418 lines
9.8 KiB
C
418 lines
9.8 KiB
C
/*
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* Copyright (c) 2024 Rockchip, Inc. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#define _GNU_SOURCE
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#include <lvgl/lvgl.h>
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#include <lvgl/lv_conf.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <sched.h>
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#include <pthread.h>
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#include "main.h"
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#if ENABLE_MOTOR_CONTROL
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#include "Rockchip_MADHT1505BA1.h"
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MADHT1505BA1_object slave[2];
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#endif
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lv_ft_info_t ttf_main;
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lv_ft_info_t ttf_main_s;
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static struct meter meters[4];
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static lv_obj_t *scr;
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static lv_obj_t *bg_img;
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static lv_obj_t *cont_speed;
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static lv_obj_t *cont_position;
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static lv_obj_t *mode_label;
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static lv_obj_t *mode_switch;
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static lv_anim_t slide_in;
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static lv_anim_t slide_out;
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static int g_indev_rotation = 0;
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static int g_disp_rotation = LV_DISP_ROT_90;
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static int quit = 0;
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int set_speed0 = 0;
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int set_speed1 = 0;
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int last_speed0 = 0;
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int last_speed1 = 0;
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static int thread_bind_cpu(int target_cpu)
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{
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cpu_set_t mask;
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int cpu_num = sysconf(_SC_NPROCESSORS_CONF);
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int i;
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if (target_cpu >= cpu_num)
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return -1;
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CPU_ZERO(&mask);
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CPU_SET(target_cpu, &mask);
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if (pthread_setaffinity_np(pthread_self(), sizeof(mask), &mask) < 0)
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perror("pthread_setaffinity_np");
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if (pthread_getaffinity_np(pthread_self(), sizeof(mask), &mask) < 0)
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perror("pthread_getaffinity_np");
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printf("Thread(%ld) bound to cpu:", gettid());
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for (i = 0; i < CPU_SETSIZE; i++)
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{
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if (CPU_ISSET(i, &mask))
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{
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printf(" %d", i);
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break;
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}
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}
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printf("\n");
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return i >= cpu_num ? -1 : i;
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}
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static void sigterm_handler(int sig)
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{
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fprintf(stderr, "signal %d\n", sig);
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quit = 1;
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}
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static void font_init(void)
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{
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lv_freetype_init(64, 1, 0);
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ttf_main.weight = 68;
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ttf_main.name = SRC_FONT("SmileySans-Oblique.ttf");
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ttf_main.style = FT_FONT_STYLE_NORMAL;
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lv_ft_font_init(&ttf_main);
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ttf_main_s.weight = 48;
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ttf_main_s.name = SRC_FONT("SmileySans-Oblique.ttf");
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ttf_main_s.style = FT_FONT_STYLE_NORMAL;
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lv_ft_font_init(&ttf_main_s);
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}
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static void lvgl_init(void)
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{
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lv_port_init();
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font_init();
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}
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static int motor_init(void)
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{
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#if ENABLE_MOTOR_CONTROL
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int ret;
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ret = MADHT1505BA1_master_init(3); //bind cpu core 3
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if (ret == -1)
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{
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printf("MADHT1505BA1_master_init is err\n");
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MADHT1505BA1_master_deinit();
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}
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slave[0].alias = 0;
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slave[0].position = 0;
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slave[1].alias = 1;
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slave[1].position = 0;
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ret = MADHT1505BA1_slaves_init(&slave[0]);
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if (ret == -1)
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{
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printf("MADHT1505BA1_slaves_init0 is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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ret = MADHT1505BA1_slaves_init(&slave[1]);
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if (ret == -1)
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{
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printf("MADHT1505BA1_slaves_init1 is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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ret = MADHT1505BA1_master_activate();
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if (ret == -1)
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{
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printf("MADHT1505BA1_master_activate is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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ret = MADHT1505BA1_slaves_activate(&slave[0]);
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if (ret == -1)
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{
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printf("MADHT1505BA1_slaves_activate0 is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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ret = MADHT1505BA1_slaves_activate(&slave[1]);
