update logic， now valve is OK

protocol.c

@@ -36,11 +36,11 @@ SystemStatus_t systemStatus = {
     .pumpsSpeed = {0},
     .pumpsPos = {0},
     .pumpsSpeedPercent = {0},
-    .rst = 0
+    .rst = 0,
+    .isValveMovingBackToOrigin = {0},
+    .isBTOOk = {0}
 };
 
-uint8_t isValveMovingBackToOrigin[2] = {0,0};
-
 DeviceParam_t dp = {
     .pump = {
         {"pump1", 4, 60, 100, 100,40000,0},
@@ -52,7 +52,7 @@ DeviceParam_t dp = {
     },
     .sensor = {
             {169, 254, 1, 1},  // 设置IP为169.254.1.1
-            "/index.xml"      // 设置路径为/index.xml
+            "/status.xml"      // 设置路径为/index.xml
     }
 };
 
@@ -160,6 +160,15 @@ uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
 //     deviceStatus.bubbleStatus = value;
 // }
 
+/**
+ * 更新活动计数器
+ * 
+ * @param value 活动计数器值
+ */
+void updateActivityMeter(float value) {
+    deviceStatus.activityMeter = value;
+}
+
 /**
  * 更新急停状态
  * 
@@ -186,7 +195,7 @@ uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
 // void updateInitStatus(InitStatus_t status) {
 //     deviceStatus.initStatus = status;
 // }
-static uint8_t motorACKLen = 0;
+volatile uint8_t motorACKLen = 0;
 void processReceivedData(uint8_t len)
 {
     motorACKLen = len;
@@ -207,14 +216,14 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
     elog_hexdump("writeCMD", 16, txBuf, txLen);
 
     transDataToMotorValve(txBuf, txLen);
-    // uint8_t rxBuf[30] = {0};
+    
-    // uint16_t rxLen = txLen;
-    // uint8_t ret = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
     // valve反馈时间不定，超时概率极高
+    #ifdef MOTOR_USE_DMA
     // 阻塞接收，无超时，可能卡死
     while (!motorACKLen)
     {
-        /* code */
+        HAL_Delay(10);
+        log_d("wait motorACKLen");
     }
     
     if(memcmp(motorRxBuf,txBuf,2) != 0) {
@@ -228,6 +237,24 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
         systemStatus.rst += 0;//结果计数
         return 0;
     }
+    #else
+
+    uint8_t rxBuf[30] = {0};
+    uint16_t rxLen = txLen;
+    uint8_t ret = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
+    if(memcmp(rxBuf,txBuf,2) != 0) {
+        log_e("READ ACK ERROR:[%s]", ackError[ret]);
+        elog_hexdump("GET DATA", 16, rxBuf, rxLen);
+        systemStatus.rst += 1;//结果计数
+        return 1;
+    }
+    else {
+        // log_i("writeCMD success!");
+        systemStatus.rst += 0;//结果计数
+        return 0;
+    }
+
+    #endif
 }
 
 /**
@@ -773,11 +800,30 @@ uint8_t InitPump(void) {
 */
 
 // 与pump通用
-uint8_t (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
+// uint8_t (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
 uint8_t (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2Reg;
 uint8_t (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg;
 uint8_t (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
 
+
+// 写阀门1个寄存器
+uint8_t writeValve1Reg(uint8_t id, uint16_t reg, int16_t value) {
+    // 写一个寄存器不需要指定寄存器长度
+    uint8_t data[11] = {0};
+    data[0] = id;
+    data[1] = RTU_FUNC_WRITE_MULTI_REG;
+    FillBigEndian16(&data[2], reg);
+    FillBigEndian16(&data[4], 1);
+    data[6] = 2;
+    FillBigEndian16(&data[7], value);
+    uint16_t crc = CalculateCRC16(data, 9);
+    // 小端序填充
+    memcpy(&data[9], &crc, 2);
+
+    return writeCMD(data, 11);
+}
+
+
 /**
  * 读取阀门1个输入寄存器
  * 
@@ -789,7 +835,7 @@ uint16_t ReadValve1InputReg(uint8_t id, uint16_t reg)
 {
     uint8_t data[8] = {0};
     data[0] = id;
-    data[1] = RTU_FUNC_READ_INPUT_REG;
+    data[1] = RTU_FUNC_READ_HOLD_REG;
     FillBigEndian16(&data[2], reg);
     FillBigEndian16(&data[4], 1);
 
