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pure sdk for main

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This commit is contained in:
divadiow
2025-08-27 09:51:58 +01:00
parent f0d033f1c9
commit 0571416e7c
3283 changed files with 1577720 additions and 1 deletions
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sdk/app/printer/printer.c
+957
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@@ -0,0 +1,957 @@
#include "sys_config.h"
#include "typesdef.h"
#include "dev.h"
#include "devid.h"
#include "hal/gpio.h"
#include "hal/dvp.h"
#include "hal/vpp.h"
#include "hal/adc.h"
#include "hal/spi.h"
#include "osal/irq.h"
#include "osal/string.h"
#include "hal/pwm.h"
#include "hal/timer_device.h"
#include "osal/task.h"
#if PRINTER_EN
/*==================================打印机引脚定义==================================*/
#define MOTO_SLEEP_PIN PB_7 // LOW sleep , HIGH run
#define PRINTER_DATA_PIN PB_13
#define PRINTER_CLK_PIN PB_11
#define PRINTER_LATCH_PIN PB_8
#define PRINTER_TM_PIN PC_5
#define PRINTER_PSENSOR_PIN PA_0
#define PRINTER_STB_PIN PB_10
#define PRINTER_EN_PIN PA_7
#define PRINTER_DATA_PORT GPIOB
#define PRINTER_DATA_NUM 13
#define PRINTER_CLK_PORT GPIOB
#define PRINTER_CLK_NUM 11
#define PRINTER_STB_PORT GPIOB
#define PRINTER_STB_NUM 10
#define PRINTER_W 384
#define PRINTER_H 512
/*
第一组PWM (3.59 s): 打开SPI_SEND_EN、关闭STB_PIN_PWM_EN
printer_delay: 1,7
第二组PWM (4.62 s)： 关闭SPI_SEND_EN、打开STB_PIN_PWM_EN
printer_delay： 1,17
(4.63 s): 打开SPI_SEND_EN、关闭STB_PIN_PWM_EN
printer_delay： 1,53
第三组PWM (6.16 s)： 关闭SPI_SEND_EN、打开STB_PIN_PWM_EN
printer_delay: 21,57
(6.18 s): 打开SPI_SEND_EN、打开STB_PIN_PWM_EN
printer_delay: 21,86
第四组PWM（8.19 s）：打开SPI_SEND_EN、打开STB_PIN_PWM_EN
printer_delay: 1,26
*/
#define PRINTER_PWM_1_EN 0
#define PRINTER_PWM_2_EN 0
#define PRINTER_PWM_3_EN 1
#define PRINTER_PWM_4_EN 0
/*====================================第一组 PWM====================================*/
#if PRINTER_PWM_1_EN
#define SPI_SEND_EN 1 //使用SPI时序发送数据，可控发送速率
#define STB_PIN_PWM_EN 1 //STB 使用PWM波形，使能置1否则置0
#define TOTAL_TICK 256 //打印每行调用timer7_noisr_func函数的次数
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 1
#define DELAY_HEAT 7
/*====================================第二组 PWM====================================*/
#elif PRINTER_PWM_2_EN
#define SPI_SEND_EN 1 //使用SPI时序发送数据，可控发送速率
#define STB_PIN_PWM_EN 1 //STB 使用PWM波形，使能置1否则置0
#define TOTAL_TICK 256 //打印每行调用timer7_noisr_func函数的次数
#if SPI_SEND_EN
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 1
#define DELAY_HEAT 53
#else
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 1
#define DELAY_HEAT 17
#endif
/*====================================第三组 PWM====================================*/
#elif PRINTER_PWM_3_EN
#define SPI_SEND_EN 1 //使用SPI时序发送数据，可控发送速率
#define STB_PIN_PWM_EN 0 //STB 使用PWM波形，使能置1否则置0
#define HEAT_MOTO_SEPARATION (1 && SPI_SEND_EN)
#define TOTAL_TICK 256 //打印每行调用timer7_noisr_func函数的次数
#if SPI_SEND_EN
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 600 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 1
#define DELAY_HEAT 106
#else
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 600 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 21
#define DELAY_HEAT 57
#endif
/*====================================第四组 PWM====================================*/
#elif PRINTER_PWM_4_EN
#define SPI_SEND_EN 1 //该组暂时只能置1
#define STB_PIN_PWM_EN 0 //STB 使用PWM波形，使能置1否则置0
#define TOTAL_TICK 512 //打印每行调用timer7_noisr_func函数的次数
#if SPI_SEND_EN
#define SPI_CLK_FREQ 8000000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长
#define DELAY_NOHEAT 1
#define DELAY_HEAT 26
#endif
#endif
struct hgpwm_v0 *moto_hgpwm;
struct hgadc_v0* hgadc_tm;
struct timer_device* tmr7_dev_g;
struct os_task handle_printer_task;
extern const unsigned char printer_demo[196608]; //384 x 512 只包含Y数据的图片
uint8 printer_buf[196608] __attribute__ ((aligned(4),section(".psram.src"))); //384 x 512
#if SPI_SEND_EN
struct spi_device *spi0_dev;
uint8 printer_buf_odd[48] __attribute__ ((aligned(4))); //48*8 = 384
uint8 printer_buf_even[48] __attribute__ ((aligned(4))); //48*8 = 384
#endif
const unsigned char *printer_picture_addr;
volatile uint32_t printer_h = 0;
typedef struct {
__IO uint32_t MODE;
__IO uint32_t OTYPE;
__IO uint32_t OSPEEDL;
__IO uint32_t OSPEEDH;
__IO uint32_t PUPL;
__IO uint32_t PUPH;
__IO uint32_t PUDL;
__IO uint32_t PUDH;
__IO uint32_t IDAT;
__IO uint32_t ODAT;
__IO uint32_t BSR;
__IO uint32_t RES0;
__IO uint32_t AFRL;
__IO uint32_t AFRH;
__IO uint32_t TGL;
__IO uint32_t IMK;
__IO uint32_t RES1;
__IO uint32_t RES2;
__IO uint32_t RES3;
__IO uint32_t DEBEN;
__IO uint32_t AIOEN;
__IO uint32_t PND;
__IO uint32_t PNDCLR;
__IO uint32_t TRG0;
__IO uint32_t RES4;
__IO uint32_t RES5;
__IO uint32_t RES6;
__IO uint32_t RES7;
__IO uint32_t IEEN;
__IO uint32_t IOFUNCOUTCON0;
__IO uint32_t IOFUNCOUTCON1;
__IO uint32_t IOFUNCOUTCON2;
__IO uint32_t IOFUNCOUTCON3;
} GPIO_TypeDef;
#define GPIOA ((GPIO_TypeDef *) HG_GPIOA_BASE)
#define GPIOB ((GPIO_TypeDef *) HG_GPIOB_BASE)
