commit 37f4581ebbda8073375fb1615da44985279bebd8 Author: CSSC-WORK\murmur Date: Tue Dec 10 20:01:16 2024 +0800 init version diff --git a/protocol.c b/protocol.c new file mode 100644 index 0000000..60c9f3b --- /dev/null +++ b/protocol.c @@ -0,0 +1,276 @@ +#include "protocol.h" +#include + +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; +} \ No newline at end of file diff --git a/protocol.h b/protocol.h new file mode 100644 index 0000000..516fef7 --- /dev/null +++ b/protocol.h @@ -0,0 +1,147 @@ +#ifndef PROTOCOL_H +#define PROTOCOL_H + +#include + +// 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 \ No newline at end of file