init version
This commit is contained in:
CSSC-WORK\murmur
commit
37f4581ebb
276
protocol.c
Normal file
276
protocol.c
Normal file
@ -0,0 +1,276 @@
|
||||
#include "protocol.h"
|
||||
#include <string.h>
|
||||
|
||||
static DeviceStatus deviceStatus = {0};
|
||||
|
||||
// CRC16 查表法实现
|
||||
static const uint16_t crcTable[] = {
|
||||
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
|
||||
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
|
||||
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
|
||||
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
|
||||
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
|
||||
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
|
||||
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
|
||||
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
|
||||
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
|
||||
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
|
||||
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
|
||||
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
|
||||
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
|
||||
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
|
||||
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
|
||||
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
|
||||
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
|
||||
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
|
||||
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
|
||||
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
|
||||
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
|
||||
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
|
||||
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
|
||||
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
|
||||
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
|
||||
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
|
||||
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
|
||||
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
|
||||
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
|
||||
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
|
||||
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
|
||||
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
|
||||
};
|
||||
|
||||
uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
|
||||
uint16_t crc = 0xFFFF;
|
||||
|
||||
for (uint16_t i = 0; i < length; i++) {
|
||||
uint8_t index = (crc ^ data[i]) & 0xFF;
|
||||
crc = (crc >> 8) ^ crcTable[index];
|
||||
}
|
||||
|
||||
return crc;
|
||||
}
|
||||
|
||||
// 更新下挂设备状态
|
||||
void updateDeviceStatus(DeviceStatus_t status) {
|
||||
deviceStatus.deviceStatus = status;
|
||||
}
|
||||
// 更新三通阀状态
|
||||
void updateValveStatus(uint8_t index, ValveAngle_t angle) {
|
||||
if (index == 1) {
|
||||
deviceStatus.valves.angle1 = angle;
|
||||
} else if (index == 2) {
|
||||
deviceStatus.valves.angle2 = angle;
|
||||
}
|
||||
}
|
||||
|
||||
// 更新泵状态
|
||||
void updatePumpStatus(uint8_t index, PumpStatus_t status) {
|
||||
if (index == 1) {
|
||||
deviceStatus.pumps.status1 = status;
|
||||
} else if (index == 2) {
|
||||
deviceStatus.pumps.status2 = status;
|
||||
}
|
||||
}
|
||||
|
||||
// 更新泵速度状态
|
||||
void updatePumpSpeedStatus(uint8_t index, uint8_t speed) {
