feat: 添加队列空提示

1. 当存储上位机的图像数据队列为空时，将会给上位机发送报错信息
2. README中添加了喷阀工作原理
3. 添加了部署步骤说明doc/deploy.md

README.md

@@ -1,15 +1,44 @@
 # 下位机
 
-下位机根据传送带脉冲等触发相机，接收上位机给的数据，按其要求控制阀板，用在各种分选机上。
+糖果分选机的下位机根据传送带脉冲等触发相机，接收上位机给的数据，按其要求控制阀板，用在各种分选机上。本次下位机采用的硬件是[广州致远电子股份有限公司 ](https://www.zlg.cn/)（周立功）的[EPC-9600I-L工控主板](https://www.zlg.cn/ipc/ipc/product/id/77.html)（简称EPC9600），自带各种接口，但是除了网口和DI/DO接口，其他接口统统用不到。阀板接口、触发相机的接口、编码器接口，都是连接自己做的IO扩展板，将IO扩展板插在底板DI/DO接口上，叠起来，因此称为叠板。
+
+![qwe](README.assets/qwe.png)
+
+图中左到右分别为EPC9600，IO扩展板，糖果分选机整机，相机，上位机，编码器。其中，相机的触发线、编码器连接到IO扩展板，相机、上位机、EPC9600连接到以太网交换机。
+
+IO扩展板提供了
+
+- 1个12V电源输入
+- 2个相机触发，1个为冗余
+- 2个编码器输入，1个为冗余
+- 4个阀板接口，3个为冗余
+
+要注意，IO扩展板上的供电接口仅仅用于IO扩展板自身的供电，EPC9600的供电需要另外提供。<br>下面是接线图：
+
+![接线图待补充](README.assets/接线图.png)
 
 ## 目录结构
 
-- binary为编译好的可执行文件
+- doc为说明文档，包括开发和部署细节、硬件设计的描述等
+  - [deploy.md](./doc/deploy.md)为开发和部署说明，首先看这个文档
+  - [hardware_description.md](./doc/hardware_description.md)为PCB设计说明
 - script为配置系统、安装环境、安装可执行文件、卸载可执行文件等的脚本
 - protocol为上位机和下位机通信的协议
 - hardware下位机主板、接口板、底板等的硬件设计
 - source为可执行文件的源程序
 
+## 喷阀原理
+
+喷嘴由两片CNC加工的金属工件拼合而成，每一片工件上有48个深度为喷嘴宽度的一半的沟槽，两片拼合形成截面为矩形的48个喷嘴，通过软管连接到喷阀的气流出口。打开相应喷阀就会在喷嘴处射出气流。喷嘴以喷出气流向下的方向安装，整体平行于传送带滚筒，在传送带末端上方。如图：
+
+<img src="README.assets/20230208200017.jpg" alt="20230208200017" style="zoom: 50%;" />
+
+工作时射出的气流将瑕疵糖果向下吹走，正常糖果被传送带喷出，如下视频
+
+<video src="README.assets/144262e7fd3707720962e083d5304a7e.mp4"></video>
+
+
+
 ## 版本
 
 由于经常有不同类型的新要求出现，比如分选糖果、分选烟梗、同为糖果也具有不同的参数，因此不同的下位机型号（注意不是更新，比如同一台机器需要设置新的参数）应建立不同的分支，**主分支无实际意义**
@@ -27,10 +56,10 @@ b分支编号-p生产环境项目名-t分选对象[-其他特点1[-其他特点2
 版本号遵循定义如下（不使用中文，小写无空格）
 
 ```shell
-b分支编号-n编译号-h硬件版本-p协议版本-s脚本版本-r代码版本
+b分支编号[-d文档版本]-hPCB设计版本[-lFPGA设计版本]-p协议版本[-s脚本版本]-aAPP代码版本[-i驱动版本][-c系统编译配置版本][-e设备树版本]
 ```
 
-分支编号和分支命名中编号一致
+中括号在这里表示可省略的项，中括号本身不应出现在实际命名中。分支编号和分支命名中编号一致。各部分版本应在相应目录下创建文件注明，比如`2.1`版本的PCB设计：PCB工程目录中建立`version`文本文件，内容为文本`2.1`。对于涉及整体设计的大改动版本号加`1`，其余改动版本号加`0.1`。每个分支的版本各自独立，新分支的版本从`1.0`起计算
 
