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optimize plc motor test and fix the lwip mutex and sem error

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This commit is contained in:
wlyu
2022-03-31 11:27:16 +08:00
parent bb5f82d303
commit ef28f3057a
6 changed files with 107 additions and 38 deletions
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1
APP_Framework/Applications/control_app/opcua_demo/opcua_demo.c
View File

@@ -21,7 +21,6 @@
#include <list.h>
#include <transform.h>
#include "board.h"
#include <lwip/altcp.h>
#include "open62541.h"
#include "ua_api.h"

118
APP_Framework/Applications/control_app/plc_demo/plc_control_demo.c
View File

@@ -30,12 +30,23 @@ struct PlcChannel plc_demo_ch;
struct PlcDriver plc_demo_drv;
struct PlcDevice plc_demo_dev;
int plc_test_flag = 0;
PlcCtrlParamType plc_ctrl_param;
UA_NodeId test_nodeid = {4, UA_NODEIDTYPE_NUMERIC, 5};
/******************************************************************************/
void PlcDelay(int sec)
{
volatile uint32_t i = 0;
for (i = 0; i < 100000000 * sec; ++i)
{
__asm("NOP"); /* delay */
}
}
// get NodeId from str
void PlcGetTestNodeId(char *str, UA_NodeId *id)
{
@@ -149,7 +160,7 @@ void PlcReadUATask(void* arg)
ops->close(&plc_demo_dev);
}
void PlcReadTest(int argc, char* argv[])
void PlcReadTestShell(int argc, char* argv[])
{
static char node_str[UA_NODE_LEN];
memset(node_str, 0, sizeof(node_str));
@@ -163,7 +174,7 @@ void PlcReadTest(int argc, char* argv[])
}
SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
PlcRead, PlcReadTest, Read PLC);
PlcRead, PlcReadTestShell, Read PLC);
void PlcWriteUATask(void* arg)
{
@@ -192,7 +203,7 @@ void PlcWriteUATask(void* arg)
ops->close(&plc_demo_dev);
}
void PlcWriteTest(int argc, char* argv[])
void PlcWriteTestShell(int argc, char* argv[])
{
static char node_str[UA_NODE_LEN];
static char val_param[UA_NODE_LEN];
@@ -214,32 +225,38 @@ void PlcWriteTest(int argc, char* argv[])
}
SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
PlcWrite, PlcWriteTest, Read PLC);
PlcWrite, PlcWriteTestShell, Read PLC);
// test motor
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//PlcWrite n4,2 0b
//PlcWrite n4,3 0b
//PlcWrite n4,4 0b
//PlcWrite n4,5 0b
// clear parameter
// PlcWrite n4,2 0b
// PlcWrite n4,3 0b
// PlcWrite n4,4 0b
// PlcWrite n4,5 0b
//
// ʹ<EFBFBD><EFBFBD>
//PlcWrite n4,2 1b
// enable
// PlcWrite n4,2 1b
//
// <EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
//PlcWrite n4,7 50
// set rotate speed
// PlcWrite n4,3 50
//
// <EFBFBD><EFBFBD>ת
//PlcWrite n4,4 1b
// positive turn
// PlcWrite n4,4 1b
//
// <EFBFBD><EFBFBD>ת
//PlcWrite n4,5 1b
// reversal turn
// PlcWrite n4,5 1b
static int plc_test_speed = 50;
static int plc_test_dir = 1; // direction positive: 1 reversal: 0
void PlcMotorTestTask(void* arg)
{
char *test_target[] = {"n4,2", "n4,3", "n4,4", "n4,5"};
char *test_cmd[] = {"1b", "50", "1b", "1b"};
//support node id
char *test_nodeid[] = {"n4,2", "n4,3", "n4,4", "n4,5", "n4,7"};
// enable -> speed -> positive dir or inversal dir -> stop -> enable
char test_sort[] = {0, 4, 2, 1, 0};
char test_cmd[][4] = {"1b", "50", "1b", "1b", "0b"};
char *test_notice[] = {"Enable Motor", "Set Speed", "Set Forward", "Set Reverse", "Stop Motor"};
int ret = 0;
struct PlcOps* ops = NULL;
@@ -258,37 +275,80 @@ void PlcMotorTestTask(void* arg)
UaParamType* ua_ptr = plc_demo_dev.priv_data;
for(int i = 0; i < 4; i++)
// initialize step
for(int i = 0; i < 5; i++)
{
UA_NodeId id;
PlcGetTestNodeId(test_target[i], &id);
memcpy(&ua_ptr->ua_id, &id, sizeof(id));
plc_print("###\n### Clear %s\n###\n", test_notice[i]);
PlcGetTestNodeId(test_nodeid[i], &ua_ptr->ua_id);
ret = ops->write(&plc_demo_dev, "0b", PLC_BUF_SIZE);
if(EOK != ret)
{
plc_print("plc: [%s] %d write failed\n", __func__, __LINE__);
}
PlcDelay(1);
}
for(int i = 0; i < 4; i++)
if(plc_test_speed != 50)
{
UA_NodeId id;
PlcGetTestNodeId(test_target[i], &id);
memcpy(&ua_ptr->ua_id, &id, sizeof(id));
snprintf(test_cmd[1], 4, "%d", plc_test_speed);
}
if(plc_test_dir == 0) // if not postive, next running
test_sort[2] = 3;
for(int i = 0; i < sizeof(test_sort)/sizeof(test_sort[0]); i++)
{
PlcGetTestNodeId(test_nodeid[test_sort[i]], &ua_ptr->ua_id);
plc_print("###\n### %s\n###\n", test_notice[i]);
ret = ops->write(&plc_demo_dev, test_cmd[i], PLC_BUF_SIZE);
if(EOK != ret)
{
plc_print("plc: [%s] %d write failed\n", __func__, __LINE__);
}
PlcDelay(1);
if(i == 2) // postive
{
PlcDelay(10);
}
}
ops->close(&plc_demo_dev);
plc_test_flag = 0;
}
void PlcMotorTest(int argc, char* argv[])
// get parameter from
void PlcGetMotorParam(char *str)
{
static char node_str[UA_NODE_LEN];
memset(node_str, 0, sizeof(node_str));
plc_print("plc: arg %s\n", str);
sscanf(str, "speed=%d", &plc_test_speed);
sscanf(str, "dir=%d", &plc_test_dir);
plc_print("speed is %d\n", plc_test_speed);
plc_print("dir is %d\n", plc_test_dir);
}
void PlcMotorTestShell(int argc, char* argv[])
{
if(plc_test_flag)
{
plc_print("PLC Motor testing!\n");
return;
}
plc_test_flag = 1;
if(argc > 1)
{
for(int i = 0; i < argc; i++)
{
PlcGetMotorParam(argv[i]);
}
}
sys_thread_new("plc motor", PlcMotorTestTask, NULL, PLC_STACK_SIZE, PLC_TASK_PRIO);
}
SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) | SHELL_CMD_PARAM_NUM(3),
PlcMotorTest, PlcMotorTest, Run motor);
PlcMotorTest, PlcMotorTestShell, Run motor);