@@ -800,9 +846,10 @@ uint16_t ReadValve1InputReg(uint8_t id, uint16_t reg)
     transDataToMotorValve(data, sizeof(data));
     uint8_t rxBuf[30] = {0};
     uint16_t rxLen = 7;
-    readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT*5);
+    uint8_t hrst = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
     if(memcmp(rxBuf, data, 2) != 0) {
-        elog_hexdump("ReadValve1InputReg error!", 16, rxBuf, rxLen);
+        log_e("READ ACK ERROR:[%s]", ackError[hrst]);
+        elog_hexdump("GET DATA", 16, rxBuf, rxLen);
         return 0xffff;
     }
     return rxBuf[3]<<8|rxBuf[4];
@@ -832,9 +879,10 @@ uint32_t ReadValve2InputReg(uint8_t id, uint16_t reg)
 
     uint8_t rxBuf[30] = {0};
     uint16_t rxLen = 9;
-    readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT*2);
+    uint8_t hrst = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT*2);
     if(memcmp(rxBuf, data, 2) != 0) {
-        elog_hexdump("ReadValve2InputReg error!", 16, rxBuf, rxLen);
+        log_e("READ ACK ERROR:[%s]", ackError[hrst]);
+        elog_hexdump("GET DATA", 16, rxBuf, rxLen);
         return 0xffffffff;
     }
     return rxBuf[3]<<24|rxBuf[4]<<16|rxBuf[5]<<8|rxBuf[6];
@@ -1021,9 +1069,11 @@ static uint32_t ReadValveSpeed(uint8_t index) {
  */
 void ValveBackToOrigin(uint8_t index,int8_t direction) {
     uint8_t rst = systemStatus.rst;
+    systemStatus.isValveMovingBackToOrigin[index] = 1;
+    systemStatus.isBTOOk[index] = 0;
 
  // 3.写 (00B1h)=0、运行模式 (03C2h)=0x06，使其工作在原点回归模式；
-    SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+    // SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
     SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
 
 // 1.设置原点回归方式
@@ -1074,15 +1124,24 @@ void ValveBackToOrigin(uint8_t index,int8_t direction) {
 static void valveCheckBTOResult(uint8_t index)
 {    
     static uint8_t retryCnt = 0;
-    uint8_t isSuccess = 0;
+    uint8_t isSuccess = 2;
-    if (systemStatus.ds->initStatus != INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[index] == 1) {//初始化中才检查
+    if (!systemStatus.isValveMovingBackToOrigin[index]) {//初始化中才检查
         return;
     }
     
     uint16_t rst = ReadValve1InputReg(dp.valve[index].id,RTU_VALVE_CMD_SC);
     if(rst == 0xffff) {
         log_e("error to read valve[%d] bto rst",index);
-        return;
+        uint32_t pos = ReadValvePos(index);
+        log_d("valve[%d] bto pos: %d",index,pos);
+        if(pos < 10) {
+            rst = 0;
+            isSuccess = 1;
+        }
+        else {
+            return;
+        }
+        
     }
     log_d("valve[%d] bto rst: 0x%04X, %d, %d",index,rst,(rst>>12)&0x0001,(rst>>13)&0x0001);
     // 如果原点回归完成，状态字第12位会从0变为1，
@@ -1090,8 +1149,8 @@ static void valveCheckBTOResult(uint8_t index)
     // 此外也可以附加判断电机当前位置是否在0附近的200个脉冲以内。
     if((rst>>12) & 0x0001) {
         // 成功
-        uint32_t pos = ReadValvePos(index);
+        // uint32_t pos = ReadValvePos(index);
-        log_d("valve[%d] bto pos: %d",index,pos);
+        // log_d("valve[%d] bto pos: %d",index,pos);
         isSuccess = 1;
         // SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
         // if(pos > 200 || pos < (VALVE_PULSE_PER_ROUND-200)) {
@@ -1107,27 +1166,28 @@ static void valveCheckBTOResult(uint8_t index)
         isSuccess = 0;
     }
 