 ##  作者
 

doc/deploy.md

@@ -0,0 +1,67 @@
+# 下位机的部署步骤
+
+按下面标题的顺序进行，不要轻易跳过步骤，除非你知道你在做什么
+
+## 硬件连接
+
+### 启动方式选择
+
+EPC-9600I-L支持从NAND或者SD卡启动，通过 S7拨码开关控制，拨码开关如图全部设置为OFF，表示从NAND启动。
+
+<img src="deploy.assets/5e6af30fa23d9.jpg" alt="5e6af30fa23d9" style="zoom:33%;" />
+
+### IO和供电连接
+
+完成以下步骤后，应如下图所示
+
+1. 将IO扩展板插入J1牛角座
+2. 按接线图连接相机触发线、编码器的任一相、阀板
+3. 按接线图连接IO扩展板的电源
+4. 按接线图连接EPC9600的电源
+5. 按接线图连接网线到交换机
+6. 连接调试用电脑到交换机
+
+<img src="deploy.assets/20230208183606.jpg" alt="20230208183606" style="zoom: 33%;" />
+
+
+
+启动交换机、EPC9600、IO扩展板的电源
+
+## 软件配置
+
+### 登录和配置
+
+断开并禁用电脑连接的其他网络和网络适配器（包括无线网），将电脑连接EPC9600的网口设置到192.168.1.0/24网络中
+
+SSH登录账号`root`，密码`root`<br>出厂默认IP为`192.168.1.136`
+
+可以使用任何SSH软件进行登录，推荐`Xshell`，连接后执行下面的命令设置新的时间和IP：
+
+```shell
+[root@epc-9600  ~]# date 2023.02.08-15:34:00
+[root@epc-9600  ~]# hwclock -w
+[root@epc-9600  ~]# eeprom net set ip 192.168.2.9
+```
+
+时间不要照抄上面的命令，设置为当前时间即可，IP必须为`192.168.2.9`，执行下面命令重启
+
+```shell
+[root@epc-9600  ~]# reboot
+```
+
+### 安装下位机软件
+
+因为设置了新的IP，所以将电脑连接EPC9600的网口设置为`192.168.2.11/24`，重新SSH连接IP为`192.168.2.9`的EPC9600。同时启动SFTP软件，推荐`Xftp`，将[script/S90target](../script/S90target)传输到EPC9600的`/tmp`中，运行下面命令配置下位机软件自启动：
+
+```shell
+[root@epc-9600  ~]# wr mv /tmp/S90target /etc/init.d/
+[root@epc-9600  ~]# wr chmod 755 /etc/init.d/S90target
+```
+
+用相同的放将本仓库release中`app.zip`解压出的下位机软件`target`传输到EPC9600的`/tmp`中，运行下面命令安装下位机软件：
+
+```shell
+[root@epc-9600  ~]# wr mv /tmp/target /root
+[root@epc-9600  ~]# wr chmod 755 /root/target
+[root@epc-9600  ~]# sync
+```

doc/version

@@ -0,0 +1 @@
+0.2

hardware/epc9600ioextend.PrjPcbStructure

@@ -0,0 +1 @@
+Record=TopLevelDocument|FileName=Sheet1.SchDoc|SheetNumber=1

hardware/version

@@ -0,0 +1 @@
+1.1

protocol/version

@@ -0,0 +1 @@
+1.0

script/S90target

@@ -0,0 +1,2 @@
+#!/bin/sh
+/root/target &

script/version

@@ -0,0 +1 @@
+1.0

source/.vscode/c_cpp_properties.json

@@ -4,10 +4,10 @@
             "name": "ARM",
             "includePath": [
                 "${workspaceFolder}/**",
-                "/home/miaow/software/arm-2011.03/lib/gcc/arm-none-linux-gnueabi/4.5.2/include/**"
+                "/home/miaow/software/gcc-arm-2011.03/lib/gcc/arm-none-linux-gnueabi/4.5.2/include/**"
             ],
             "defines": [],
-            "compilerPath": "/home/miaow/software/arm-2011.03/bin/arm-none-linux-gnueabi-gcc",
+            "compilerPath": "/home/miaow/software/gcc-arm-2011.03/bin/arm-none-linux-gnueabi-gcc",
             "cStandard": "gnu99",
             "cppStandard": "gnu++17",
             "intelliSenseMode": "linux-gcc-arm",
@@ -15,7 +15,7 @@
             "browse": {
                 "path": [
                     "${workspaceFolder}",
-                    "/home/miaow/software/arm-2011.03/lib/gcc/arm-none-linux-gnueabi/4.5.2/include"
+                    "/home/miaow/software/gcc-arm-2011.03/lib/gcc/arm-none-linux-gnueabi/4.5.2/include"
                 ]
             }
         }

