murmur/injectorCTL
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A lot of logic has been updated for the v1.6 protocol

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CSSC-WORK\murmur 2024-12-26 22:27:14 +08:00
parent 93c676e1cb
commit 13781723e0
3 changed files with 485 additions and 400 deletions
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1
.gitignore vendored
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@ -1 +1,2 @@
.vscode/* .vscode/*
tasks.json

829
protocol.c
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45
protocol.h
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@ -19,8 +19,8 @@
#define FRAME_HEADER 0xA55A5AA5 #define FRAME_HEADER 0xA55A5AA5
#define FRAME_TAIL 0x5AA5A55A #define FRAME_TAIL 0x5AA5A55A
#define READ_ACK_TIMEOUT 50 #define READ_ACK_TIMEOUT 50
#define ACK_OK 0x0001 #define ACK_OK 0x0000
#define ACK_FAILED 0x0000 #define ACK_FAILED 0x0001
#define ACK_OTHER 0x0002 #define ACK_OTHER 0x0002
// 功能码定义 // 功能码定义
@ -347,9 +347,9 @@ typedef enum {
// 3. 泵状态 // 3. 泵状态
typedef enum { typedef enum {
PUMP_STOP = 0, PUMP_STATUS_STOP = 0,
PUMP_CLOCKWISE = 1, PUMP_STATUS_CLOCKWISE = 1,
PUMP_ANTICLOCKWISE = 2 PUMP_STATUS_ANTICLOCKWISE = 2
} PumpStatus; } PumpStatus;
// 4. 泵速度范围 // 4. 泵速度范围
@ -377,16 +377,13 @@ typedef enum {
// 三通阀结构体 // 三通阀结构体
typedef struct { typedef struct {
uint8_t angle1; // 阀门1角度 (120/210) uint8_t angle[2]; // 阀门角度 (120/210)
uint8_t angle2; // 阀门2角度 (120/210)
} ValveStatus_t; } ValveStatus_t;
// 泵结构体 // 泵结构体
typedef struct { typedef struct {
uint8_t status1; // 泵1运行状态 (停止/顺时针/逆时针) uint8_t status[2]; // 泵运行状态 (停止/顺时针/逆时针)
uint8_t status2; // 泵2运行状态 (停止/顺时针/逆时针) uint8_t speed[2]; // 泵速度百分比 (0-100)，设置值
uint8_t speed1; // 泵1速度百分比 (0-100)
uint8_t speed2; // 泵2速度百分比 (0-100)
} PumpStatus_t; } PumpStatus_t;
// 设备状态结构体，用于上报HOST // 设备状态结构体，用于上报HOST
@ -395,7 +392,8 @@ typedef struct {
ValveStatus_t valves; // 两个三通阀状态 ValveStatus_t valves; // 两个三通阀状态
PumpStatus_t pumps; // 两个泵状态 PumpStatus_t pumps; // 两个泵状态
uint8_t bubbleStatus; // 气泡状态 uint8_t bubbleStatus; // 气泡状态
uint8_t stopStatus; // 急停状态 uint16_t activityMeter; // 活度计mCi
uint8_t estopStatus; // 急停状态
uint8_t errorCode; // 错误码 uint8_t errorCode; // 错误码
uint8_t initStatus; // 初始化状态 uint8_t initStatus; // 初始化状态
} DeviceStatus_t; } DeviceStatus_t;
@ -404,21 +402,28 @@ typedef struct {
typedef struct typedef struct
{ {
DeviceStatus_t ds; DeviceStatus_t ds;
uint32_t speed[4];//实时速度 uint32_t valvesSpeed[2];//实时速度
uint32_t pos[4];//实时位置 uint8_t valvesSpeedPercent[2];//实时速度百分比
uint32_t valvesPos[2];//实时位置
uint32_t pumpsSpeed[2];//实时速度
uint8_t pumpsSpeedPercent[2];//实时速度百分比
uint32_t pumpsPos[2];//实时位置
uint16_t rst;//RTU命令执行结果 uint16_t rst;//RTU命令执行结果
} SystemStatus_t; } SystemStatus_t;//包含需要上报的状态及附加状态
typedef struct { typedef struct {
uint8_t name[20]; uint8_t name[20];
uint8_t id; uint8_t id;
uint32_t maxSpeed; uint32_t speed;//满速
uint32_t maxAccel; uint32_t accel;
uint32_t maxDecel; uint32_t decel;
uint16_t fullCount;//电机总步数，用于根据角度估算需要移动的步数 uint16_t fullCount;//电机总步数，用于根据角度估算需要移动的步数
int16_t offsetPos;//电机偏移位置，用于补偿电机移动误差 int16_t offsetPos;//电机偏移位置，用于补偿电机移动误差
uint8_t speedPercent;//设置速度百分比数，如100表示100%
uint8_t torque;//堵转力矩百分比,堵转转矩阈值应大于找寻原点过程中的实际运行转矩，且一般应小于最大转矩，以避免触发堵转故障保护
uint8_t timeout;//回归超时时间，单位s
} MotorDefaultParam_t; } MotorDefaultParam_t;
@ -434,10 +439,8 @@ extern DeviceStatus_t deviceStatus;
// 函数声明 // 函数声明
void ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen); void ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen);
void DecodePumpAlarmMsg(uint16_t reg4001);
void DecodePumpStatusMsg(uint16_t reg4002);
void runPumpDemo(void); void runPumpDemo(void);
void runVavleDemo(void); void runValveDemo(void);
void updateSystemStatus(void); void updateSystemStatus(void);
void initCTLSystem(void); void initCTLSystem(void);