fix bugs
This commit is contained in:
CSSC-WORK\murmur
parent
9fbe044705
commit
2b0a184d40
88
protocol.c
88
protocol.c
@ -1,7 +1,16 @@
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#include "protocol.h"
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#include <string.h>
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static DeviceStatus deviceStatus = {0};
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static DeviceStatus deviceStatus = {
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.deviceStatus = 1,
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.valves = {210, 120},
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.pumps = {0, 0, 50, 50},
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.bubbleStatus = 0,
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.stopStatus = 0,
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.errorCode = 0,
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.initStatus = 1
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};
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DeviceDefaultParam dp = {{
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{"pump1", 1, 100, 100, 100},
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{"pump2", 2, 100, 100, 100},
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@ -112,7 +121,7 @@ void updateInitStatus(InitStatus_t status) {
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//modBUS RTU 写命令
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void writeCMD(uint8_t *txBuf, uint16_t *txLen) {
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void writeCMD(uint8_t *txBuf, uint16_t txLen) {
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}
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uint8_t SendToHost(uint8_t *txBuf, uint16_t txLen) {
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@ -706,15 +715,68 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
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}
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return 0;
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}
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void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen) {
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// 实现电机消息处理逻辑
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log_d("ProcessMotorMsg");
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}
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void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
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// 发送数据
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HAL_UART_Transmit_DMA(&huart2, txBuf, txLen);
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}
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void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
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// 实现打包消息到上位机逻辑
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// 帧头+功能码(2Byte)+数据长度(1Byte)+ 具体数据(NByte)+CRC16校验位+帧尾
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uint8_t msgBuf[64];//最大为4+2+1+15+2+4=28
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uint8_t len = 0;
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uint8_t dlen = 0;
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uint8_t index = 0;
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FillBigEndian32(msgBuf+4, FRAME_HEADER);
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FillBigEndian16(msgBuf+sizeof(FRAME_HEADER), funcCode);
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if(funcCode == HOST_CMD_STATUS_QUERY) {
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dlen = sizeof(DeviceStatus);
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index = sizeof(FRAME_HEADER)+2;
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msgBuf[index] = dlen;
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index += 1;
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memcpy(msgBuf+index, &deviceStatus, dlen);
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index += dlen;
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uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
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FillBigEndian16(msgBuf+index, crc);
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index += 2;
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FillBigEndian32(msgBuf+index, FRAME_TAIL);
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len = index+4;
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}
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else {
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dlen = 1;
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index = sizeof(FRAME_HEADER)+2;
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msgBuf[index] = dlen;
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index += 1;
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msgBuf[index] = isOK;
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index += 1;
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uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
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FillBigEndian16(msgBuf+index, crc);
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index += 2;
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FillBigEndian32(msgBuf+index, FRAME_TAIL);
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len = index+4;
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}
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// 发送数据
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sendMsgToHost(msgBuf, len);
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}
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CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
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// 检查命令是否正确
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if (memcmp(rxBuf, FRAME_HEADER, 4) != 0)
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// FRAME_HEADER是按小端序存储的，而rxBuf是按大端序存储的
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uint32_t header;
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FillBigEndian32(&header, FRAME_HEADER);
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uint32_t tail;
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FillBigEndian32(&tail, FRAME_TAIL);
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if(memcmp(rxBuf, &header, 4) != 0)
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{
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return CMD_FRAME_HEADER_ERROR;
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}
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if (memcmp(rxBuf + rxLen - 4, FRAME_TAIL, 4) != 0)
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if (memcmp(rxBuf + rxLen - 4, &tail, 4) != 0)
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{
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return CMD_FRAME_TAIL_ERROR;
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}