#define GPIOC ((GPIO_TypeDef *) HG_GPIOC_BASE)
static void printer_moto_delay(uint32_t n)
{
volatile uint32_t i=500*n;
while(i--)
{
}
}
static void printer_data_delay(uint32_t n)
{
volatile uint32_t i=n;
while(i--)
{
}
}
static void printer_delay(uint32_t n)
{
volatile uint32_t i=20*n;
while(i--)
{
}
}
void printer_moto_enable(uint8_t en)
{
if(en)
{
gpio_set_val(MOTO_SLEEP_PIN,1);
printer_moto_delay(20);
}
else
{
gpio_set_val(MOTO_SLEEP_PIN,0);
}
}
int32_t get_printer_tm(){
uint32 vol = 0;
printer_delay(100);
hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID);
adc_open((struct adc_device *)(hgadc_tm));
adc_add_channel((struct adc_device *)hgadc_tm, PRINTER_TM_PIN);
adc_get_value((struct adc_device *)hgadc_tm, PRINTER_TM_PIN, &vol);
os_printf("temperature:%d\r\n",vol);
return vol;
}
uint8_t is_paper_insert(){
return gpio_get_val(PRINTER_PSENSOR_PIN);
}
void paper_io_init(){
gpio_iomap_output(MOTO_SLEEP_PIN,GPIO_IOMAP_OUTPUT);
#if SPI_SEND_EN
spi0_dev = (struct spi_device *)dev_get(HG_SPI0_DEVID);
spi_ioctl(spi0_dev,SPI_CFG_SET_NONE_CS,1,0);
spi_ioctl(spi0_dev,SPI_SET_LSB_FIRST,0,0);
spi_ioctl(spi0_dev,SPI_KICK_DMA_EN,0,0);
spi_open(spi0_dev,SPI_CLK_FREQ,SPI_MASTER_MODE,SPI_WIRE_SINGLE_MODE,SPI_CPOL_0_CPHA_0);
#else
gpio_iomap_output(PRINTER_DATA_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_CLK_PIN,GPIO_IOMAP_OUTPUT);
#endif
gpio_iomap_output(PRINTER_LATCH_PIN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PRINTER_LATCH_PIN,1);
gpio_iomap_output(PRINTER_STB_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_EN_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_TM_PIN,GPIO_IOMAP_OUTPUT);
gpio_set_mode(PRINTER_PSENSOR_PIN, GPIO_PULL_NONE, GPIO_PULL_LEVEL_NONE);
gpio_iomap_input(PRINTER_PSENSOR_PIN,GPIO_IOMAP_INPUT);
/////////////pwm init//////////////
gpio_iomap_output(MOTO_AIN1_PIN,GPIO_IOMAP_OUTPUT); //PWM_CHANNEL_0 a
gpio_iomap_output(MOTO_AIN2_PIN,GPIO_IOMAP_OUTPUT); //PWM_CHANNEL_1 c
gpio_iomap_output(MOTO_BIN1_PIN,GPIO_IOMAP_OUTPUT); //PWM_CHANNEL_2 b
gpio_iomap_output(MOTO_BIN2_PIN,GPIO_IOMAP_OUTPUT); //PWM_CHANNEL_3 d
moto_hgpwm = (struct hgpwm_v0 *)dev_get(HG_PWM0_DEVID);
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_0, 1000, 1000);
pwm_ioctl((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_0, PWM_IOCTL_CMD_SET_PRESCALER, (uint32)0x7, 0); //配置分频比
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_0);
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_1, 1000, 1000);
pwm_ioctl((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_1, PWM_IOCTL_CMD_SET_PRESCALER, (uint32)0x7, 0); //配置分频比
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_1);
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_2, 1000, 1000);
pwm_ioctl((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_2, PWM_IOCTL_CMD_SET_PRESCALER, (uint32)0x7, 0); //配置分频比
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_2);
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_3, 1000, 1000);
pwm_ioctl((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_3, PWM_IOCTL_CMD_SET_PRESCALER, (uint32)0x7, 0); //配置分频比
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_3);
#if STB_PIN_PWM_EN
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4, STB_PIN_PWM_PERIOD, 0);
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4);
#endif
}
void moto_pwm_start()
{
#if (HEAT_MOTO_SEPARATION && PRINTER_PWM_3_EN)
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_0);
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_1);
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_2);
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_3);
#endif
}
void moto_pwm_stop()
{
#if (HEAT_MOTO_SEPARATION && PRINTER_PWM_3_EN)
pwm_stop((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_0);
pwm_stop((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_1);
pwm_stop((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_2);
pwm_stop((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_3);
#endif
}
void paper_io_deinit(){
struct hgadc_v0* hgadc_tm;
hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID);
adc_close((struct adc_device *)(hgadc_tm));
adc_delete_channel((struct adc_device *)(hgadc_tm),PRINTER_TM_PIN);
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0);
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1);
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2);
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3);
#if STB_PIN_PWM_EN
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4);
#endif
#if SPI_SEND_EN
spi_close(spi0_dev);
#endif
}
void printer_mote_run(){
uint32_t flags;
flags = disable_irq();
#if PRINTER_PWM_1_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1086*24, 407*24);//MOTO_BIN2_PIN 1086 ==>13.9ms
printer_delay(8285); //3.46ms
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1086*24, 407*24);//MOTO_AIN2_PIN
printer_delay(8285);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1086*24, 407*24);//MOTO_BIN1_PIN
