298 lines
8.5 KiB
C++
298 lines
8.5 KiB
C++
#pragma once
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#include <string>
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#include <memory>
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#include <condition_variable>
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#include <functional>
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#include "autoevent.hpp"
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// #include "commondef.h"
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#include <math.h>
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#include <vector>
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#include <atomic>
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#include <base/ui.h>
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//static std::vector<std::uint32_t> frep_cfg(int a,int b,float k,int s)
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static std::vector<std::uint32_t> frep_cfg(int finalPeriod, int Fmin, float stepnum, float a, float offset, float finalDelay,float acceleration_time)
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{
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std::vector<std::uint32_t> freq;
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int freq_word = 0;
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int pulse_word = 0;
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for(int i =1;i<=256;i++)
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{
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freq_word = 8000000/((Fmin+(finalPeriod-Fmin)/(1+exp((-1)*(offset+a*(double)(i)*stepnum))))*2);
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pulse_word = ((8000000/acceleration_time)/63)/freq_word;
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//printf("\nfreq_word = %d pulse_word = %d",freq_word,pulse_word);
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freq.push_back((pulse_word&0xffff)+((freq_word&0xffff)<<16));
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}
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return freq;
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}
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class IRegsAccess;
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class PinMonitor;
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class Gpio;
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// class StateControl;
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/*
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注：
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安路电机板已去除幅面检测以及休眠配置相关寄存器操作，
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休眠将由Arm 进行控制
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*/
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typedef struct SMB_CONFIG
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{
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unsigned int enable : 1;
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unsigned int color_mode : 1;
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unsigned int paper : 1;
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unsigned int double_paper : 1;
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unsigned int staple_enable : 1;//5
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unsigned int error_clean : 1;
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unsigned int status_init : 1;
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unsigned int pick_paper : 1;
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unsigned int skew_enable : 1;
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unsigned int skew_parameter : 3;
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unsigned int key_staple_enable : 1;//8
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unsigned int iic_config_addr : 7;
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unsigned int slow_moire : 1;
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unsigned int v_setting : 2;//10
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unsigned int speed_set_enable : 1;
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unsigned int double_out_en : 1;
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unsigned int dpi_mode : 2;
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// unsigned int sleep_parameter : 2;//6
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// unsigned int dpi600:1;
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unsigned int v_temp : 3;
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unsigned int autofeed_mode:1;
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unsigned int lifter_en:1;
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} SMBCONFIG;
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typedef struct SMB_STATUS
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{
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unsigned int scan_pulse : 1;
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unsigned int m1_paper_sin : 1;
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unsigned int open_machine : 1;
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unsigned int pick_failed : 1;
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unsigned int stop_jam : 1;//5
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unsigned int double_paper : 1;
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unsigned int staple : 1;
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unsigned int papertilted : 1;
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unsigned int count_pulse : 1;
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unsigned int scan_mode_change : 1;//5
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unsigned int motor_status : 1;
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unsigned int keep_last_paper : 1;
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unsigned int sleep_set : 1;
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unsigned int sleep_conf : 3;//6
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unsigned int dsp_get_paper_error : 1;
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unsigned int paper_check_result : 1;
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unsigned int arrival_top:1;//顶部无纸
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unsigned int arrival_top_int:1;//到达顶部中断
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unsigned int auto_feed:1;//4
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unsigned int paper_left:1;
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unsigned int jam_1 : 1; //进纸口
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unsigned int jam_2 : 1; //纸道
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unsigned int jam_3 : 1; //出纸口
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unsigned int cover_closed : 1; //已关盖
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unsigned int double_clean_f : 1; //液晶双张错误清除
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} SMBSTATUS;
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typedef struct SMB_MODE
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{
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unsigned int scan_num : 14;
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unsigned int scan_mode : 2;
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unsigned int feeding_paper_ready : 1;
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unsigned int work_status : 1;
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unsigned int paper_jammed_in : 2;
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unsigned int paper_jammed_out : 1;
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} SMBMODE;
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//Reg 4
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typedef struct SMB_CONFIG_EXT
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{
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unsigned int paper_infor : 5;
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unsigned int paper_size_check_en : 1;
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unsigned int error_range_set : 15;
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unsigned int cuo_speed : 7;
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} SMBCONFIGEXT;
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//Reg 5
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typedef struct SMB_CONFIG_TIME
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{
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unsigned int error_time_set : 7;
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unsigned int scan_ctr_en : 1;
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unsigned int skew_ctr_en_1 : 1;
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unsigned int skew_ctr_en_2 : 1;
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unsigned int open_machine_ctr_en : 1;
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unsigned int paper_out_ctr_en : 1;
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unsigned int paper_check_ctr_en : 1;
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unsigned int sen_duty_set_sel : 3;
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unsigned int duty_set : 10;
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} SMBCONFIGTIME;
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//Reg 6
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typedef union SMB_FUNC
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{
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struct{
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unsigned int work_mode : 3;
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unsigned int func_clean_passthro : 1;
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unsigned int func_feed_low : 1;
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unsigned int func_feed_mid : 1;
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unsigned int func_feed_high : 1;
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unsigned int key_sound : 1;
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unsigned int key_endouble_feed : 1;
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unsigned int func_encount : 1;
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unsigned int func_clear_count : 1;
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unsigned int motor_choose : 2;
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unsigned int wr_en : 1;
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unsigned int motor_addr : 8;
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unsigned int key_stop_enable : 1;
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unsigned int lift_init_set: 2;
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}param;
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unsigned int value;
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} SMBFUNC;
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//Reg 7
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typedef union SMB_Ultrasonic_Config
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{
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struct
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{
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unsigned int double_check_cyc : 4;
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unsigned int paper_check_cyc : 4;
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unsigned int double_max : 8;
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unsigned int single_max : 8;
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unsigned int rd_ver_en : 1;
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unsigned int send_cyc_en : 1;
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unsigned int reserved : 6;
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}param;
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unsigned int value;
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}SMBUltrasonicConfig;
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enum motor_board_port
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{
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MB_PORT_CONFIG = 0,
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MB_PORT_STATUS,
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MB_PORT_MODE,
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MB_PORT_VERSION,
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MB_PORT_CONFIG_EX,
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MB_PORT_TIME, // ???