|
||||
if (index == 1) {
|
||||
deviceStatus.pumps.speed1 = speed;
|
||||
} else if (index == 2) {
|
||||
deviceStatus.pumps.speed2 = speed;
|
||||
}
|
||||
}
|
||||
|
||||
// 更新气泡传感器读数
|
||||
void updateBubbleSensor(BubbleStatus_t value) {
|
||||
deviceStatus.bubbleStatus = value;
|
||||
}
|
||||
|
||||
// 更新急停状态
|
||||
void updateEmergencyStop(EstopStatus_t status) {
|
||||
deviceStatus.stopStatus = status;
|
||||
}
|
||||
// 更新错误码
|
||||
void updateErrorCode(ErrorCode_t errorCode) {
|
||||
deviceStatus.errorCode = errorCode;
|
||||
}
|
||||
|
||||
// 更新初始化状态
|
||||
void updateInitStatus(InitStatus_t status) {
|
||||
deviceStatus.initStatus = status;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// 初始化设备状态
|
||||
void InitDeviceStatus() {
|
||||
// 更新设备状态
|
||||
updateDeviceStatus(DEVICE_ONLINE);
|
||||
updateValveStatus(1, 120);
|
||||
updateValveStatus(2, 210);
|
||||
updatePumpStatus(1, PUMP_CLOCKWISE);
|
||||
updatePumpStatus(2, PUMP_ANTICLOCKWISE);
|
||||
updatePumpSpeedStatus(1, 100);
|
||||
updatePumpSpeedStatus(2, 100);
|
||||
updateBubbleSensor(BUBBLE_DETECTED);
|
||||
updateEmergencyStop(ESTOP_NORMAL);
|
||||
updateInitStatus(INIT_SUCCESS);
|
||||
}
|
||||
|
||||
// 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
|
||||
void UpdateDeviceStatus() {
|
||||
// 更新设备状态
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
// 状态查询处理
|
||||
static uint8_t HandleStatusQuery(uint8_t *txBuf) {
|
||||
// 填充并返回数据
|
||||
memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus));
|
||||
return sizeof(DeviceStatus);
|
||||
}
|
||||
|
||||
//modBUS RTU 写命令
|
||||
void writeCMD(uint8_t *txBuf, uint16_t *txLen) {
|
||||
}
|
||||
|
||||
|
||||
// 三通阀控制处理
|
||||
static uint8_t HandleValveControl(uint8_t index, ValveAngle_t angle) {
|
||||
// 实现三通阀控制逻辑
|
||||
|
||||
updateValveStatus(index, angle);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 泵时长控制处理
|
||||
static uint8_t HandlePumpTimeControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
|
||||
// 实现泵时长控制逻辑
|
||||
*txLen = 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 泵速度设置处理
|
||||
static uint8_t HandlePumpSpeedControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
|
||||
// 实现泵速度设置逻辑
|
||||
*txLen = 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 软急停功能处理
|
||||
static uint8_t HandleSoftStop(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
|
||||
// 实现软急停功能逻辑
|
||||
*txLen = 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 判断系统大端序还是小端序
|
||||
static uint8_t IsBigEndian() {
|
||||
uint32_t num = 0x12345678;
|
||||
return ((*(uint8_t*)&num) == 0x12);
|
||||
}
|
||||
// 将数据按大端序填充
|
||||
static void FillBigEndian32(uint8_t *data, uint16_t len, uint32_t value) {
|
||||
if(!IsBigEndian()) {
|
||||
for(uint16_t i = 0; i < len; i++) {
|
||||
data[i] = (value >> ((len - i - 1) * 8)) & 0xFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
static void FillBigEndian16(uint8_t *data, uint16_t len, uint16_t value) {
|
||||
if(!IsBigEndian()) {
|
||||
for(uint16_t i = 0; i < len; i++) {
|
||||
data[i] = (value >> ((len - i - 1) * 8)) & 0xFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 泵步进设置处理
|
||||
static uint8_t HandlePumpStep(uint8_t index, int32_t step) {
|
||||
// 实现泵步进设置逻辑
|
||||
|
||||
RTU_Frame frame;
|
||||