printer_delay(8285);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1086*24, 407*24);//MOTO_AIN1_PIN
#elif PRINTER_PWM_2_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1406*24, 527*24);//MOTO_BIN2_PIN 1406 ==>18.0ms
printer_delay(10775); //4.5ms
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1406*24, 527*24);//MOTO_AIN2_PIN
printer_delay(10775);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1406*24, 527*24);//MOTO_BIN1_PIN
printer_delay(10775);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1406*24, 527*24);//MOTO_AIN1_PIN
#elif PRINTER_PWM_3_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1875*24, 703*24);//MOTO_BIN2_PIN 1875 ==>24.0ms 4:1
printer_delay(14367); //6ms
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1875*24, 703*24);//MOTO_AIN2_PIN
printer_delay(14367);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1875*24, 703*24);//MOTO_BIN1_PIN
printer_delay(14367);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 1875*24, 703*24);//MOTO_AIN1_PIN
#elif PRINTER_PWM_4_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 2500*24, 938*24);//MOTO_BIN2_PIN 2500 ==>32.0ms 4:1
printer_delay(19200); //8ms
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 2500*24, 938*24);//MOTO_AIN2_PIN
printer_delay(19200);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 2500*24, 938*24);//MOTO_BIN1_PIN
printer_delay(19200);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 2500*24, 938*24);//MOTO_AIN1_PIN
#endif
enable_irq(flags);
}
void printer_mote_stop(){
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_0,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 50, 0);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_1,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 50, 0);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_2,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 50, 0);
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_3,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, 50, 0);
}
bool timer7_noisr_func(){
#define HOTTIME 900
uint32_t itk = 0;
uint32_t jtk = 0;
static uint32_t i = 0;
static uint32_t j = 0;
static uint32_t tick = 0;
static uint32_t hot_time = 0;
static uint32_t grep_step = 0;
static uint8_t half_s = 0;
static uint8_t hot_add = 0;
uint32 offset_h;
uint8_t *pt;
pt = printer_buf;
if(printer_h == 0){
tick = 0;
printer_h = 1;
grep_step = 0;
}
offset_h = (printer_h-1)*PRINTER_W;
#if SPI_SEND_EN
if((tick%2) == 0){
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, STB_PIN_PWM_DUTY);
#else
PRINTER_STB_PORT->ODAT |= BIT(PRINTER_STB_NUM);
#endif
#if 1
if(hot_time > HOTTIME)
goto deal_end;
#endif
if(half_s){
//偶数点
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48);
#if PRINTER_PWM_4_EN
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 1 + i; itk < 8; itk+=4)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_odd[jtk] |= (0x1 << (7-itk));
}
}
}
if(i == 2)
i = 0;
else
i = 2;
#else
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 1 + i; itk < 8; itk+=2)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_odd[jtk] |= (0x1 << (7-itk));
}
}
}
#endif
} else {
//奇数点
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_odd, 48);
#if PRINTER_PWM_4_EN
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 0 + j; itk < 8; itk+=4)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_even[jtk] |= (0x1 << (7-itk));
}
}
}
if(j == 2)
j = 0;
else
j = 2;
#else
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 0 + j; itk < 8; itk+=2)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_even[jtk] |= (0x1 << (7-itk));
}
}
}
#endif
}
while(!spi_ioctl((struct spi_device*)spi0_dev, SPI_GET_DMA_PENDING, 0, 0));
spi_ioctl((struct spi_device*)spi0_dev, SPI_CLEAR_DMA_PENDING, 1, 0);
}
else{
#if PRINTER_PWM_3_EN
#if !HEAT_MOTO_SEPARATION
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, 0);
#else
PRINTER_STB_PORT->ODAT &= ~BIT(PRINTER_STB_NUM);
#endif
#endif
#else
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, 0);
#else
PRINTER_STB_PORT->ODAT &= ~BIT(PRINTER_STB_NUM);
#endif
#endif
#if 1
if(hot_time > HOTTIME)
goto deal_end;
#endif
if(half_s)
memset(printer_buf_even, 0, 48);
else
memset(printer_buf_odd , 0, 48);
gpio_set_val(PRINTER_LATCH_PIN,0);
gpio_set_val(PRINTER_LATCH_PIN,1);
half_s ^= BIT(0);
hot_add++;
if((hot_add%2) == 0){
grep_step++;
}
}
#else
if((tick%2) == 0){
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, STB_PIN_PWM_DUTY);
#else
PRINTER_STB_PORT->ODAT |= BIT(PRINTER_STB_NUM);
#endif
#if 1
if(hot_time > HOTTIME)
goto deal_end;
#endif
if(half_s){
for(itk = 0;itk < PRINTER_W;itk++){
if(itk%2 == 0){ //偶数点
if((pt[offset_h+itk]) > 0 && (1)){
pt[offset_h+itk]--;
PRINTER_DATA_PORT->ODAT |= BIT(PRINTER_DATA_NUM);
}else{
PRINTER_DATA_PORT->ODAT &= ~BIT(PRINTER_DATA_NUM);
}
} else { //奇数点
PRINTER_DATA_PORT->ODAT &= ~BIT(PRINTER_DATA_NUM);
}
PRINTER_CLK_PORT->ODAT |= BIT(PRINTER_CLK_NUM);
__NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); //45 ns - 50 ns
PRINTER_CLK_PORT->ODAT &= ~BIT(PRINTER_CLK_NUM);
