新增步进电机方向控制，振动引脚

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):

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):

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,

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']
+                self.status['set_vibrate_time'] = cmd['payload']['time']
+                self.status['vibrate_isok'] = False

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 
+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}

config.yaml

@@ -1,5 +1,5 @@
 gpio:
-  pins: [7,8,9]
+  pins: [8,9,12]
   pulse_per_rev: 400
 
 serial:

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)}")

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())
+
+    # 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