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if (ret == -1)
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{
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printf("MADHT1505BA1_slaves_activate1 is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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ret = MADHT1505BA1_slave_start(2, &slave[0], &slave[1]);
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if (ret == -1)
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{
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printf("MADHT1505BA1_slaves_activate1 is err\n");
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MADHT1505BA1_master_deinit();
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return -1;
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}
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printf("Please wait while checking whether the motor is operational...\n");
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while ((MADHT1505BA1_check_motor(&slave[0]) == -1)
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|| (MADHT1505BA1_check_motor(&slave[1]) == -1))
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{
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sleep(1);
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}
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printf("motor is ok\n");
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#endif
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return 0;
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}
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void motor_start(void *s, int speed)
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{
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#if ENABLE_MOTOR_CONTROL
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if (s == &slave[0])
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set_speed0 = speed * 100;
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else
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set_speed1 = speed * 100;
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#endif
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}
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void motor_stop(void *s)
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{
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#if ENABLE_MOTOR_CONTROL
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if (s == &slave[0])
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set_speed0 = 0;
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else
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set_speed1 = 0;
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#endif
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}
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int motor_check(void *s)
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{
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#if ENABLE_MOTOR_CONTROL
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return MADHT1505BA1_check_motor(s);
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#else
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return 0;
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#endif
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}
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void motor_set_position(void *s, int angle)
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{
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}
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void update_tick_points(lv_point_t *p, int angle)
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{
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float degree = angle * 2 * PI / 360.0;
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p[0].x = 240 * cos(degree) + 290;
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p[0].y = 240 * sin(degree) + 290;
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p[1].x = 230 * cos(degree) + 290;
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p[1].y = 230 * sin(degree) + 290;
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p[2].x = 200 * cos(degree) + 290;
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p[2].y = 200 * sin(degree) + 290;
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}
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void update_needle_points(lv_point_t *p, int angle)
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{
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float degree = angle * 2 * PI / 360.0;
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p[0].x = 290 * cos(degree) + 290;
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p[0].y = 290 * sin(degree) + 290;
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p[1].x = 280 * cos(degree) + 290;
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p[1].y = 280 * sin(degree) + 290;
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}
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static void anim_x_cb(void *var, int32_t v)
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{
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lv_obj_set_x(cont_speed, lv_pct(-v));
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lv_obj_set_x(cont_position, lv_pct(100 - v));
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}
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static void anim_end_cb(lv_anim_t *anim)
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{
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lv_obj_add_flag(mode_switch, LV_OBJ_FLAG_CLICKABLE);
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}
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static void switch_cb(lv_event_t *e)
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{
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lv_event_code_t code = lv_event_get_code(e);
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lv_obj_t *obj = lv_event_get_target(e);
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if (code == LV_EVENT_VALUE_CHANGED)
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{
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if (lv_obj_has_state(obj, LV_STATE_CHECKED))
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lv_anim_start(&slide_in);
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else
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lv_anim_start(&slide_out);
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lv_obj_clear_flag(obj, LV_OBJ_FLAG_CLICKABLE);
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}
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}
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static void ui_init(void)
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{
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int mode = 0;
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scr = lv_scr_act();
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lv_obj_clear_flag(scr, LV_OBJ_FLAG_SCROLLABLE);
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if (lv_obj_get_width(scr) >
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lv_obj_get_height(scr))
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{
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mode = 0;
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}
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else
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{
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mode = 1;
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}
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bg_img = lv_img_create(scr);
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if (mode == 0)
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lv_img_set_src(bg_img, SRC_PNG(background));
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else
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lv_img_set_src(bg_img, SRC_PNG(background_ver));
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lv_obj_center(bg_img);
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#if ENABLE_MOTOR_CONTROL
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meters[0].slave = &slave[0];
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meters[1].slave = &slave[1];
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meters[2].slave = &slave[0];