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MB_PORT_FUNCTION,
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MB_PORT_ULTROSONIC,
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// I am the last
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MB_PORT_COUNT
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};
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enum
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{
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MOTOR_BORD_EVENT_MODE = 1, // os mode changed, value = new mode
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MOTOR_BORD_EVENT_SLEEP, //
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MOTOR_BORD_EVENT_LIFTER_READY, //
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MOTOR_BORD_EVENT_PAPER_READY,
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MOTOR_BORD_EVENT_PAPER_PASSING, // value = 0: paper left, 1: paper is passing through the sensor
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MOTOR_BORD_EVENT_SCAN_DONE,
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MOTOR_BORD_EVENT_ERROR, // value = SMBSTATUS
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};
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enum
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{
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SPEED_PPM_BASE = 0,
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SPEED_PPM_BASE_10,
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SPEED_PPM_BASE_20,
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SPEED_PPM_BASE_30,
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};
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class MotorBoard
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{
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std::function<void(int, unsigned int)> event_cb_;
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public:
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MotorBoard(std::function<void(int, unsigned int)> evcb = std::function<void(int, unsigned int)>());
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void start(void);
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void stop();
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void clear_error();
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void pick_paper();
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int os_mode();
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bool paper_ready();
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bool is_scanning();
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int paper_counter();
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bool en_lifter();
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bool set_long_paper(bool enable);
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bool set_double_inpect(bool enable);
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bool get_doublle_inpect();
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bool set_double_out_en(bool enable);
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bool get_double_out_en();
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bool set_staple_inpect(bool enable);
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bool get_staple_inpect();
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bool set_color_mode(int mode);
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int get_color_mode();
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int get_speed_mode();
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bool set_auto_paper(bool enable,bool enkey);
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bool set_speed_mode(int mode);
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bool set_speed_mode_v_temp(int mode);
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bool set_screw_inpect(bool enable);
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bool get_screw_inpect();
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bool set_screw_level(int level);
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int get_screw_level();
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bool wait_arrival_top(int timeout_ms);
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bool wait_paper_in(int timeout_ms);
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bool wait_paper_out(int timeout_ms);
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bool wait_error(int timeout_ms);
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bool wait_done(int timeout_ms);
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bool read(unsigned int addr, unsigned int &val);
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bool write(unsigned int addr, unsigned int val);
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bool set_paper_inspect_param(unsigned int value = 1000);
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bool set_paper_inpect_info(unsigned int value);
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bool set_paper_inspect(bool enable = true);
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bool set_cuospeed(int value);
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bool get_keeplastpaper();
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//bool set_en600DPI(bool en);
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bool set_time_error(int value);
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void start_countmode();
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std::shared_ptr<IRegsAccess> regs();
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void PutMsg(int words, int align_v, int align_h, int font = 16, int clear_method = devui::CLEAR_ALL);
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void SetKeyState(bool value);
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void set_freq(int motor_choose,int speedmode,int colormode,int dpi);
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void set_keystopenable(bool value);
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void init_statecontrol();
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void release_statecontrol() __attribute__((optimize("O0")));
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void setautopaperkeystopcallback(std::function<void()> func);
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void errormsg(uint value);
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void startcapimage(bool value);
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void clean_paper_road();
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bool set_slowmoire(bool en);
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bool set_sensor_pwm_duty(int sensorid,int duty);
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bool enable_sensor_pwm(int sensorid,bool en);
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bool set_ultrasonic_param(int type,int value);
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void init_sensor_duty();
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std::uint32_t get_ultrasonic_version();
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std::string getmbversion();
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private:
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void pin_call(unsigned int pinNum);
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const std::string devPort;
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const unsigned int bauds = 921600;
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const int readflag = 0x07;
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const int writeflag = 0x87;
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const unsigned int intport = 151;
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uint32_t m_version;
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std::shared_ptr<IRegsAccess> m_regsAccess;
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std::shared_ptr<PinMonitor> m_intPinMonitor;
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// std::shared_ptr<StateControl> m_statecontrol;
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std::atomic_uint m_paperout_count;
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AutoSemaphore cv_paper_in;
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AutoSemaphore cv_arrival_top;
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AutoSemaphore cv_paper_out;
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AutoSemaphore cv_error;
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AutoSemaphore cv_scan_done;
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AutoSemaphore cv_os_mode;
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unsigned int m_os_mode;
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volatile bool keep_last_paper;
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std::function<void()> autopaperkeystop;
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}; |