, "%08lX", chopconf); // %08lX -> 8位大写十六进制（long unsigned）
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Serial.println(buf);
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Serial.print("PWMCONF():0x");
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sprintf(buf, "%08lX", pwmconf); // %08lX -> 8位大写十六进制（long unsigned）
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Serial.println(buf);
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Serial.println("");
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}
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delay(1000);
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} |