frame.data_cnt = 2;
|
||||
uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);
|
||||
|
||||
frame.device_id = 1;
|
||||
frame.func = RTU_PUMP_FUNC_WRITE_REG;
|
||||
frame.reg_addr[0] = RTU_PUMP_CMD_DI>>8;
|
||||
frame.reg_addr[1] = RTU_PUMP_CMD_DI&0xFF;
|
||||
frame.reg_cnt[0] = 0;
|
||||
frame.reg_cnt[1] = 2;
|
||||
|
||||
// step为int32，正负表示方向，绝对值表示步数
|
||||
if(step > 0) {
|
||||
frame.data[0] = step>>24;
|
||||
frame.data[1] = step>>16;
|
||||
frame.data[2] = step>>8;
|
||||
frame.data[3] = step;
|
||||
} else {
|
||||
frame.data[0] = 0;
|
||||
frame.data[1] = 0;
|
||||
frame.data[2] = 0;
|
||||
frame.data[3] = 0;
|
||||
}
|
||||
|
||||
uint16_t crc = CalculateCRC16(&frame.func, len -sizeof(frame.device_id)-sizeof(frame.crc));
|
||||
// 大端序填充
|
||||
frame.crc[0] = (crc >> 8) & 0xFF;
|
||||
frame.crc[1] = crc & 0xFF;
|
||||
|
||||
writeCMD(&frame, len);
|
||||
|
||||
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 初始化处理
|
||||
static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
|
||||
// 实现初始化逻辑
|
||||
*txLen = 1;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 主命令处理函数
|
||||
uint8_t ProcessCommand(uint8_t *rxBuf, uint16_t rxLen, uint8_t *txBuf, uint16_t *txLen) {
|
||||
uint16_t cmdCode = (rxBuf[0] << 8) | rxBuf[1];
|
||||
uint8_t dataLen = rxBuf[2];
|
||||
uint8_t *data = &rxBuf[3];
|
||||
uint8_t result = 0;
|
||||
|
||||
switch(cmdCode) {
|
||||
case CMD_STATUS_QUERY:
|
||||
result = HandleStatusQuery(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_VALVE_CTRL:
|
||||
result = HandleValveControl(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_PUMP_RUN_TIME:
|
||||
result = HandlePumpTimeControl(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_PUMP_RUN_SPEED:
|
||||
result = HandlePumpSpeedControl(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_SOFT_STOP:
|
||||
result = HandleSoftStop(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_PUMP_RUN_STEP:
|
||||
result = HandlePumpStep(data, txBuf, txLen);
|
||||
break;
|
||||
case CMD_SYSTEM_INIT:
|
||||
result = HandleInit(data, txBuf, txLen);
|
||||
break;
|
||||
default:
|
||||
*txLen = 1;
|
||||
txBuf[0] = 0;
|
||||
result = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
147
protocol.h
Normal file
147
protocol.h
Normal file
@ -0,0 +1,147 @@
|
||||
#ifndef PROTOCOL_H
|
||||
#define PROTOCOL_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
// 帧头帧尾定义
|
||||
#define FRAME_HEADER 0xA55A5AA5
|
||||
#define FRAME_TAIL 0x5AA5A55A
|
||||
|
||||
// 功能码定义
|
||||
#define CMD_STATUS_QUERY 0x0001 // 状态查询
|
||||
#define CMD_VALVE_CTRL 0x0002 // 三通阀控制
|
||||
#define 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 CMD_SOFT_STOP 0x0005 // 软急停功能
|
||||
#define CMD_PUMP_RUN_STEP 0x0006 // 泵步进设置
|
||||
#define CMD_SYSTEM_INIT 0x0007 // 系统初始化
|
||||
|
||||
|
||||
// MOONS’驱动器支持的Modbus功能码如下：
|
||||
// 0x03：读取保持寄存器
|
||||
// 0x06：写单个寄存器
|
||||
// 0x10：写多个寄存器
|
||||
#define RTU_PUMP_FUNC_READ_REG 0x03 // 读取保持寄存器
|
||||
#define RTU_PUMP_FUNC_WRITE_REG 0x06 // 写单个寄存器
|
||||
#define RTU_PUMP_FUNC_WRITE_MULTI_REG 0x10 // 写多个寄存器
|
||||
|
||||
/* 设置加速度、减速度、速度和目标位置，对应MOONS’ SCL指令如下：
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
| SCL指令 | 设定数值 | 单位 | 寄存器地址 | 十六进制格式 | 写入寄存器值 | 说明 |
|
||||
| | | | | 寄存器地址 | | |
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