source/.vscode/settings.json

@@ -16,7 +16,9 @@
         "queue.h": "c",
         "stdio.h": "c",
         "encoder.h": "c",
-        "semaphore.h": "c"
+        "semaphore.h": "c",
+        "socket.h": "c",
+        "host_computer.h": "c"
     },
     "makefile.launchConfigurations": [
         {

source/Makefile

@@ -1,5 +1,5 @@
 #makefile for file_ioctl
-CROSS_COMPILE ?= /home/miaow/software/arm-2011.03/bin/arm-none-linux-gnueabi-
+CROSS_COMPILE ?= /home/miaow/software/gcc-arm-2011.03/bin/arm-none-linux-gnueabi-
 TARGET := target
 BUILD_DIR := build
 

source/gpio_common.h

@@ -1,3 +1,14 @@
+/**
+ * @file gpio_common.h
+ * @brief Operate the GPIO port of Zhou Ligong linux industrial control board
+ * @details is_file_exist(const char *file_path) determine whether the specified file exists
+ *          print_array(int *array, int count) used to print out the value of the queue buffer, easy to debug and use
+ * @mainpage github.com/NanjingForestryUniversity
+ * @author miaow
+ * @email 3703781@qq.com
+ * @version v0.9.0
+ * @date 2021/12/25 merry christmas
+ */
 #ifndef __GPIO_COMMON_H
 #define __GPIO_COMMON_H
 

source/host_computer.c

@@ -1,9 +1,9 @@
 /**
  * @file host_computer.c
- * @brief Commnunicate with host computer. Protocal is described in hostcomputer通信协议.md
+ * @brief Commnunicate with host computer. Protocal is described in 下位机和上位机通信协议.md
  * @author miaow (3703781@qq.com)
- * @version 1.0
- * @date 2022/01/16
+ * @version 1.1
+ * @date 2023/02/08
  * 
  * @copyright Copyright (c) 2022  miaow
  * 
@@ -11,6 +11,7 @@
  * <table>
  * <tr><th>Date       <th>Version <th>Author  <th>Description
  * <tr><td>2022/01/16 <td>1.0     <td>miaow     <td>Write this file
+ * <tr><td>2023/02/08 <td>1.1     <td>miaow     <td>Add fifo empty detection
  * </table>
  */
 #include <host_computer.h>
@@ -84,6 +85,16 @@ static int recvn(int fd, char *buf, int size)
     return size;
 }
 
+/**
+ * @brief Send string "error"
+ * @param fd The file descriptor that receives error
+ */
+static void send_error(int fd)
+{
+    write(fd, "error", 5);
+    printf("error sent\r\n");
+}
+
 /**
  * @brief To inspect the status of TCP connection
  * @param sock_fd The socket
@@ -105,7 +116,7 @@ static int is_connected(int sock_fd)
 void *loop_thread_func(void *param)
 {
     printf("loop thread in %s start\r\n", __FILE__);
-    int need_exit = 0;
+    int need_exit = 0, error_sent = 0;
     char pre;
     uint16_t n_bytes;
     char type[2];
@@ -143,39 +154,32 @@ void *loop_thread_func(void *param)
 
