tx-gxx-linux/device/gxx-linux/motorboard/motorboard.h

#pragma once
#include <string>
#include <memory>
#include <condition_variable>
#include <functional>
#include "autoevent.hpp"
#include "commondef.h"
#include <math.h>
#include <vector>
#include "wakeup.hpp"

//static std::vector<std::uint32_t> frep_cfg(int a,int b,float k,int s)
static std::vector<std::uint32_t> frep_cfg(int finalPeriod, int Fmin, float stepnum, float a, float offset, float finalDelay,float acceleration_time)
{
    std::vector<std::uint32_t> freq;
    int freq_word = 0;
    int pulse_word = 0;
    for(int i =1;i<=256;i++)
    {   
        freq_word = 8000000/((Fmin+(finalPeriod-Fmin)/(1+exp((-1)*(offset+a*(double)(i)*stepnum))))*2);
        pulse_word = ((8000000/acceleration_time)/63)/freq_word;
        //printf("\nfreq_word = %d  pulse_word = %d",freq_word,pulse_word);
        freq.push_back((pulse_word&0xffff)+((freq_word&0xffff)<<16));
    }
    return freq; 
}
class IRegsAccess;
class PinMonitor;
class Gpio;
class StateControl;
enum class DisType;
enum class ClearScreen;
/*
注：
    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，
    休眠将由Arm 进行控制
*/

typedef struct SMB_CONFIG
{
    unsigned int enable : 1;
    unsigned int color_mode : 1;
    unsigned int paper : 1;
    unsigned int double_paper : 1;
    unsigned int staple_enable : 1;//5
    unsigned int error_clean : 1;
    unsigned int status_init : 1;
    unsigned int pick_paper : 1;
    unsigned int skew_enable : 1;
    unsigned int skew_parameter : 3;
    unsigned int key_staple_enable : 1;//8
    unsigned int iic_config_addr : 7;
    unsigned int iic_config : 1;
    unsigned int v_setting : 2;//10
    unsigned int speed_set_enable : 1;
    unsigned int scan_busy_motor_stop : 1;
    unsigned int dpi_mode : 2;
    unsigned int sleep_parameter : 2;//6
    unsigned int dpi600:1;
    unsigned int autofeed_mode:1;
    unsigned int lifter_en:1;
} SMBCONFIG;

typedef struct SMB_STATUS
{
    unsigned int scan_pulse : 1;
    unsigned int m1_paper_sin : 1;
    unsigned int open_machine : 1;
    unsigned int pick_failed : 1;
    unsigned int stop_jam : 1;//5
    unsigned int double_paper : 1;
    unsigned int staple : 1;
    unsigned int papertilted : 1;
    unsigned int count_pulse : 1;
    unsigned int scan_mode_change : 1;//5
    unsigned int motor_status : 1;
    unsigned int keep_last_paper : 1;
    unsigned int sleep_set : 1;
    unsigned int sleep_conf : 3;//6
    unsigned int dsp_get_paper_error : 1;
    unsigned int paper_check_result : 1;
    unsigned int arrival_top:1;//顶部无纸
    unsigned int arrival_top_int:1;//到达顶部中断
    unsigned int auto_feed:1;//4
	unsigned int paper_left:1;
	unsigned int jam_1 : 1;        //进纸口
    unsigned int jam_2 : 1;        //纸道
    unsigned int jam_3 : 1;        //出纸口
    unsigned int cover_closed : 1; //已关盖
    unsigned int double_clean_f : 1;  //液晶双张错误清除
} SMBSTATUS;

typedef struct SMB_MODE
{
    unsigned int scan_num : 14;
    unsigned int scan_mode : 2;
    unsigned int feeding_paper_ready : 1;
    unsigned int work_status : 1;
} SMBMODE;

typedef struct SMB_CONFIG_EXT
{
    unsigned int paper_infor : 5;
    unsigned int paper_size_check_en : 1;
    unsigned int error_range_set : 15;
    unsigned int cuo_speed : 7;
} SMBCONFIGEXT;

typedef struct SMB_CONFIG_TIME
{
    unsigned int error_time_set : 7;
} SMBCONFIGTIME;


