fix bugs

protocol.c

@@ -1,7 +1,16 @@
 #include "protocol.h"
 #include <string.h>
 
-static DeviceStatus deviceStatus = {0};
+static DeviceStatus deviceStatus = {
+    .deviceStatus = 1,
+    .valves = {210, 120},
+    .pumps = {0, 0, 50, 50},
+    .bubbleStatus = 0,
+    .stopStatus = 0,
+    .errorCode = 0,
+    .initStatus = 1
+};
+
 DeviceDefaultParam dp = {{
     {"pump1", 1, 100, 100, 100},
     {"pump2", 2, 100, 100, 100},
@@ -112,7 +121,7 @@ void updateInitStatus(InitStatus_t status) {
 
 
 //modBUS RTU 写命令
-void writeCMD(uint8_t *txBuf, uint16_t *txLen) {
+void writeCMD(uint8_t *txBuf, uint16_t txLen) {
 }
 
 uint8_t SendToHost(uint8_t *txBuf, uint16_t txLen) {
@@ -706,15 +715,68 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
     }
     return 0;
 }
-
+void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen) {
+    // 实现电机消息处理逻辑
+    log_d("ProcessMotorMsg");
+}
+void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
+    // 发送数据
+    HAL_UART_Transmit_DMA(&huart2, txBuf, txLen);
+}
+void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
+    // 实现打包消息到上位机逻辑
+    // 帧头+功能码(2Byte)+数据长度(1Byte)+ 具体数据(NByte)+CRC16校验位+帧尾
+    uint8_t msgBuf[64];//最大为4+2+1+15+2+4=28
+    uint8_t len = 0;
+    uint8_t dlen = 0;
+    uint8_t index = 0;
+    FillBigEndian32(msgBuf+4, FRAME_HEADER);
+    FillBigEndian16(msgBuf+sizeof(FRAME_HEADER), funcCode);
+    
+    if(funcCode == HOST_CMD_STATUS_QUERY) {
+        dlen = sizeof(DeviceStatus);
+        index = sizeof(FRAME_HEADER)+2;
+        msgBuf[index] = dlen;
+        index += 1;
+        memcpy(msgBuf+index, &deviceStatus, dlen);
+        index += dlen;
+        uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
+        FillBigEndian16(msgBuf+index, crc);
+        index += 2;
+        FillBigEndian32(msgBuf+index, FRAME_TAIL);
+        len = index+4;
+    }
+    else {
+        dlen = 1;
+        index = sizeof(FRAME_HEADER)+2;
+        msgBuf[index] = dlen;
+        index += 1;
+        msgBuf[index] = isOK;
+        index += 1;
+        uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
+        FillBigEndian16(msgBuf+index, crc);
+        index += 2;
+        FillBigEndian32(msgBuf+index, FRAME_TAIL);
+        len = index+4;
+    }
+    // 发送数据
+    sendMsgToHost(msgBuf, len);
+}
 
 CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
     // 检查命令是否正确
-    if (memcmp(rxBuf, FRAME_HEADER, 4) != 0)
+    // FRAME_HEADER是按小端序存储的，而rxBuf是按大端序存储的
+    uint32_t header;
+    FillBigEndian32(&header, FRAME_HEADER);
+    uint32_t tail;
+    FillBigEndian32(&tail, FRAME_TAIL);
+
+    if(memcmp(rxBuf, &header, 4) != 0)
     {
         return CMD_FRAME_HEADER_ERROR;
     }
-    if (memcmp(rxBuf + rxLen - 4, FRAME_TAIL, 4) != 0)
+    
+    if (memcmp(rxBuf + rxLen - 4, &tail, 4) != 0)
     {
         return CMD_FRAME_TAIL_ERROR;
     }
@@ -743,25 +805,25 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
     uint8_t *data = &rxBuf[sizeof(FRAME_HEADER)+3];//提取数据
 