}
}else{
for(itk = 0;itk < PRINTER_W;itk++){
if(itk%2 == 1){ //奇数点
if((pt[offset_h+itk]) > 0 && (1)){
pt[offset_h+itk]--;
PRINTER_DATA_PORT->ODAT |= BIT(PRINTER_DATA_NUM);
}else{
PRINTER_DATA_PORT->ODAT &= ~BIT(PRINTER_DATA_NUM);
}
} else { //偶数点
PRINTER_DATA_PORT->ODAT &= ~BIT(PRINTER_DATA_NUM);
}
PRINTER_CLK_PORT->ODAT |= BIT(PRINTER_CLK_NUM);
__NOP();__NOP();__NOP();__NOP();__NOP();__NOP(); //45 ns - 50 ns
PRINTER_CLK_PORT->ODAT &= ~BIT(PRINTER_CLK_NUM);
}
}
}
else{
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, 0);
#else
PRINTER_STB_PORT->ODAT &= ~BIT(PRINTER_STB_NUM);
#endif
#if 1
if(hot_time > HOTTIME)
goto deal_end;
#endif
gpio_set_val(PRINTER_LATCH_PIN,0);
gpio_set_val(PRINTER_LATCH_PIN,1);
half_s ^= BIT(0);
hot_add++;
if((hot_add%2) == 0){
grep_step++;
}
}
#endif
deal_end:
if((tick % TOTAL_TICK) == 0){
printer_h++;
hot_time = 0;
grep_step = 0;
#if (HEAT_MOTO_SEPARATION && PRINTER_PWM_3_EN)
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, 0);
#else
PRINTER_STB_PORT->ODAT &= ~BIT(PRINTER_STB_NUM);
#endif
moto_pwm_start();
printer_delay(28734); //2x14367 16ms
moto_pwm_stop();
#endif
if(printer_h == PRINTER_H){
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0);
#else
PRINTER_STB_PORT->ODAT &= ~BIT(PRINTER_STB_NUM);
#endif
return 0;
}
}
tick++;
hot_time++;
return 1;
}
/**
* @brief 设置打印机的图片地址，赋值给全局变量printer_picture_addr
*
* @param addr 传入的图片地址
* @return true
* @return false
*/
bool printer_set_picture_addr(const unsigned char* addr)
{
if(addr == NULL) {
os_printf("printer demo addr invaild!!! addr:%x\n",addr);
return 1;
}
printer_picture_addr = addr;
return 0;
};
/**
* @brief 切换打印机与摄像头的使能
*
* @param printer_en 如果使能打印机、关闭摄像头则置1，否则置0
*/
void printer_dvp_en_exchange(int printer_en)
{
#if DVP_EN
struct dvp_device *dvp_device = (struct dvp_device*)dev_get(HG_DVP_DEVID);
struct vpp_device *vpp_device = (struct vpp_device*)dev_get(HG_VPP_DEVID);
#endif
os_printf("%s %d\r\n",__FUNCTION__,printer_en);
//打印机使能
if(printer_en)
{
gpio_set_val(PRINTER_EN_PIN,1);
#if DVP_EN
gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PIN_DVP_PDN,1);
dvp_close(dvp_device);
vpp_close(vpp_device);
#endif
}
//DVP使能
else {
gpio_set_val(PRINTER_EN_PIN,0);
#if DVP_EN
bool csi_ret;
bool csi_cfg();
bool csi_open();
gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PIN_DVP_PDN,0);
#if SDH_I2C2_REUSE
uint32 sdhost_i2c2_exchange(int sdh_stop_en);
sdhost_i2c2_exchange(1);
#endif
csi_ret = csi_cfg();
if(csi_ret)
csi_open();
//vpp_close(vpp_device);
#if SDH_I2C2_REUSE
sdhost_i2c2_exchange(0);
#endif
#endif
}
}
void enhanceContrast(uint8_t *image) {
int minLevel = 63;
int maxLevel = 0;
for (int i = 0; i < PRINTER_W * PRINTER_H; i++) {
if (image[i] < minLevel) {
minLevel = image[i];
}
if (image[i] > maxLevel) {
maxLevel = image[i];
}
}
int dynamicRange = maxLevel - minLevel;
for (int i = 0; i < PRINTER_W * PRINTER_H; i++) {
image[i] = (image[i] - minLevel) * 63 / dynamicRange;
if (image[i] < 0) {
image[i] = 0;
}
if (image[i] > 63) {
image[i] = 63;
}
}
}
unsigned char restrain_int(int input) {
if (input < 0x00) {
return 0x00;
}
if (input > 0xFF) {
return 0xFF;
}
return input;
}
//Floyd-Steinberg算法,该函数只适用于256灰阶图像
void dithering(uint8_t *image, int width, int height) {
// 对每个像素执行误差扩散
for(int y = 0; y < height; y++) {
for(int x = 0; x < width; x++) {
int index = y * width + x;
unsigned char oldPixel = image[index];
unsigned char newPixel = (oldPixel < 128) ? 0 : 255; // 二值化
// 计算误差
int error = oldPixel - newPixel;
// 更新当前像素
image[index] = newPixel;
// 误差扩散到相邻像素
if(x < width - 1) {
image[index + 1] = restrain_int(image[index + 1] + (error * 7 / 16));
}
if(y < height - 1) {
image[index + width] = restrain_int(image[index + width] + (error * 5 / 16));
}
if(x < width - 1 && y < height - 1) {
image[index + width + 1] = restrain_int(image[index + width + 1] + (error * 1 / 16));
}
if(x > 0 && y < height - 1) {
image[index + width - 1] = restrain_int(image[index + width - 1] + (error * 3 / 16));
}
}
}
}
extern volatile uint8 printer_action;
extern uint8_t vga_room[2][640*480+640*480/2];
bool printer_work(){
uint32_t flags;
uint8_t ret;
#if !SPI_SEND_EN
uint32_t print_w = PRINTER_W;
#endif
uint32_t itk = 0;
uint32_t ktk = 0;
uint32_t jtk = 0;
int32_t tm;
unsigned int grep_step = 0;
os_sleep_ms(1000);
while(1){
if(printer_action == 0){
os_sleep_ms(50);
continue;
}
printer_action = 0;
printer_h = 0;
printf("-->Printer0 open!\r\n");
paper_io_init(); //打印机IO初始化
//gpio_set_val(PRINTER_EN_PIN,1); //enable printer power
printer_dvp_en_exchange(1);
printer_delay(500);
printf("-->Printer0 open finish!\r\n");
if(is_paper_insert()) // check paper
{
//gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
printer_dvp_en_exchange(0);
printf("-->Printer error...no paper!!!\r\n");
continue;
}
tm = get_printer_tm(); //check tm
if(1 == tm) // hot
{
//gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
printer_dvp_en_exchange(0);
printf("-->Get the TM error...\r\n");
continue;
}
memset(printer_buf,0,196608); //384 x 512
#if 1