-    if (isSuccess)
+    if (isSuccess == 1)
     {   
         retryCnt = 0;
         // systemStatus.ds.initStatus = INIT_SUCCESS;
         systemStatus.isValveMovingBackToOrigin[index] = 0;
+        systemStatus.isBTOOk[index] = 1;
         log_i("ValveBackToOrigin[%d] success!",index);
-        SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+        // SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
         SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
         return;
     }
-    else {
+    else if(isSuccess == 0) {
-        log_e("ValveBackToOrigin[%d] failed!",index);
         retryCnt++;
+        log_e("Valve[%d] BackToOrigin failed, [%d]",index,retryCnt);
         if(retryCnt > 2) {//执行两次回归，都失败则认为初始化失败
             systemStatus.ds->initStatus = INIT_FAILED;
             retryCnt = 0;
-            SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+            // SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
             SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
             return;
         }
-        // ValveBackToOrigin(index, -1);
+        ValveBackToOrigin(index, -1);
     }
     
     
@@ -1175,6 +1235,7 @@ uint8_t ValvePPInit(uint8_t index) {
  */
 uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
     uint8_t rst = systemStatus.rst;
+    SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
     log_d("try to set angel to %d",angle);
     // 限制角度的逻辑不在这里，此处只执行控制逻辑
     if(angle > 360) {
@@ -1221,7 +1282,7 @@ void ReadValveSpeedPos(void)
         systemStatus.valvesSpeed[index] = ReadValveSpeed(index);
         systemStatus.valvesSpeedPercent[index] = transSpeedToSpeedPercent(index, abs(systemStatus.valvesSpeed[index]));
         systemStatus.valvesPos[index] = ReadValvePos(index);
-        systemStatus.ds->valves.angle[index] = round(systemStatus.valvesPos[index]*360/dp.valve[index].fullCount);
+        systemStatus.ds->valves.angle[index] = round((double)systemStatus.valvesPos[index] * 360.0 / dp.valve[index].fullCount);
     }
 }
 
@@ -1232,7 +1293,7 @@ void updateValveStatus(void)
 {
     valveCheckBTOResult(0);
     valveCheckBTOResult(1);
-    if (systemStatus.ds->initStatus == INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[0] == 0 && systemStatus.isValveMovingBackToOrigin[1] == 0) {
+    if (systemStatus.isBTOOk[0] == 1 && systemStatus.isBTOOk[1] == 1) {
         systemStatus.ds->initStatus = INIT_SUCCESS;
     }
     
@@ -1284,6 +1345,9 @@ void updateVPInfo(void)
     // ReadPumpSpeedPos();
 
     // 获取阀门实时速度、位置
+    // if(systemStatus.ds->initStatus == INIT_IN_PROGRESS) {
+    //     return; //初始化中不读取速度和位置
+    // }
     ReadValveSpeedPos();
     
 }

protocol.h

@@ -18,7 +18,7 @@
 // 帧头帧尾定义
 #define FRAME_HEADER            0xA55A5AA5
 #define FRAME_TAIL              0x5AA5A55A
-#define READ_ACK_TIMEOUT        200
+#define READ_ACK_TIMEOUT        10
 #define ACK_OK                  0x0000
 #define ACK_FAILED              0x0001
 #define ACK_OTHER               0x0002
@@ -370,9 +370,9 @@ typedef enum {
 
 // 7. 初始化状态
 typedef enum {
-    INIT_IN_PROGRESS = 0,
+    INIT_SUCCESS = 0,
-    INIT_SUCCESS = 1,
+    INIT_FAILED = 1,
-    INIT_FAILED = 2
+    INIT_IN_PROGRESS = 2,
 } InitStatus_t;
 
 // 大小对齐至1字节
@@ -411,6 +411,7 @@ typedef struct
     uint8_t pumpsSpeedPercent[2];//实时速度百分比
     uint32_t pumpsPos[2];//实时位置
     uint8_t isValveMovingBackToOrigin[2];//阀门是否在回归原点
+    uint8_t isBTOOk[2];//回归原点是否完成
     uint16_t rst;//RTU命令执行结果
     
 } SystemStatus_t;//包含需要上报的状态及附加状态
@@ -453,7 +454,7 @@ void runValveDemo(void);
 void updateSystemStatus(void);
 void initCTLSystem(void);
 void processReceivedData(uint8_t len);
-
+void updateActivityMeter(float value);
 
 
 #endif // PROTOCOL_H