     switch(cmdCode) {
-        case CMD_STATUS_QUERY:
+        case HOST_CMD_STATUS_QUERY:
             error = HandleStatusQuery();
             break;
-        case CMD_VALVE_CTRL:
+        case HOST_CMD_VALVE_CTRL:
             error = HandleValveControl(data, dataLen);
             break;
-        case CMD_PUMP_RUN_TIME:
+        case HOST_CMD_PUMP_RUN_TIME:
             error = HandlePumpTimeControl(data, dataLen);
             break;
-        case CMD_PUMP_RUN_SPEED:
+        case HOST_CMD_PUMP_RUN_SPEED:
             error = HandlePumpSpeedControl(data, dataLen);
             break;
-        case CMD_SOFT_STOP:
+        case HOST_CMD_SOFT_STOP:
             error = HandleSoftStop(data, dataLen);
             break;
-        case CMD_PUMP_RUN_STEP:
+        case HOST_CMD_PUMP_RUN_STEP:
-            error = HandlePumpStep(data, dataLen);
+            error = HandlePumpStepControl(data, dataLen);
             break;
-        case CMD_SYSTEM_INIT:
+        case HOST_CMD_SYSTEM_INIT:
             error = HandleInit();
             break;
         default:

protocol.h

@@ -1,6 +1,8 @@
 #ifndef PROTOCOL_H
 #define PROTOCOL_H
 
+#include "main.h"
+#include "usart.h"
 #include <stdint.h>
 #define LOG_TAG    "motor"
 #include <elog.h>
@@ -10,13 +12,13 @@
 #define FRAME_TAIL              0x5AA5A55A
 
 // 功能码定义
-#define CMD_STATUS_QUERY        0x0001  // 状态查询
+#define HOST_CMD_STATUS_QUERY        0x0001  // 状态查询
-#define CMD_VALVE_CTRL          0x0002  // 三通阀控制
+#define HOST_CMD_VALVE_CTRL          0x0002  // 三通阀控制
-#define CMD_PUMP_RUN_TIME       0x0003  // 泵运行时长控制
+#define HOST_CMD_PUMP_RUN_TIME       0x0003  // 泵运行时长控制
-#define CMD_PUMP_RUN_SPEED      0x0004  // 泵运行速度设置
+#define HOST_CMD_PUMP_RUN_SPEED      0x0004  // 泵运行速度设置
-#define CMD_SOFT_STOP           0x0005  // 软急停功能
+#define HOST_CMD_SOFT_STOP           0x0005  // 软急停功能
-#define CMD_PUMP_RUN_STEP       0x0006  // 泵步进设置
+#define HOST_CMD_PUMP_RUN_STEP       0x0006  // 泵步进设置
-#define CMD_SYSTEM_INIT         0x0007  // 系统初始化
+#define HOST_CMD_SYSTEM_INIT         0x0007  // 系统初始化
 #define CMD_BR_SET              0x0008  // 波特率设置
 #define CMD_PR_SET              0x0009  // 通信协议设置
 // 命令帧错误码定义
@@ -379,24 +381,8 @@ typedef struct {
 } DeviceStatus;
 
 
-static uint8_t pumpName[2][10] = {
-    "Pump1",
-    "Pump2"
-};
-
-// 定义协议消息结构
 typedef struct {
-    uint8_t device_id;
+    uint8_t name[20];
-    uint8_t func;
-    uint8_t reg_addr[2];
-    uint8_t reg_cnt[2];
-    uint8_t data_cnt;
-    uint8_t data[];//柔性数组，大小由data_cnt决定
-    // uint8_t crc[2];
-} RTU_Frame;
-
-typedef struct {
-    uint8_t name[10];
     uint8_t id;
     uint32_t maxSpeed;
     uint32_t maxAccel;
@@ -420,4 +406,5 @@ void InitDeviceStatus();
 void DecodePumpAlarmMsg(uint16_t reg4001);
 void DecodePumpStatusMsg(uint16_t reg4002);
 void UpdatePumpStatus();
+void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
 #endif // PROTOCOL_H