//Reg 6
typedef union SMB_FUNC
{
    struct{
    unsigned int work_mode : 3;
    unsigned int func_clean_passthro : 1;
    unsigned int func_feed_low : 1;
    unsigned int func_feed_mid : 1;
    unsigned int func_feed_high : 1;
    unsigned int key_sound : 1;
    unsigned int key_endouble_feed : 1;
    unsigned int func_encount : 1;
    unsigned int func_clear_count : 1;
    unsigned int motor_choose : 2;
    unsigned int wr_en : 1;
    unsigned int motor_addr : 8;
    unsigned int key_stop_enable : 1;
    unsigned int lift_init_set: 2;
    }param;
    unsigned int value;
} SMBFUNC;

class MotorBoard
{
public:
    MotorBoard(std::shared_ptr<WakeUp> wake);

    void start(HGScanConfig cfg);
    void stop();
    void clear_error();
    void pick_paper();
    int os_mode();
    bool paper_ready();
    bool is_scanning();
    int paper_counter();
    bool en_lifter();
    bool set_long_paper(bool enable);
    bool set_double_inpect(bool enable);
    bool get_doublle_inpect();
    bool set_staple_inpect(bool enable);
    bool get_staple_inpect();
    bool set_color_mode(int mode);
    int get_color_mode();    
    int get_speed_mode();
    bool set_auto_paper(bool enable,bool enkey);
    bool set_speed_mode(int mode);
    bool set_screw_inpect(bool enable);
    bool get_screw_inpect();
    bool set_screw_level(int level);
    int get_screw_level();
    bool wait_arrival_top(int timeout_ms);
    bool wait_paper_in(int timeout_ms);
    bool wait_paper_out(int timeout_ms);
    bool wait_error(int timeout_ms);
    bool wait_done(int timeout_ms);
    bool read(unsigned int addr, unsigned int &val);
    bool write(unsigned int addr, unsigned int val);
    bool set_paper_inspect_param(unsigned int value = 1000);
    bool set_paper_inpect_info(unsigned int value);
    bool set_paper_inspect(bool enable = true);
    void set_callbacks(MotorBoardGlue glue);
    bool set_cuospeed(int value);
    bool get_keeplastpaper();
    bool set_en600DPI(bool en);
    bool set_time_error(int value);
	void start_countmode();
    std::shared_ptr<IRegsAccess> regs();
    void PutMsg(DisType type,int value,ClearScreen clearscreen);
    void SetKeyState(bool value);
    void set_freq(int motor_choose,int speedmode,int colormode,int dpi);
    void set_keystopenable(bool value);
    void init_statecontrol();
    void release_statecontrol();
    void setautopaperkeystopcallback(std::function<void()> func);
    void errormsg(uint value);
    void startcapimage(bool value);
    void clean_paper_road();
private:
    void pin_call(unsigned int pinNum);

    const std::string devPort;
    const unsigned int bauds = 921600;
    const int readflag = 0x07;
    const int writeflag = 0x87;
    const unsigned int intport = 151;
    std::shared_ptr<IRegsAccess> m_regsAccess;
    std::shared_ptr<PinMonitor> m_intPinMonitor;
    std::shared_ptr<StateControl> m_statecontrol;
    std::shared_ptr<WakeUp> m_wake;
    std::atomic_uint m_paperout_count;
    AutoSemaphore cv_paper_in;
    AutoSemaphore cv_arrival_top;
    AutoSemaphore cv_paper_out;
    AutoSemaphore cv_error;
    AutoSemaphore cv_scan_done;
    AutoSemaphore cv_os_mode;
    HGScanConfig m_config;
    unsigned int m_os_mode;
    volatile bool keep_last_paper;
    MotorBoardGlue m_glue;
    std::function<void()> autopaperkeystop;
};