| AC | 100 | Rps/sec | 40028 | 001B | 600 | 预设置加速度为100，需要对寄存器40028 |
|
||||
| | | | | | | 写入600(0x0258) |
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
| DE | 100 | Rps/sec | 40029 | 001C | 600 | 预设置减速度为100，需要对寄存器40029 |
|
||||
| | | | | | | 写入600(0x0258) |
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
| VE | 1 | Rps | 40030 | 001D | 240 | 预设置速度为1，需要对寄存器40030写入 |
|
||||
| | | | | | | 240(0x00F0) |
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
| DI | 200000 | Counts | 40031,40032 | 001E,001F | 200000 | 预设定目标位置为200000，需要对40031和40032寄存器 |
|
||||
| | | | | | | 写入200000(0x00030D40) |
|
||||
+----------+----------+----------+--------------+--------------+--------------+--------------------------------------------------+
|
||||
*/
|
||||
|
||||
#define RTU_PUMP_CMD_AC 0x001B // 加速度
|
||||
#define RTU_PUMP_CMD_DE 0x001C // 减速度
|
||||
#define RTU_PUMP_CMD_VE 0x001D // 速度
|
||||
#define RTU_PUMP_CMD_DI 0x001E // 目标位置
|
||||
|
||||
|
||||
// 错误码定义
|
||||
typedef enum {
|
||||
ERR_NONE = 0x00,
|
||||
ERR_COMM = 0x01,
|
||||
ERR_CTRL = 0x02,
|
||||
// 其他错误码待定
|
||||
} ErrorCode_t;
|
||||
|
||||
// 设备状态相关定义
|
||||
|
||||
// 1. 下挂设备状态
|
||||
typedef enum {
|
||||
DEVICE_OFFLINE = 0,
|
||||
DEVICE_ONLINE = 1
|
||||
} DeviceStatus_t;
|
||||
|
||||
// 2. 三通阀角度
|
||||
typedef enum {
|
||||
VALVE_ANGLE_120 = 120,
|
||||
VALVE_ANGLE_210 = 210
|
||||
} ValveAngle_t;
|
||||
|
||||
// 3. 泵状态
|
||||
typedef enum {
|
||||
PUMP_STOP = 0,
|
||||
PUMP_CLOCKWISE = 1,
|
||||
PUMP_ANTICLOCKWISE = 2
|
||||
} PumpStatus_t;
|
||||
|
||||
// 4. 泵速度范围
|
||||
#define PUMP_SPEED_MIN 0
|
||||
#define PUMP_SPEED_MAX 100
|
||||
|
||||
// 5. 气泡状态
|
||||
typedef enum {
|
||||
BUBBLE_NONE = 0,
|
||||
BUBBLE_DETECTED = 1
|
||||
} BubbleStatus_t;
|
||||
|
||||
// 6. 急停按键状态
|
||||
typedef enum {
|
||||
ESTOP_NORMAL = 0,
|
||||
ESTOP_PRESSED = 1
|
||||
} EstopStatus_t;
|
||||
|
||||
// 7. 初始化状态
|
||||
typedef enum {
|
||||
INIT_IN_PROGRESS = 0,
|
||||
INIT_SUCCESS = 1,
|
||||
INIT_FAILED = 2
|
||||
} InitStatus_t;
|
||||
|
||||
// 三通阀结构体
|
||||
typedef struct {
|
||||
uint8_t angle1; // 阀门1角度 (120/210)
|
||||
uint8_t angle2; // 阀门2角度 (120/210)
|
||||
} ValveStatus;
|
||||
|
||||
// 泵结构体
|
||||
typedef struct {
|
||||
uint8_t status1; // 泵1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 speed1; // 泵1速度百分比 (0-100)
|
||||
uint8_t speed2; // 泵2速度百分比 (0-100)
|
||||
} PumpStatus;
|
||||
|
||||
// 设备状态结构体
|
||||
typedef struct {
|
||||
uint8_t deviceStatus; // 下挂设备状态
|
||||
ValveStatus valves; // 两个三通阀状态
|
||||
PumpStatus pumps; // 两个泵状态
|
||||
uint8_t bubbleStatus; // 气泡状态
|
||||
uint8_t stopStatus; // 急停状态
|
||||
uint8_t errorCode; // 错误码
|
||||
uint8_t initStatus; // 初始化状态
|
||||
} DeviceStatus;
|
||||
|
||||
|
||||
// 定义协议消息结构
|
||||
typedef struct {
|
||||
uint8_t device_id;
|
||||
uint8_t func;
|
||||
uint8_t reg_addr[2];
|
||||
uint8_t reg_cnt[2];
|
||||
uint8_t data_cnt;
|
||||
uint8_t data[0];//柔性数组，大小由data_cnt决定
|
||||
uint8_t crc[2];
|
||||
} RTU_Frame;
|
||||
|
||||
|
||||
// 函数声明
|
||||
uint8_t ProcessCommand(uint8_t *rxBuf, uint16_t rxLen, uint8_t *txBuf, uint16_t *txLen);
|
||||
uint16_t CalculateCRC16(uint8_t *data, uint16_t length);
|
||||
|
||||
#endif // PROTOCOL_H
|
||||
Loading…
Reference in New Issue
Block a user