murmur/injectorCTL
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix function bugs

Browse Source
This commit is contained in:
CSSC-WORK\murmur 2024-12-12 15:40:28 +08:00
parent b3f8fc555f
commit 10ea569b03
2 changed files with 45 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

57
protocol.c
View File

@ -444,31 +444,31 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
}
// PP=轮廓位置模式
static uint8_t SetValvePPPos(uint8_t index, uint16_t pos) {
writeValve1Reg(index, RTU_VALVE_CMD_PP_POS, pos);
static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
writeValve2Reg(index, RTU_VALVE_CMD_PP_POS, pos);
}
static uint8_t SetValvePPSpeed(uint8_t index, uint16_t speed) {
writeValve1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
}
static uint8_t SetValvePPAcc(uint8_t index, uint16_t acc) {
writeValve1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
writeValve2Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
}
static uint8_t SetValvePPDec(uint8_t index, uint16_t dec) {
writeValve1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
writeValve2Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
}
// HM=原点回归模式
static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
}
static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint16_t speed) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
}
static uint8_t SetValveHomeOriSpeed(uint8_t index, uint16_t speed) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
}
static uint8_t SetValveHomeAcc(uint8_t index, uint16_t acc) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
writeValve2Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
}
static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
writeValve1Reg(index, RTU_VALVE_CMD_FUNC, func);
@ -480,6 +480,10 @@ static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
}
uint8_t updateValveStatus(uint8_t index, uint16_t status) {
// writeValve1Reg(index, RTU_VALVE_CMD_STATUS, status);
}
uint8_t ValveBackToOrigin(uint8_t index) {
// 1.设置原点回归方式
// （0416h）=37;17=负限位，18=正限位
@ -504,6 +508,31 @@ uint8_t ValveBackToOrigin(uint8_t index) {
SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
}
uint8_t ValveRunInit(uint8_t index) {
// 1.配置模式：
// 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
// 2.参数配置：
// 2.1写目标位置 （03E7h）（用户单位）；
// SetValvePPPos(index, 0);
// 2.2写当前段位移指令匀速运行速度 （03F8h） (用户单位/s)；
SetValvePPSpeed(index, 1000);
// 2.3设置位移的加速度 （03FCh）(用户单位/s2)
SetValvePPAcc(index, 10000);
// 2.4设置位移的减速度 （03FEh）(用户单位/s2)；
SetValvePPDec(index, 10000);
// 3.写控制字使电机使能
// （0380h）= 0x06→0x07→ 0x0F，电机使能：
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
SetValveFunc(index, RTU_VALVE_CFG_RUN);
// 4.使电机运行
// （0380h）= 0x2F→0x3F，电机运行
SetValveFunc(index, 0x2F);
SetValveFunc(index, 0x3F);
}
// 定时1s更新设备状态
// 活度计通过网口获取
// 下挂设备通过485获取

4
protocol.h
View File

@ -286,8 +286,8 @@ const uint8_t statusInfo[16][32]={
#define RTU_VALVE_CMD_HOME_TIME 0x0172 // 阀门原点回归堵转检测时间
#define RTU_VALVE_CFG_COMM_CIA402 0x0000 // 为CIA402模式
#define RTU_VALVE_CFG_MODE_HM 0x0001 // 原点回归模式(HM)
#define RTU_VALVE_CFG_MODE_PP 0x0006 // 轮廓位置模式(PP)
#define RTU_VALVE_CFG_MODE_HM 0x0006 // 原点回归模式(HM)
#define RTU_VALVE_CFG_MODE_PP 0x0001 // 轮廓位置模式(PP)
#define RTU_VALVE_CFG_ENABLE 0x0006 // 准备
#define RTU_VALVE_CFG_DISABLE 0x0007 // 失能
#define RTU_VALVE_CFG_RUN 0x000F // 运行