dithering(vga_room, PRINTER_W, PRINTER_H); //半色调散点特效
#endif
//printer_set_picture_addr(printer_demo);
printer_set_picture_addr(vga_room);
for(itk = 0; itk < 512;itk++){ //384 x 512
for(ktk = 0; ktk < 384;ktk++){
grep_step = 0;
for(jtk = 0;jtk < 64;jtk++){ //配置打印图片量化系数
if(printer_picture_addr[itk*384+ktk] < (grep_step*4)/*255*/){ //64 4
printer_buf[itk*384+383-ktk]++;
}
grep_step++;
}
}
}
enhanceContrast(printer_buf);
#if SPI_SEND_EN
memset(printer_buf_even, 0, 48);
memset(printer_buf_odd, 0, 48);
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 1; itk < 8; itk+=2)
{
if((printer_buf[jtk*8+itk]) > 0 && (1)){
printer_buf[jtk*8+itk]--;
printer_buf_odd[jtk] |= (1 << (7-itk));
}
}
}
#endif
#if SPI_SEND_EN
flags = disable_irq();
memset(printer_buf_even,0xFF,48);
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48);
while(!spi_ioctl((struct spi_device*)spi0_dev, SPI_GET_DMA_PENDING, 0, 0));
spi_ioctl((struct spi_device*)spi0_dev, SPI_CLEAR_DMA_PENDING, 1, 0);
enable_irq(flags);
memset(printer_buf_even,0,48);
#else
for(itk = 0;itk < print_w;itk++){
gpio_set_val(PRINTER_DATA_PIN,1);
gpio_set_val(PRINTER_CLK_PIN,1);
gpio_set_val(PRINTER_CLK_PIN,0);
}
#endif
gpio_set_val(PRINTER_LATCH_PIN,0);
gpio_set_val(PRINTER_LATCH_PIN,1);
flags = disable_irq();
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,STB_PIN_PWM_DUTY);
#else
gpio_set_val(PRINTER_STB_PIN,1); //预加热
#endif
printer_delay(70000); // 25ms
enable_irq(flags);
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0);
#else
gpio_set_val(PRINTER_STB_PIN,0);
#endif
mcu_watchdog_timeout(0);
flags = disable_irq();
printer_moto_enable(1);
printer_mote_run();
moto_pwm_stop();
while(1){
printer_delay(DELAY_NOHEAT); // 2.39个delay = 1us
ret = timer7_noisr_func();
if(ret == 0)
break;
printer_delay(DELAY_HEAT);
ret = timer7_noisr_func();
if(ret == 0)
break;
}
enable_irq(flags);
mcu_watchdog_timeout(5);
moto_pwm_start();
printer_delay(1000000);
moto_pwm_stop();
//gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
paper_io_deinit();
printer_dvp_en_exchange(0);
printer_mote_stop();
printf("printer stop....\r\n");
}
}
void printer_thread_init(){
OS_TASK_INIT("handle_printer", &handle_printer_task, printer_work, NULL, OS_TASK_PRIORITY_NORMAL, 1024);
}
#endif
sdk/app/printer/printer.h
+7
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@@ -0,0 +1,7 @@
#ifndef _PRINTER_H_
#define _PRINTER_H_
void printer_thread_init();
#endif
sdk/app/printer/printer_demo.c
+12290
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File diff suppressed because it is too large Load Diff
sdk/app/printer/printer_spi.c
+812
View File
@@ -0,0 +1,812 @@
#include "sys_config.h"
#include "typesdef.h"
#include "dev.h"
#include "devid.h"
#include "hal/gpio.h"
#include "hal/dvp.h"
#include "hal/vpp.h"
#include "hal/adc.h"
#include "hal/spi.h"
#include "osal/irq.h"
#include "osal/string.h"
#include "hal/pwm.h"
#include "hal/timer_device.h"
#include "osal/task.h"
#if PRINTER_EN
/*
project_config.h 文件引脚定义
#define MOTO_AIN1_PIN PB_14
#define MOTO_AIN2_PIN PB_15
#define MOTO_BIN1_PIN PC_1
#define MOTO_BIN2_PIN PC_0
#define PIN_SPI0_CS 255
#define PIN_SPI0_CLK PB_11
#define PIN_SPI0_IO0 PB_13
#define PIN_SPI0_IO1 255
#define PIN_SPI0_IO2 255
#define PIN_SPI0_IO3 255
#define PIN_SPI1_CS 255
#define PIN_SPI1_CLK 255
#define PIN_SPI1_IO0 MOTO_AIN1_PIN
#define PIN_SPI1_IO1 MOTO_AIN2_PIN
#define PIN_SPI1_IO2 MOTO_BIN1_PIN
#define PIN_SPI1_IO3 MOTO_BIN2_PIN
*/
/*==================================打印机引脚定义==================================*/
#define MOTO_SLEEP_PIN PB_7 // LOW sleep , HIGH run
#define PRINTER_DATA_PIN PB_13
#define PRINTER_CLK_PIN PB_11
#define PRINTER_LATCH_PIN PB_8
#define PRINTER_TM_PIN PC_5
#define PRINTER_PSENSOR_PIN PA_0
#define PRINTER_STB_PIN PB_10
#define PRINTER_EN_PIN PA_7
#define PRINTER_DATA_PORT GPIOB
#define PRINTER_DATA_NUM 13
#define PRINTER_CLK_PORT GPIOB
#define PRINTER_CLK_NUM 11
#define PRINTER_STB_PORT GPIOB
#define PRINTER_STB_NUM 10
#define PRINTER_W 384
#define PRINTER_H 512
/*====================================第一组 PWM====================================*/
#define SPI_SEND_EN 1 //使用SPI时序发送数据，可控发送速率
#define STB_PIN_PWM_EN 0 //STB 使用PWM波形，使能置1否则置0
#define SPI_MOTO_EN 1
#define SPI_MOTO_CLK 5000 //4000:12ms 5000:9.6ms
#define TEST_MOTO_BUF_COUNT 6
#define HEAT_TIMES_THRESHOLD 128
#define TOTAL_TICK 258 //打印每行调用timer7_noisr_func函数的次数
#define SPI_CLK_FREQ 5300000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns, 调整建议不大于8M，频率越高加热时间越短
#define STB_PIN_PWM_PERIOD 1000
#define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长
struct hgpwm_v0 *moto_hgpwm = NULL;
struct hgadc_v0* hgadc_tm = NULL;
struct spi_device *spi0_dev = NULL;
struct spi_device *spi1_dev = NULL;
struct os_task handle_printer_task;
uint32_t timer7_isr_func();
static uint32_t current_heat_count = 0;
static uint8_t* halfstep_buf = NULL;
static uint8_t* halfstep_buf_cache = NULL;
static volatile uint8_t last_ret = 0;
static uint8_t pre_heat_flag = 0;
static uint8_t printer_done = 1;