         if (recvn(_global_structure.socket_fd, (char *)&pre, 1) > 1)
         {
-            // close(_global_structure.socket_fd);
             printf("pre_len!=1\r\n");
             continue;
         }
         if (pre != 0xAA)
         {
-            // close(_global_structure.socket_fd);
-            // printf("%X ", (int)pre);
             fflush(stdout);
             continue;
         }
         if (recvn(_global_structure.socket_fd, (char *)&n_bytes, 2) != 2)
         {
-            // close(_global_structure.socket_fd);
             printf("n_bytes_len!=2\r\n");
             continue;
         }
         n_bytes = ntohs(n_bytes);
         if (n_bytes > 4096 || n_bytes < 2)
         {
-            // close(_global_structure.socket_fd);
             printf("n_bytes>4096 or n_bytes<2\r\n");
             continue;
         }
         if (recvn(_global_structure.socket_fd, (char *)type, 2) != 2)
         {
-            // close(_global_structure.socket_fd);
             printf("type!=2\r\n");
             continue;
         }
         if (recvn(_global_structure.socket_fd, (char *)data, n_bytes - 2) != n_bytes - 2)
         {
-            // close(_global_structure.socket_fd);
             printf("data_len!=n_bytes-2\r\n");
             continue;
         }
@@ -183,19 +187,16 @@ void *loop_thread_func(void *param)
         data[n_bytes - 2] = 0;
         if (recvn(_global_structure.socket_fd, (char *)check, 2) != 2)
         {
-            // close(_global_structure.socket_fd);
             printf("check_len!=2\r\n");
             continue;
         }
         if (recvn(_global_structure.socket_fd, (char *)&pre, 1) != 1)
         {
-            // close(_global_structure.socket_fd);
             printf("end_len!=1\r\n");
             continue;
         }
         if (pre != 0xBB)
         {
-            // close(_global_structure.socket_fd);
             printf("end!=0xBB\r\n");
             continue;
         }
@@ -205,9 +206,9 @@ void *loop_thread_func(void *param)
         if (type[0] == 'd' && type[1] == 'a')
         {
             // printf("%dbytes of data put to data queue\r\n", (int)n_bytes - 2);
-            if (n_bytes - 2 != 6 * HOST_COMPUTER_PICTURE_ROW_NUM)
+            if (n_bytes - 2 != HOST_COMPUTER_PICTURE_BYTES)
             {
-                printf("n_bytes-2!=%d\r\n", 6 * HOST_COMPUTER_PICTURE_ROW_NUM);
+                printf("n_bytes-2!=%d\r\n", HOST_COMPUTER_PICTURE_BYTES);
                 continue;
             }
             int data_index = 0;
@@ -220,17 +221,24 @@ void *loop_thread_func(void *param)
             for (int i = 0; i < HOST_COMPUTER_PICTURE_ROW_NUM; i++)
             {
                 tmp_one_line_data = 0ul;
-                for (int j = 0; j < 6; j++)
+                for (int j = 0; j < HOST_COMPUTER_PICTURE_COLUMN_BYTES; j++)
                 {
                     tmp_one_line_data <<= 8;
                     tmp_one_line_data |= data[data_index++];
                 }
                 queue_uint64_put(_global_structure.data_q, tmp_one_line_data);
             }
+            // printf("queue_num=%d\r\n", _global_structure.data_q->nData);
+            if (_global_structure.data_q->nData == HOST_COMPUTER_PICTURE_ROW_NUM  && !error_sent)
+            {
+                error_sent = 1;
+                send_error(_global_structure.socket_fd);
+            }
         }
         else if (type[0] == 's' && type[1] == 't')
         {
             // printf("Start put to cmd queue, param:%d\r\n", (int)atoll(data));
+            error_sent = 0;
             queue_uint64_put(_global_structure.cmd_q, (atoll(data) << 32) | HOSTCOMPUTER_CMD_START);
         }
         else if (type[0] == 's' && type[1] == 'p')

source/host_computer.h

@@ -1,9 +1,9 @@
 /**
  * @file host_computer.h
- * @brief Commnunicate with host computer. Protocal is described in hostcomputer通信协议.md
+ * @brief Commnunicate with host computer. Protocal is described in 下位机和上位机通信协议.md
  * @author miaow (3703781@qq.com)
- * @version 1.0
- * @date 2022/01/16
+ * @version 1.1
+ * @date 2023/02/08
  * 
  * @copyright Copyright (c) 2022  miaow
  * 
@@ -11,6 +11,7 @@
  * <table>
  * <tr><th>Date       <th>Version <th>Author  <th>Description
  * <tr><td>2022/01/16 <td>1.0     <td>miaow     <td>Write this file
+ * <tr><td>2023/02/08 <td>1.1     <td>miaow     <td>Add 3 macros for picture from host computer
  * </table>
  */
 #ifndef __HOST_COMPUTER_H
@@ -23,6 +24,9 @@
 #define HOST_COMPUTER_IP "192.168.2.10"
 #define HOST_COMPUTER_PORT 13452
 #define HOST_COMPUTER_PICTURE_ROW_NUM 500
+#define HOST_COMPUTER_PICTURE_COLUMN_NUM 48
+#define HOST_COMPUTER_PICTURE_COLUMN_BYTES (HOST_COMPUTER_PICTURE_COLUMN_NUM / 8)
+#define HOST_COMPUTER_PICTURE_BYTES (HOST_COMPUTER_PICTURE_COLUMN_BYTES * HOST_COMPUTER_PICTURE_ROW_NUM)
 
