diff --git a/ControlAlgor.py b/ControlAlgor.py index bca84b6..0d9b089 100644 --- a/ControlAlgor.py +++ b/ControlAlgor.py @@ -22,7 +22,7 @@ class PIDAlgorithm(ControlAlgorithm): self.kd = kd self.integral = 0 self.last_error = 0 - self.min_speed = 10 # 最小运行速度 + self.min_speed = 1 # 最小运行速度 self.max_speed = 100 # 最大运行速度 def calculate_speed(self, current, target): diff --git a/Controller.py b/Controller.py index dfa1498..195419c 100644 --- a/Controller.py +++ b/Controller.py @@ -71,10 +71,13 @@ class Controller: self.network.status['current_weight'] = self.current_weight if self.current_weight >= self.network.status['target_weight']: self.network.status['measuring'] = False + self.network.status['start_weighting'] = False + self.network.status['weighting_isok'] = True + if self.network.status['set_tare'] == True: if self.sensor.tare(): - self.network.status['set_tare_num_time'] +=1 + self.network.status['set_tare_num_time'] += 1 self.network.status['set_tare'] = False if self.network.status['get_weight'] == True: @@ -90,6 +93,10 @@ class Controller: measuring = self.network.status['measuring'] target = self.network.status['target_weight'] algorithm = self.network.status['algorithm'] + direction_control = self.network.status['direction_control'] + if direction_control== True: # 步进电机方向控制 + self.gpio._write_value(12, 1) + self.network.status['direction_control'] = False if measuring: self._select_algorithm(algorithm) @@ -116,6 +123,7 @@ class Controller: self.gpio._write_value(9, 0) self.network.status['set_vibrate'] = False self.network.status['set_vibrate_time'] = 0 + self.network.status['vibrate_isok'] = True time.sleep(1) def _select_algorithm(self, name): if name == 'pid': @@ -149,6 +157,7 @@ class Controller: self.gpio.cleanup() self.sensor.stop() self.running = False + logger.info("系统已紧急停止") def shutdown(self): diff --git a/Gpio.py b/Gpio.py index 07976e1..ab1867d 100644 --- a/Gpio.py +++ b/Gpio.py @@ -71,10 +71,10 @@ class GPIOManager: return # 计算间隔时间（400脉冲/转） - if error>20: + if error>10: interval = 1.0 / (2 * speed * 2) # 每个周期包含高低电平 else: - interval = 1.0 / (speed) # 每个周期包含高低电平 + interval = 1.0 / speed # 每个周期包含高低电平 self.stop_flags[pin_id] = False self.threads[pin_id] = threading.Thread( target=self._pulse_loop, diff --git a/Network.py b/Network.py index e2de026..2a942c8 100644 --- a/Network.py +++ b/Network.py @@ -42,7 +42,11 @@ class NetworkHandler: 'set_tare_num_time': 0, 'get_weight': False, 'set_vibrate': False, - 'set_vibrate_time': 0 + 'set_vibrate_time': 0, + 'direction_control': False, + 'start_weighting': False, + 'weighting_isok': False, + 'vibrate_isok': False } self.lock = threading.Lock() self.running = True @@ -71,6 +75,23 @@ class NetworkHandler: self._process_command(cmd) time.sleep(0.5) # 返回当前状态 + if self.status['start_weighting'] == True : + while True: + if self.status['start_weighting'] == False: + with self.lock: + response = json.dumps(self.status) + conn.send(response.encode()) + break + time.sleep(0.5) + elif self.status['set_vibrate'] == True: + while True: + if self.status['set_vibrate'] == False: + with self.lock: + response = json.dumps(self.status) + conn.send(response.encode()) + break + time.sleep(0.5) + else: with self.lock: response = json.dumps(self.status) conn.send(response.encode()) @@ -87,10 +108,14 @@ class NetworkHandler: self.status['target_weight'] = cmd['payload']['target_weight'] self.status['algorithm'] = cmd['payload'].get('algorithm', 'pid') + self.status['direction_control'] = cmd['payload']['direction_control'] self.status['measuring'] = True + self.status['start_weighting'] = True + self.status['weighting_isok'] = False print("收到指令set_target:", self.status['target_weight']) elif cmd.get('command') == 'stop': self.status['measuring'] = False + self.status['start_weighting'] = False elif cmd.get('command') == 'set_zero': self.status['set_tare'] = True @@ -100,4 +125,5 @@ class NetworkHandler: elif cmd.get('command') == 'set_vibrate': self.status['set_vibrate'] = True - self.status['set_vibrate_time'] = cmd['payload']['time'] \ No newline at end of file + self.status['set_vibrate_time'] = cmd['payload']['time'] + self.status['vibrate_isok'] = False \ No newline at end of file diff --git a/README.md b/README.md index 4979c1e..a24009b 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,32 @@ -密胺计量程序 +## 密胺计量 +[TOC] +![img.png](rk3506扩展IO引脚图.png) +一、接线 +1、在图：rk3506扩展IO引脚图.png -配置文件 config.yaml -注意配置 network \ No newline at end of file +驱动器：rk引脚9接脉冲+，rk引脚19接脉冲-，引脚9对应代码（pin8）。 + +振动平台：rk引脚7接振动平台12，rk引脚11接振动平台10，rk引脚11对应代码（pin9）。 + +步进电机方向控制：rk引脚17接驱动器方向+，（rk引脚17对应代码pin12），驱动器方向-接rk引脚19。 + +二、使用方法： + +1、开启服务：python main.py +2、发送称量重量、获取重量、置零 python send_target.py + +三、发送端配置 send_target.py + +cmd_set_target = { + # 称量 + "command": "set_target", + "payload": { + "target_weight": 200, # 称量的目标重量 + "algorithm": "pid", + "direction_control": False # 控制步进电机的方向 True:给驱动器方向+ 输入高电平 + } +} + +数据返回： +{"measuring": false, "error": null, "current_weight": 239, "target_weight": 0, "": "pid", "set_tare": false, +"set_tare_num_time": 0, "get_weight": false, "set_vibrate":true, "set_vibrate_time": 30} \ No newline at end of file diff --git a/config.yaml b/config.yaml index 124d938..d30fb40 100644 --- a/config.yaml +++ b/config.yaml @@ -1,5 +1,5 @@ gpio: - pins: [7,8,9] + pins: [8,9,12] pulse_per_rev: 400 serial: diff --git a/export_pin.py b/export_pin.py new file mode 100644 index 0000000..73d2fea --- /dev/null +++ b/export_pin.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +''' +# @Time : 2025/2/18 17:49 +# @Author : hjw +# @File : export_pin.py +''' + +import os +import time + + +class GPIOChipController: + def __init__(self, chip_path="/sys/class/gpio/gpiochip0"): # 注意引脚分组 + # 读取GPIO控制器信息 + self.base = int(self._read_file(os.path.join(chip_path, "base"))) + self.ngpio = int(self._read_file(os.path.join(chip_path, "ngpio"))) + self.label = self._read_file(os.path.join(chip_path, "label")) + print(f"GPIO控制器信息: {self.label} (base={self.base}, ngpio={self.ngpio})") + + def _read_file(self, path): + with open(path, 'r') as f: + return f.read().strip() + + def _write_file(self, path, value): + with open(path, 'w') as f: + f.write(str(value)) + + def export_gpio(self, offset): + """导出指定控制器的GPIO引脚""" + if offset < 0 or offset >= self.ngpio: + raise ValueError(f"偏移量必须在0-{self.ngpio - 1}范围内") + + gpio_number = self.base + offset + export_path = "/sys/class/gpio/export" + if not os.path.exists(f"/sys/class/gpio/gpio{gpio_number}"): + try: + self._write_file(export_path, gpio_number) + time.sleep(0.1) # 等待系统创建目录 + except IOError as e: + if "Device or resource busy" in str(e): + print(f"GPIO{gpio_number} 已经导出") + else: + raise + return gpio_number + + def setup_gpio(self, gpio_number, direction='out'): + """配置GPIO方向""" + direction_path = f"/sys/class/gpio/gpio{gpio_number}/direction" + self._write_file(direction_path, direction) + + def set_gpio(self, gpio_number, value): + """设置GPIO电平""" + value_path = f"/sys/class/gpio/gpio{gpio_number}/value" + self._write_file(value_path, 1 if value else 0) + + def read_gpio(self, gpio_number): + """读取GPIO电平""" + value_path = f"/sys/class/gpio/gpio{gpio_number}/value" + return int(self._read_file(value_path)) + + +if __name__ == "__main__": + """ + rk3506导出引脚 + 该脚本导出扩展口引脚 SAI1_SDO0（17） 对应 GPIO0_B4_d 8 + 4 = 12 + """ + try: + # 初始化GPIO控制器 + ctrl = GPIOChipController() + + # 导出并配置GPIO (假设控制器的base=0，偏移量B4即12) + gpio_num = ctrl.export_gpio(12) + ctrl.setup_gpio(gpio_num, 'out') + + # 引脚高低电平测试 + for _ in range(10): + ctrl.set_gpio(gpio_num, 1) + print(f"GPIO{gpio_num} 置高") + time.sleep(10) + ctrl.set_gpio(gpio_num, 0) + print(f"GPIO{gpio_num} 置低") + time.sleep(1) + + except PermissionError: + print("需要root权限！请使用sudo运行") + except Exception as e: + print(f"发生错误: {str(e)}") \ No newline at end of file diff --git a/rk3506扩展IO引脚图.png b/rk3506扩展IO引脚图.png new file mode 100644 index 0000000..76686b4 Binary files /dev/null and b/rk3506扩展IO引脚图.png differ diff --git a/send_target.py b/send_target.py index 3ae7148..638d425 100644 --- a/send_target.py +++ b/send_target.py @@ -7,13 +7,15 @@ ''' import socket import json +import time cmd_set_target = { # 称量 "command": "set_target", "payload": { "target_weight": 200, - "algorithm": "pid" + "algorithm": "pid", + "direction_control": False } } @@ -43,8 +45,30 @@ cmd_set_vibrate = { # 振动控制 } } - +# 使用 with 语句确保 socket 在使用完毕后正确关闭 with socket.socket() as s: s.connect(('127.0.0.1', 5000)) - s.send(json.dumps(cmd_set_target).encode()) - print(s.recv(1024).decode()) \ No newline at end of file + + # 发送命令 + try: + s.sendall(json.dumps(cmd_set_target).encode()) + except socket.error as e: + print(f"发送数据时发生错误: {e}") + # break # 如果发送失败，退出循环 + start_time = time.time() + # 接收数据 + while True: + try: + data = s.recv(1024) + if not data: + print("没有收到数据，连接可能已关闭") + # break # 如果没有数据，退出循环 + time.sleep(1) + print(data.decode()) + end_time = time.time() + elapsed_time = end_time - start_time + print(f"代码执行时间：{elapsed_time:.6f} 秒") + break + except socket.error as e: + print(f"接收数据时发生错误: {e}") + #break # 如果接收失败，退出循环 \ No newline at end of file