extern const unsigned char printer_demo[196608]; //384 x 512 只包含Y数据的图片
uint8 printer_buf[196608] __attribute__ ((aligned(4),section(".psram.src"))); //384 x 512
uint8 printer_buf_odd[48] __attribute__ ((aligned(4))); //48*8 = 384
uint8 printer_buf_even[48] __attribute__ ((aligned(4))); //48*8 = 384
const unsigned char *printer_picture_addr;
volatile uint32_t printer_h = 0;
typedef struct {
__IO uint32_t MODE;
__IO uint32_t OTYPE;
__IO uint32_t OSPEEDL;
__IO uint32_t OSPEEDH;
__IO uint32_t PUPL;
__IO uint32_t PUPH;
__IO uint32_t PUDL;
__IO uint32_t PUDH;
__IO uint32_t IDAT;
__IO uint32_t ODAT;
__IO uint32_t BSR;
__IO uint32_t RES0;
__IO uint32_t AFRL;
__IO uint32_t AFRH;
__IO uint32_t TGL;
__IO uint32_t IMK;
__IO uint32_t RES1;
__IO uint32_t RES2;
__IO uint32_t RES3;
__IO uint32_t DEBEN;
__IO uint32_t AIOEN;
__IO uint32_t PND;
__IO uint32_t PNDCLR;
__IO uint32_t TRG0;
__IO uint32_t RES4;
__IO uint32_t RES5;
__IO uint32_t RES6;
__IO uint32_t RES7;
__IO uint32_t IEEN;
__IO uint32_t IOFUNCOUTCON0;
__IO uint32_t IOFUNCOUTCON1;
__IO uint32_t IOFUNCOUTCON2;
__IO uint32_t IOFUNCOUTCON3;
} GPIO_TypeDef;
#define GPIOA ((GPIO_TypeDef *) HG_GPIOA_BASE)
#define GPIOB ((GPIO_TypeDef *) HG_GPIOB_BASE)
#define GPIOC ((GPIO_TypeDef *) HG_GPIOC_BASE)
static void printer_moto_delay(uint32_t n)
{
volatile uint32_t i=500*n;
while(i--)
{
}
}
static void printer_delay(uint32_t n)
{
volatile uint32_t i=20*n;
while(i--)
{
}
}
void printer_moto_enable(uint8_t en)
{
if(en)
{
gpio_set_val(MOTO_SLEEP_PIN,1);
printer_moto_delay(20);
}
else
{
gpio_set_val(MOTO_SLEEP_PIN,0);
}
}
int32_t get_printer_tm(){
uint32 vol = 0;
printer_delay(100);
hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID);
adc_open((struct adc_device *)(hgadc_tm));
adc_add_channel((struct adc_device *)hgadc_tm, PRINTER_TM_PIN);
adc_get_value((struct adc_device *)hgadc_tm, PRINTER_TM_PIN, &vol);
os_printf("temperature:%d\r\n",vol);
return vol;
}
uint8_t is_paper_insert(){
return gpio_get_val(PRINTER_PSENSOR_PIN);
}
/*
半步驱动-低位在前
(1) A1:1 A2:1 B1:1 B2:0 0xEE
(2) A1:1 A2:0 B1:1 B2:0 0xAA
(3) A1:1 A2:0 B1:1 B2:1 0xBB
(4) A1:1 A2:0 B1:0 B2:1 0x99
(5) A1:1 A2:1 B1:0 B2:1 0xDD
(6) A1:0 A2:1 B1:0 B2:1 0x55
(7) A1:0 A2:1 B1:1 B2:1 0x77
(8) A1:0 A2:1 B1:1 B2:0 0x66
*/
void printer_get_four_halfstep(uint8 *halfstep_buf, uint32_t n)
{
static const uint8_t halfstep_table[8] = {0xEE, 0xAA, 0xBB, 0x99, 0xDD, 0x55, 0x77, 0x66};
static uint8_t current_step = 0;
int i = 0, j = 0;
int k = n / 4;
//调试打印会影响打印时间
// os_printf("halfstep_buf: ");
for (i = 0; i < 4; i++)
{
uint8_t index = (i + current_step) % 8;
for (j = 0; j < k; j++)
{
halfstep_buf[i*k+j] = halfstep_table[index];
}
// printf("%02X ", halfstep_buf[index]);
}
//最后1byte为0,用于hold住spi数据线为0
halfstep_buf[n] = 0;
// printf("%02X \n", halfstep_buf[n]);
current_step = (current_step + 4) % 8;
}
//中断处理的效率会影响加热时间
void spi0_irq(uint32 irq, uint32 irq_data)
{
uint8_t *halfstep_buf = (uint8_t *)irq_data;
current_heat_count ++;
gpio_set_val(PRINTER_LATCH_PIN,0);
gpio_set_val(PRINTER_LATCH_PIN,1);
switch(last_ret)
{
//一帧图片打印结束
case 0:
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0);
#else
gpio_set_val(PRINTER_STB_PIN,0); //关加热
#endif
os_printf("kick moto spi done\n");
printer_get_four_halfstep(halfstep_buf, TEST_MOTO_BUF_COUNT*4);
printer_get_four_halfstep(halfstep_buf_cache, TEST_MOTO_BUF_COUNT*4);
spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4+1);
spi_release_irq(spi0_dev,SPI_IRQ_FLAG_TX_DONE);
printer_done = 2;
break;
//加热期间spi传送数据
case 1:
last_ret = timer7_isr_func();
break;
//一行打印结束，电机走四步
case 2:
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0);
#else
gpio_set_val(PRINTER_STB_PIN,0); //关加热
#endif
printer_get_four_halfstep(halfstep_buf, TEST_MOTO_BUF_COUNT*4);
spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4+1);
spi_release_irq(spi0_dev,SPI_IRQ_FLAG_TX_DONE);
break;
default:
break;
};
if(current_heat_count >= HEAT_TIMES_THRESHOLD)
{
current_heat_count = 0;
}
}
void spi1_irq(uint32 irq, uint32 irq_data)
{
static uint32_t moto_cycle_count = 250;
if (printer_done == 2) {
//加热打印结束，电机送纸部分
if(moto_cycle_count == 0) {
printer_done = 1;
moto_cycle_count = 250;
spi_close(spi1_dev);
} else {
if(moto_cycle_count % 2 == 0)
{
spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf_cache, TEST_MOTO_BUF_COUNT*4);
}
else
{
spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4);
}
moto_cycle_count--;
}
} else {
//行打印结束，电机走一行
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,STB_PIN_PWM_DUTY);
#else
gpio_set_val(PRINTER_STB_PIN,1); //加热
#endif
spi_request_irq(spi0_dev, SPI_IRQ_FLAG_TX_DONE, spi0_irq, halfstep_buf);
last_ret = timer7_isr_func();
}
}
void stb_timer_cb(uint32 cb_data, uint32 irq_flag)
{
//预加热结束
os_printf("stb timer callback\n");
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0);
#else
gpio_set_val(PRINTER_STB_PIN,0); //关加热
#endif
pre_heat_flag = 1;
}
static void* printer_stb_timer_open()
{
struct timer_device *stb_timer0 = (struct timer_device *)dev_get(HG_TIMER0_DEVID);