 /**
  * @brief The commonds, ref hostcomputer通信协议.md

source/main.c

@@ -1,7 +1,25 @@
+/**
+ * @file main.c
+ * @brief Excuting commands, resample data, triggle camera, and send data to valve
+ * @author miaow (3703781@qq.com)
+ * @version 1.1
+ * @date 2023/02/08
+ * 
+ * @copyright Copyright (c) 2022  miaow
+ * 
+ * @par Changelog:
+ * <table>
+ * <tr><th>Date       <th>Version <th>Author  <th>Description
+ * <tr><td>2022/01/16 <td>1.0     <td>miaow     <td>Write this file
+ * <tr><td>2023/02/08 <td>1.1     <td>miaow     <td>Add debug option for interval of camera triggle
+ * </table>
+ */
 #include <valve.h>
 #include <sys/socket.h>
 #include <arpa/inet.h>
+#include <sys/time.h>
 #include <math.h>
+#include <main.h>
 #include <queue_uint64.h>
 #include <camera_trigger.h>
 #include <encoder.h>
@@ -12,11 +30,8 @@
  */
 typedef enum
 {
-    NOT_INITIALIZED = 0,
-    INITIALIZED = 1,
-    RUNNING = 2,
-    SLEEPING = 3,
-    STOPPED = 4
+    SLEEPING = 0,
+    RUNNING = 1,
 } status_enum_t;
 
 valvedata_t valvedata = {0};
@@ -25,11 +40,16 @@ queue_uint64_msg_t cmd_queue = {0};
 
 static int count_valve = 1, count_camera = 0, count_valve_should_be = 2;
 static uint64_t count_continues = 0UL, count_valve_continues = 0UL, count_camera_continues = 0UL;
-static status_enum_t status = NOT_INITIALIZED;
-static int camera_trigger_pulse_count = 0;
-static int valve_should_trigger_pulse_count = 0;
-static int valve_trigger_pulse_count = 0;
-static int camera_to_valve_pulse_count = 0;
+static status_enum_t status = SLEEPING;
+static int camera_trigger_pulse_count = 500;
+static int valve_should_trigger_pulse_count = 1;
+static int valve_trigger_pulse_count = 10;
+static int camera_to_valve_pulse_count = 3015;
+#if defined(DEBUG_CAMERA_TRIG_PERIOD)
+static struct timeval tv;
+static uint64_t camera_period_interval_last_us = 0UL;
+static uint64_t camera_period_interval_us = 0UL;
+#endif
 
 #define ROTATE_UINT64_RIGHT(x, n) ((x) >> (n)) | ((x) << ((64) - (n)))
 #define ROTATE_UINT64_LEFT(x, n) ((x) << (n)) | ((x) >> ((64) - (n)))
@@ -50,11 +70,15 @@ int main(int argc, char *argv[])
     // fflush(stdout);
     // valve_test3(100.0f);
     // valve_test2(200.0f, 0);
+    // for (int i = 0; i < 999; i++)
+    // {
     //     valve_test(200.0f);
+    // }
     // printf("OK\r\n");
     // valve_deinit();
 