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meters[3].slave = &slave[1];
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#endif
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cont_speed = lv_obj_create(scr);
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lv_obj_remove_style_all(cont_speed);
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lv_obj_set_size(cont_speed, lv_pct(100), lv_pct(100));
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lv_obj_center(cont_speed);
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speed_control_ui(cont_speed, &meters[0], mode);
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#if ENABLE_POSITION_CONTROL
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cont_position = lv_obj_create(scr);
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lv_obj_remove_style_all(cont_position);
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lv_obj_set_size(cont_position, lv_pct(100), lv_pct(100));
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lv_obj_center(cont_position);
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lv_obj_set_x(cont_position, lv_pct(100));
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position_control_ui(cont_position, &meters[2], mode);
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mode_label = lv_label_create(scr);
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lv_obj_align(mode_label, LV_ALIGN_TOP_LEFT, 20, 20);
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lv_label_set_text(mode_label, "位置控制");
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lv_obj_set_style_text_color(mode_label,
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lv_color_white(), LV_PART_MAIN);
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lv_obj_set_style_text_font(mode_label,
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ttf_main.font, LV_PART_MAIN);
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mode_switch = lv_switch_create(scr);
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lv_obj_set_size(mode_switch, 100, 50);
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lv_obj_align_to(mode_switch, mode_label,
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LV_ALIGN_OUT_RIGHT_MID, 0, 0);
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lv_obj_add_event_cb(mode_switch, switch_cb,
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LV_EVENT_VALUE_CHANGED, NULL);
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lv_anim_init(&slide_in);
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lv_anim_set_values(&slide_in, 0, 100);
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lv_anim_set_time(&slide_in, 300);
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lv_anim_set_exec_cb(&slide_in, anim_x_cb);
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lv_anim_set_deleted_cb(&slide_in, anim_end_cb);
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lv_anim_init(&slide_out);
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lv_anim_set_values(&slide_out, 100, 0);
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lv_anim_set_time(&slide_out, 300);
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lv_anim_set_exec_cb(&slide_out, anim_x_cb);
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lv_anim_set_deleted_cb(&slide_out, anim_end_cb);
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#endif
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}
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static void display_motor_information(void)
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{
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uint32_t min = 0;
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uint32_t max = 0;
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int cur_speed = 0;
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#if ENABLE_MOTOR_CONTROL
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cur_speed = MADHT1505BA1_check_motor(&slave[0]);
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if (cur_speed != -1)
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{
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if (last_speed0 != set_speed0)
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{
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MADHT1505BA1_motor_start(&slave[0], set_speed0);
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last_speed0 = set_speed0;
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}
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}
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cur_speed = MADHT1505BA1_check_motor(&slave[1]);
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if (cur_speed != -1)
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{
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if (last_speed1 != set_speed1)
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{
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MADHT1505BA1_motor_start(&slave[1], set_speed1);
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last_speed1 = set_speed1;
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}
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}
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#endif
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lv_label_set_text_fmt(label_jitter,
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"Jitter:\nMax: %10u\nMin: %10u", max, min);
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}
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int main(int argc, char **argv)
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{
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int maxpri;
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struct sched_param param;
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int ret = 0;
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int fre = 500;
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if (thread_bind_cpu(1) == -1)
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{
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printf("bind cpu core fail\n");
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}
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// The scheduling priority is the highest
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maxpri = sched_get_priority_max(SCHED_FIFO);
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if (maxpri == -1)
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{
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printf("sched_get_priority_max() failed");
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}
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param.sched_priority = maxpri;
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if (sched_setscheduler(getpid(), SCHED_FIFO, ¶m) == -1)
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{
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perror("sched_setscheduler() failed");
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}
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signal(SIGINT, sigterm_handler);
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lvgl_init();
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while (motor_init() == -1)
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{
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printf("motor init is err \n");
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sleep(1);
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}
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ui_init();
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while (!quit)
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{
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if (fre == 0)
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{
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display_motor_information();
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fre = 500;
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}
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fre--;
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lv_task_handler();
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usleep(1000);
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}
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return 0;
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}
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