timer_device_open(stb_timer0, TIMER_TYPE_ONCE, 0);
os_printf("STB timer open\n");
return stb_timer0;
}
static void printer_stb_timer_close(void* stb_timer0)
{
timer_device_close((struct timer_device *)stb_timer0);
}
static void printer_stb_start(void* stb_timer0, uint32_t ms)
{
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,STB_PIN_PWM_DUTY);
#else
gpio_set_val(PRINTER_STB_PIN,1); //加热
#endif
timer_device_start((struct timer_device *)stb_timer0, ms*240000, stb_timer_cb, 0); // cnt = ms * (240M/1000)
}
void paper_io_init(){
gpio_iomap_output(MOTO_SLEEP_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_LATCH_PIN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PRINTER_LATCH_PIN,1);
gpio_iomap_output(PRINTER_STB_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_EN_PIN,GPIO_IOMAP_OUTPUT);
gpio_iomap_output(PRINTER_TM_PIN,GPIO_IOMAP_OUTPUT);
gpio_set_mode(PRINTER_PSENSOR_PIN, GPIO_PULL_NONE, GPIO_PULL_LEVEL_NONE);
gpio_iomap_input(PRINTER_PSENSOR_PIN,GPIO_IOMAP_INPUT);
//打印机数据输出，spi0 一线模式
spi0_dev = (struct spi_device *)dev_get(HG_SPI0_DEVID);
spi_ioctl(spi0_dev,SPI_CFG_SET_NONE_CS,1,0);
spi_ioctl(spi0_dev,SPI_SET_LSB_FIRST,0,0);
spi_ioctl(spi0_dev,SPI_KICK_DMA_EN,0,0);
spi_open(spi0_dev,SPI_CLK_FREQ,SPI_MASTER_MODE,SPI_WIRE_SINGLE_MODE,SPI_CPOL_0_CPHA_0);
spi_release_irq((struct spi_device*)spi0_dev,SPI_IRQ_FLAG_TX_DONE |SPI_IRQ_FLAG_RX_DONE);
//步进电机时序，spi1 四线模式
spi1_dev = (struct spi_device *)dev_get(HG_SPI1_DEVID);
spi_ioctl(spi1_dev,SPI_CFG_SET_NONE_CS,1,0);
spi_ioctl(spi1_dev,SPI_SET_LSB_FIRST,1,0);
spi_open(spi1_dev,SPI_MOTO_CLK,SPI_MASTER_MODE,SPI_WIRE_QUAD_MODE,SPI_CPOL_0_CPHA_1);
spi_request_irq((struct spi_device *)spi1_dev, SPI_IRQ_FLAG_TX_DONE, spi1_irq, halfstep_buf);
#if STB_PIN_PWM_EN
//STB加热采用PWM输出
pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4, STB_PIN_PWM_PERIOD, 0);
pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4);
#endif
}
void paper_io_deinit(){
struct hgadc_v0* hgadc_tm;
hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID);
adc_close((struct adc_device *)(hgadc_tm));
adc_delete_channel((struct adc_device *)(hgadc_tm),PRINTER_TM_PIN);
#if STB_PIN_PWM_EN
pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4);
#endif
spi_close(spi0_dev);
spi_close(spi1_dev);
}
uint32_t timer7_isr_func(){
#define HOTTIME 1500
uint32_t itk = 0;
uint32_t jtk = 0;
static uint32_t i = 0;
static uint32_t j = 0;
static uint32_t tick = 0;
static uint32_t hot_time = 0;
static uint8_t half_s = 0;
static uint8_t hot_add = 0;
uint32 offset_h;
uint8_t *pt;
pt = printer_buf;
if(printer_h == PRINTER_H){
tick = 2;
// printer_h = 1;
}
offset_h = (printer_h-1)*PRINTER_W;
if((tick%2) == 0){
#if STB_PIN_PWM_EN
pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, STB_PIN_PWM_DUTY);
#else
PRINTER_STB_PORT->ODAT |= BIT(PRINTER_STB_NUM);
#endif
#if 1
if(hot_time > HOTTIME)
goto deal_end;
#endif
if(half_s){
//偶数点
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48);
memset(printer_buf_odd , 0, 48);
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 1 + i; itk < 8; itk+=2)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_odd[jtk] |= (0x1 << (7-itk));
}
}
}
} else {
//奇数点
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_odd, 48);
memset(printer_buf_even, 0, 48);
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 0 + j; itk < 8; itk+=2)
{
if((pt[offset_h+jtk*8+itk]) > 0 && (1)){
pt[offset_h+jtk*8+itk]--;
printer_buf_even[jtk] |= (0x1 << (7-itk));
}
}
}
}
half_s ^= BIT(0);
hot_add++;
}
deal_end:
if((tick % TOTAL_TICK) == 2){
printer_h--;
hot_time = 0;
if(printer_h == 0){
return 0;
}else{
tick+=2;
hot_time++;
return 2;
}
}
tick+=2;
hot_time++;
return 1;
}
/**
* @brief 设置打印机的图片地址，赋值给全局变量printer_picture_addr
*
* @param addr 传入的图片地址
* @return true
* @return false
*/
bool printer_set_picture_addr(const unsigned char* addr)
{
if(addr == NULL) {
os_printf("printer demo addr invaild!!! addr:%x\n",addr);
return 1;
}
printer_picture_addr = addr;
return 0;
};
/**
* @brief 切换打印机与摄像头的使能
*
* @param printer_en 如果使能打印机、关闭摄像头则置1，否则置0
*/
void printer_dvp_en_exchange(int printer_en)
{
#if DVP_EN
struct dvp_device *dvp_device = (struct dvp_device*)dev_get(HG_DVP_DEVID);
struct vpp_device *vpp_device = (struct vpp_device*)dev_get(HG_VPP_DEVID);
#endif
os_printf("%s %d\r\n",__FUNCTION__,printer_en);
//打印机使能
if(printer_en)
{
gpio_set_val(PRINTER_EN_PIN,1);
#if DVP_EN
gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PIN_DVP_PDN,1);
dvp_close(dvp_device);
vpp_close(vpp_device);
#endif
}
//DVP使能
else {
gpio_set_val(PRINTER_EN_PIN,0);
#if DVP_EN
bool csi_ret;
bool csi_cfg();
bool csi_open();
gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT);
gpio_set_val(PIN_DVP_PDN,0);
#if SDH_I2C2_REUSE
uint32 sdhost_i2c2_exchange(int sdh_stop_en);
sdhost_i2c2_exchange(1);
#endif
csi_ret = csi_cfg();
if(csi_ret)
csi_open();
//vpp_close(vpp_device);
#if SDH_I2C2_REUSE
sdhost_i2c2_exchange(0);
#endif
#endif
}
}
void enhanceContrast(uint8_t *image) {
int minLevel = 63;
int maxLevel = 0;