     hostcomputer_init(&data_queue, &cmd_queue);
+    printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n");
     uint64_t cmd;
     int TRUE = 1;
     while (TRUE)
@@ -62,8 +86,8 @@ int main(int argc, char *argv[])
         if (queue_uint64_get(&cmd_queue, &cmd) == 0)
         {
             process_cmd(&cmd);
-            usleep(100000);
         }
+        usleep(100000);
     }
     hostcomputer_deinit();
     queue_uint64_deinit(&data_queue);
@@ -79,14 +103,16 @@ void process_cmd(uint64_t *cmd)
     {
         if (tmp_cmd == HOSTCOMPUTER_CMD_START)
         {
+            queue_uint64_clear(&data_queue);
             valve_should_trigger_pulse_count = camera_trigger_pulse_count / HOST_COMPUTER_PICTURE_ROW_NUM;
             for (int i = 0; i < camera_to_valve_pulse_count * HOST_COMPUTER_PICTURE_ROW_NUM / camera_trigger_pulse_count; i++)
-                queue_uint64_put(&data_queue, 0);
+                queue_uint64_put(&data_queue, 0L);
+
             valve_init();
             cameratrigger_init();
             encoder_init(on_encoder);
+            printf("\r\n>>>>>\r\nstatus==RUNNING\r\ncamera_trigger_pulse_count=%d\r\nvalve_trigger_pulse_count=%d\r\ncamera_to_valve_pulse_count=%d\r\n<<<<<\r\n\r\n", camera_trigger_pulse_count, valve_trigger_pulse_count, camera_to_valve_pulse_count);
             status = RUNNING;
-            printf("\r\n>>>>>\r\nstatus==RUNNING\r\n<<<<<\r\n\r\n");
         }
         else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
         {
@@ -94,10 +120,7 @@ void process_cmd(uint64_t *cmd)
             valve_test(500.0f);
             valve_deinit();
         }
-    }
-    else if (status == NOT_INITIALIZED)
-    {
-        if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT)
+        else if (tmp_cmd == HOSTCOMPUTER_CMD_SETCAMERATRIGPULSECOUNT)
         {
             camera_trigger_pulse_count = tmp_data;
         }
@@ -109,38 +132,6 @@ void process_cmd(uint64_t *cmd)
         {
             camera_to_valve_pulse_count = tmp_data;
         }
-        else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
-        {
-            valve_init();
-            valve_test(500.0f);
-            valve_deinit();
-        }
-        if (camera_trigger_pulse_count != 0 && valve_trigger_pulse_count != 0 && camera_to_valve_pulse_count != 0)
-        {
-            status = INITIALIZED;
-            printf("\r\n>>>>>\r\nstatus==INITIALIZED\r\ncamera_trigger_pulse_count=%d\r\nvalve_trigger_pulse_count=%d\r\ncamera_to_valve_pulse_count=%d\r\n<<<<<\r\n\r\n", camera_trigger_pulse_count, valve_trigger_pulse_count, camera_to_valve_pulse_count);
-        }
-    }
-    else if (status == INITIALIZED)
-    {
-        if (tmp_cmd == HOSTCOMPUTER_CMD_START)
-        {
-            valve_should_trigger_pulse_count = camera_trigger_pulse_count / HOST_COMPUTER_PICTURE_ROW_NUM;
-            printf("valve_should_trigger_pulse_count=%d", valve_should_trigger_pulse_count);
-            for (int i = 0; i < camera_to_valve_pulse_count * HOST_COMPUTER_PICTURE_ROW_NUM / camera_trigger_pulse_count; i++)
-                queue_uint64_put(&data_queue, 0);
-            valve_init();
-            cameratrigger_init();
-            encoder_init(on_encoder);
-            status = RUNNING;
-            printf("\r\n>>>>>\r\nstatus==RUNNING\r\n<<<<<\r\n\r\n");
-        }
-        else if (tmp_cmd == HOSTCOMPUTER_CMD_TEST)
-        {
-            valve_init();
-            valve_test(500.0f);
-            valve_deinit();
-        }
     }
     else if (status == RUNNING)
     {
@@ -150,8 +141,21 @@ void process_cmd(uint64_t *cmd)
             cameratrigger_deinit();
             valve_deinit();
             queue_uint64_clear(&data_queue);
-            status = SLEEPING;
+#if defined(DEBUG_CAMERA_TRIG_PERIOD)
+            printf("\r\n>>>>>\r\nstatus==SLEEPING\r\ncamera_period_us=%.2f\r\n<<<<<\r\n\r\n", (float)camera_period_interval_us / (float)(count_camera_continues - 1));
+            camera_period_interval_us = 0UL;
+            camera_period_interval_last_us = 0UL;
+#else
             printf("\r\n>>>>>\r\nstatus==SLEEPING\r\n<<<<<\r\n\r\n");
+#endif
+            count_continues = 0UL;
+            count_valve_continues = 0UL;
+            count_camera_continues = 0UL;
+            count_camera = 0;
+            count_valve = 1;
+            count_valve_should_be = 2;
+
+            status = SLEEPING;
         }
     }
 }
@@ -159,7 +163,8 @@ void process_cmd(uint64_t *cmd)
 void valve_test(float ms_for_each_channel)
 {
     uint64_t valve_data = 1ul;
-    for (int i = 0; i < 48; i++)
+
+    for (int i = 0; i < HOST_COMPUTER_PICTURE_COLUMN_NUM; i++)
     {
         usleep((useconds_t)(ms_for_each_channel * 500.0f));
         valvedata.valvedata_1 = valve_data << i;
@@ -212,33 +217,34 @@ void on_encoder()
 {
     count_continues++;
 