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@ -743,25 +805,25 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
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uint8_t *data = &rxBuf[sizeof(FRAME_HEADER)+3];//提取数据
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switch(cmdCode) {
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case CMD_STATUS_QUERY:
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case HOST_CMD_STATUS_QUERY:
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error = HandleStatusQuery();
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break;
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case CMD_VALVE_CTRL:
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case HOST_CMD_VALVE_CTRL:
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error = HandleValveControl(data, dataLen);
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break;
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case CMD_PUMP_RUN_TIME:
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case HOST_CMD_PUMP_RUN_TIME:
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error = HandlePumpTimeControl(data, dataLen);
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break;
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case CMD_PUMP_RUN_SPEED:
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case HOST_CMD_PUMP_RUN_SPEED:
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error = HandlePumpSpeedControl(data, dataLen);
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break;
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case CMD_SOFT_STOP:
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case HOST_CMD_SOFT_STOP:
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error = HandleSoftStop(data, dataLen);
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break;
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case CMD_PUMP_RUN_STEP:
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error = HandlePumpStep(data, dataLen);
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case HOST_CMD_PUMP_RUN_STEP:
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error = HandlePumpStepControl(data, dataLen);
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break;
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case CMD_SYSTEM_INIT:
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case HOST_CMD_SYSTEM_INIT:
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error = HandleInit();
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break;
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default:
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35
protocol.h
35
protocol.h
@ -1,6 +1,8 @@
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#ifndef PROTOCOL_H
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#define PROTOCOL_H
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#include "main.h"
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#include "usart.h"
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#include <stdint.h>
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#define LOG_TAG "motor"
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#include <elog.h>
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@ -10,13 +12,13 @@
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#define FRAME_TAIL 0x5AA5A55A
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// 功能码定义
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#define CMD_STATUS_QUERY 0x0001 // 状态查询
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#define CMD_VALVE_CTRL 0x0002 // 三通阀控制
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#define CMD_PUMP_RUN_TIME 0x0003 // 泵运行时长控制
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#define CMD_PUMP_RUN_SPEED 0x0004 // 泵运行速度设置
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#define CMD_SOFT_STOP 0x0005 // 软急停功能
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#define CMD_PUMP_RUN_STEP 0x0006 // 泵步进设置
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#define CMD_SYSTEM_INIT 0x0007 // 系统初始化
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#define HOST_CMD_STATUS_QUERY 0x0001 // 状态查询
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#define HOST_CMD_VALVE_CTRL 0x0002 // 三通阀控制
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#define HOST_CMD_PUMP_RUN_TIME 0x0003 // 泵运行时长控制
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#define HOST_CMD_PUMP_RUN_SPEED 0x0004 // 泵运行速度设置
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#define HOST_CMD_SOFT_STOP 0x0005 // 软急停功能
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#define HOST_CMD_PUMP_RUN_STEP 0x0006 // 泵步进设置
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#define HOST_CMD_SYSTEM_INIT 0x0007 // 系统初始化
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#define CMD_BR_SET 0x0008 // 波特率设置
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#define CMD_PR_SET 0x0009 // 通信协议设置
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// 命令帧错误码定义
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@ -379,24 +381,8 @@ typedef struct {
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} DeviceStatus;
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static uint8_t pumpName[2][10] = {
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"Pump1",
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"Pump2"
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};
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// 定义协议消息结构
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typedef struct {
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uint8_t device_id;
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uint8_t func;
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uint8_t reg_addr[2];
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uint8_t reg_cnt[2];
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uint8_t data_cnt;
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uint8_t data[];//柔性数组，大小由data_cnt决定
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// uint8_t crc[2];
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} RTU_Frame;
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typedef struct {
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uint8_t name[10];
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uint8_t name[20];
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uint8_t id;
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uint32_t maxSpeed;
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uint32_t maxAccel;
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@ -420,4 +406,5 @@ void InitDeviceStatus();
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void DecodePumpAlarmMsg(uint16_t reg4001);
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void DecodePumpStatusMsg(uint16_t reg4002);
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void UpdatePumpStatus();
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void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
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#endif // PROTOCOL_H
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