for (int i = 0; i < PRINTER_W * PRINTER_H; i++) {
if (image[i] < minLevel) {
minLevel = image[i];
}
if (image[i] > maxLevel) {
maxLevel = image[i];
}
}
int dynamicRange = maxLevel - minLevel;
for (int i = 0; i < PRINTER_W * PRINTER_H; i++) {
image[i] = (image[i] - minLevel) * 63 / dynamicRange;
if (image[i] < 0) {
image[i] = 0;
}
if (image[i] > 63) {
image[i] = 63;
}
}
}
unsigned char restrain_int(int input) {
if (input < 0x00) {
return 0x00;
}
if (input > 0xFF) {
return 0xFF;
}
return input;
}
//Floyd-Steinberg算法,该函数只适用于256灰阶图像
void dithering(uint8_t *image, int width, int height) {
// 对每个像素执行误差扩散
for(int y = 0; y < height; y++) {
for(int x = 0; x < width; x++) {
int index = y * width + x;
unsigned char oldPixel = image[index];
unsigned char newPixel = (oldPixel < 128) ? 0 : 255; // 二值化
// 计算误差
int error = oldPixel - newPixel;
// 更新当前像素
image[index] = newPixel;
// 误差扩散到相邻像素
if(x < width - 1) {
image[index + 1] = restrain_int(image[index + 1] + (error * 7 / 16));
}
if(y < height - 1) {
image[index + width] = restrain_int(image[index + width] + (error * 5 / 16));
}
if(x < width - 1 && y < height - 1) {
image[index + width + 1] = restrain_int(image[index + width + 1] + (error * 1 / 16));
}
if(x > 0 && y < height - 1) {
image[index + width - 1] = restrain_int(image[index + width - 1] + (error * 3 / 16));
}
}
}
}
extern volatile uint8 printer_action;
extern uint8_t vga_room[2][640*480+640*480/2];
bool printer_work_isr()
{
uint32_t flags;
uint8_t ret;
uint32_t itk = 0;
uint32_t ktk = 0;
uint32_t jtk = 0;
int32_t tm;
unsigned int grep_step = 0;
os_sleep_ms(1000);
halfstep_buf = (uint8_t*)os_malloc((TEST_MOTO_BUF_COUNT*4+1));
if(halfstep_buf == NULL)
{
os_printf("malloc halfstep_buf fail, printer thread end\r\n");
return 0;
}
halfstep_buf_cache = (uint8_t*)os_malloc((TEST_MOTO_BUF_COUNT*4+1));
if(halfstep_buf_cache == NULL)
{
os_printf("malloc halfstep_buf fail, printer thread end\r\n");
return 0;
}
while(1){
//开始打印前，建议先关闭比spi优先级更高的中断(LCD、USB、UART)，避免其他中断占用时间长影响打印效果
if(printer_action == 0 || printer_done == 0){
//printf("-->Printer0 wait!\r\n");
os_sleep_ms(50);
continue;
}
printer_action = 0;
printer_done = 0;
pre_heat_flag = 0;
printer_h = PRINTER_H;
printf("-->Printer0 open!\r\n");
paper_io_init(); //打印机IO初始化
//gpio_set_val(PRINTER_EN_PIN,1); //enable printer power
printer_dvp_en_exchange(1);
printer_delay(500);
printf("-->Printer0 open finish!\r\n");
if(is_paper_insert()) // check paper
{
//gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
paper_io_deinit();
printer_dvp_en_exchange(0);
printf("-->Printer error...no paper!!!\r\n");
continue;
}
os_printf("%s %d\n",__FUNCTION__,__LINE__);
tm = get_printer_tm(); //check tm
if(1 == tm) // hot
{
//gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
paper_io_deinit();
printer_dvp_en_exchange(0);
printf("-->Get the TM error...\r\n");
continue;
}
os_printf("%s %d\n",__FUNCTION__,__LINE__);
memset(printer_buf,0,196608); //384 x 512
#if 1
dithering(vga_room, PRINTER_W, PRINTER_H); //半色调散点特效
#endif
#if 0
printer_set_picture_addr(printer_demo);//打印图片
#else
printer_set_picture_addr(vga_room);
#endif
for(itk = 0; itk < 512;itk++){ //384 x 512
for(ktk = 0; ktk < 384;ktk++){
grep_step = 0;
for(jtk = 0;jtk < 64;jtk++){ //配置打印图片量化系数
if(printer_picture_addr[itk*384+ktk] < (grep_step*4)/*255*/){ //64 4
printer_buf[itk*384+383-ktk]++;
}
grep_step++;
}
}
}
enhanceContrast(printer_buf);
os_printf("%s %d\n",__FUNCTION__,__LINE__);
memset(printer_buf_even, 0, 48);
memset(printer_buf_odd, 0, 48);
for(jtk = 0; jtk < 48; jtk++)
{
for(itk = 1; itk < 8; itk+=2)
{
if((printer_buf[jtk*8+itk]) > 0 && (1)){
printer_buf[jtk*8+itk]--;
printer_buf_odd[jtk] |= (1 << (7-itk));
}
}
}
os_printf("%s %d\n",__FUNCTION__,__LINE__);
memset(printer_buf_even,0xFF,48);
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48);
while(!spi_ioctl((struct spi_device*)spi0_dev, SPI_GET_DMA_PENDING, 0, 0))
{
os_sleep_ms(1);
};
spi_ioctl((struct spi_device*)spi0_dev, SPI_CLEAR_DMA_PENDING, 1, 0);
memset(printer_buf_even,0,48);
gpio_set_val(PRINTER_LATCH_PIN,0);
gpio_set_val(PRINTER_LATCH_PIN,1);
//加热部分使用timer控制时间，取消关中断操作
struct timer_device *stb_timer0 = (struct timer_device *)printer_stb_timer_open();
printer_stb_start((void*)stb_timer0, 30); //预加热 30ms
while(pre_heat_flag == 0) {
os_sleep_ms(10);
}
printer_moto_enable(1);
spi_request_irq(spi0_dev, SPI_IRQ_FLAG_TX_DONE, spi0_irq, halfstep_buf);
last_ret = 1;
//触发中断打印状态机
spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48);
//等待打印结束
while(printer_done!=1)
{
os_sleep_ms(100);
}
gpio_set_val(PRINTER_EN_PIN,0); //disable printer power
printer_stb_timer_close((void*)stb_timer0);
paper_io_deinit();
printer_dvp_en_exchange(0);
printf("printer stop....\r\n");
}
//理论上没有处理循环退出操作，此处buff未释放
os_free(halfstep_buf);
halfstep_buf = NULL;
os_ferr(halfstep_buf_cache);
halfstep_buf_cache = NULL;
}
void printer_thread_init(){
OS_TASK_INIT("handle_printer", &handle_printer_task, printer_work_isr, NULL, OS_TASK_PRIORITY_ABOVE_NORMAL, 1024);
}
#endif