+    // send resampled data to valve, the resample cycle is valve_trigger_pulse_count
     if (++count_valve == valve_trigger_pulse_count + 1)
     {
         count_valve = 1;
         count_valve_continues++;
         valve_sendmsg(&valvedata);
-
-        // printf("data:%llx send to valve, queue length is %d\r\n", valvedata.valvedata_1, data_queue.nData);
-        // printf("%016llx ", valvedata.valvedata_1);
-        fflush(stdout);
     }
 
+    // load valve data to valvedata structure
     if (++count_valve_should_be == valve_should_trigger_pulse_count + 2)
     {
         count_valve_should_be = 2;
         valvedata.valvedata_1 = 0;
         queue_uint64_get(&data_queue, &(valvedata.valvedata_1));
-        // if (data_queue.nData == 0)
-        // {
-        //     printf("sb\r\n");
-        // }
     }
 
+    //  triggle camera in a cycle of camera_trigger_pulse_count
     if (++count_camera == camera_trigger_pulse_count)
     {
-        // printf("camera triggled\r\n");
         count_camera = 0;
         count_camera_continues++;
+#if defined(DEBUG_CAMERA_TRIG_PERIOD)
+        gettimeofday(&tv, NULL);
+        if (camera_period_interval_last_us != 0UL)
+            camera_period_interval_us += ((uint64_t)tv.tv_sec * 1000000 + (uint64_t)tv.tv_usec) - camera_period_interval_last_us;
+        camera_period_interval_last_us = ((uint64_t)tv.tv_sec * 1000000 + (uint64_t)tv.tv_usec);
+#endif
+
         cameratrigger_trig();
     }
 }

source/main.h

@@ -1,6 +1,23 @@
+/**
+ * @file main.h
+ * @brief Excuting commands, resample data, triggle camera, and send data to valve
+ * @author miaow (3703781@qq.com)
+ * @version 1.1
+ * @date 2023/02/08
+ * 
+ * @copyright Copyright (c) 2022  miaow
+ * 
+ * @par Changelog:
+ * <table>
+ * <tr><th>Date       <th>Version <th>Author  <th>Description
+ * <tr><td>2022/01/16 <td>1.0     <td>miaow     <td>Write this file
+ * <tr><td>2023/02/08 <td>1.1     <td>miaow     <td>Add debug option for interval of camera triggle
+ * </table>
+ */
 #ifndef __MAIN_H
 #define __MAIN_H
 
+// #define DEBUG_CAMERA_TRIG_PERIOD  // uncomment this to print  the interval of camera triggle in the unit of usecond
 
 
 #endif

source/valve.h

@@ -1,3 +1,13 @@
+/**
+ * @file valve.h
+ * @brief Operate the valveboard with Linux application
+ * @details Call valve_init() paired with valve_deinit() as their names imply, valve_send() can be executed several times to operate up to 6 valveboards between valve_init() and valve_deinit()
+ * @mainpage github.com/NanjingForestryUniversity
+ * @author miaow
+ * @email 3703781@qq.com
+ * @version v0.9.0
+ * @date 2021/12/25 merry christmas
+ */
 #ifndef __VALVE_INIT_H
 #define __VALVE_INIT_H
 #include <gpio_common.h>
@@ -24,7 +34,6 @@ typedef struct
     uint64_t valvedata_6;
 } valvedata_t;
 
-
 #define SCLK_FREQUENCE_KHZ 10000
 
 int valve_init(void);

source/version

@@ -0,0 +1 @@
+1.1