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add function

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CSSC-WORK\murmur 2024-12-23 15:52:28 +08:00
parent dee9ff6204
commit 4e8fd78421
2 changed files with 205 additions and 52 deletions
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protocol.c
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@ -11,6 +11,8 @@ DeviceStatus deviceStatus = {
.initStatus = 1 .initStatus = 1
}; };
uint8_t isValveMovingBackToOrigin = 0;
DeviceParam dp = { DeviceParam dp = {
.pump = { .pump = {
{"pump1", 4, 60, 100, 100}, {"pump1", 4, 60, 100, 100},
@ -176,8 +178,9 @@ void updateInitStatus(InitStatus_t status) {
* *
* @param txBuf 发送数据缓冲区 * @param txBuf 发送数据缓冲区
* @param txLen 发送数据长度 * @param txLen 发送数据长度
* @return 0:成功 其他:失败
*/ */
void writeCMD(uint8_t *txBuf, uint16_t txLen) { static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
printf("writeCMD: "); printf("writeCMD: ");
for(uint16_t i = 0; i < txLen; i++) { for(uint16_t i = 0; i < txLen; i++) {
printf("%02X ", txBuf[i]); printf("%02X ", txBuf[i]);
@ -189,7 +192,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
transDataToMotorValve(txBuf, txLen); transDataToMotorValve(txBuf, txLen);
uint8_t rxBuf[30] = {0}; uint8_t rxBuf[30] = {0};
uint16_t rxLen = txLen; uint16_t rxLen = txLen;
uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, 50); uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
if(memcmp(rxBuf, txBuf, 2) != 0) { if(memcmp(rxBuf, txBuf, 2) != 0) {
log_e("writeCMD error"); log_e("writeCMD error");
printf("%d readCMD: ", rst); printf("%d readCMD: ", rst);
@ -197,7 +200,9 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
printf("%02X ", rxBuf[i]); printf("%02X ", rxBuf[i]);
} }
printf("\r\n"); printf("\r\n");
return 1;
} }
return 0;
} }
/** /**
@ -210,7 +215,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) { void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
// 发送数据 // 发送数据
// HAL_UART_Transmit_DMA(&huart1, txBuf, txLen); // HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
// transDataToHost(txBuf, txLen); transDataToHost(txBuf, txLen);
} }
@ -270,12 +275,12 @@ uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
writeCMD(data, 8); writeCMD(data, 8);
uint8_t rxBuf[30] = {0}; uint8_t rxBuf[30] = {0};
uint16_t rxLen = 8; uint16_t rxLen = 8;
uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, 50); uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
return rxBuf[3]<<8|rxBuf[4]; return rxBuf[3]<<8|rxBuf[4];
} }
uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) { uint32_t ReadPump2Reg(uint8_t index, uint16_t reg) {
uint8_t data[8] = {0}; uint8_t data[12] = {0};
data[0] = index; data[0] = index;
data[1] = RTU_FUNC_READ_HOLD_REG; data[1] = RTU_FUNC_READ_HOLD_REG;
FillBigEndian16(&data[2], reg); FillBigEndian16(&data[2], reg);
@ -285,7 +290,12 @@ uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
// 小端序填充 // 小端序填充
memcpy(&data[6], &crc, 2); memcpy(&data[6], &crc, 2);
writeCMD(data, 8); writeCMD(data, 12);
uint8_t rxBuf[30] = {0};
uint16_t rxLen = 12;
uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT*2);
// 逻辑需进一步完善
return rxBuf[6]<<24|rxBuf[7]<<16|rxBuf[8]<<8|rxBuf[9];
} }
/* /*
@ -307,7 +317,7 @@ uint8_t WritePump1Reg(uint8_t id, uint16_t reg, int16_t value) {
// 小端序填充 // 小端序填充
memcpy(&data[6], &crc, 2); memcpy(&data[6], &crc, 2);
writeCMD(data, 8); return writeCMD(data, 8);
} }
/* /*
@ -331,7 +341,7 @@ uint8_t WritePump2Reg(uint8_t id , uint16_t reg, int32_t value) {
// 小端序填充 // 小端序填充
memcpy(&data[11], &crc, 2); memcpy(&data[11], &crc, 2);
writeCMD(data, 13); return writeCMD(data, 13);
} }
/* /*
@ -354,7 +364,7 @@ uint8_t WritePump2Reg(uint8_t id , uint16_t reg, int32_t value) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) { static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
WritePump1Reg(index, RTU_PUMP_CMD_JA, acc*PUMP_ACCEL_RPS); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JA, acc*PUMP_ACCEL_RPS);
} }
/** /**
@ -365,7 +375,7 @@ static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) { static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
WritePump1Reg(index, RTU_PUMP_CMD_JL, dec*PUMP_DECEL_RPS); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JL, dec*PUMP_DECEL_RPS);
} }
/** /**
@ -376,14 +386,14 @@ static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpJogSpeed(uint8_t index, uint16_t speed) { static uint8_t SetPumpJogSpeed(uint8_t index, uint16_t speed) {
WritePump1Reg(index, RTU_PUMP_CMD_JS, speed*PUMP_SPEED_RPS); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JS, speed*PUMP_SPEED_RPS);
} }
// Jog=慢跑 // Jog=慢跑
// CJ=start jogging // CJ=start jogging
// 写入命令操作码寄存器(40125)数据0x0096(CJ)，即执行启动Jog控制 // 写入命令操作码寄存器(40125)数据0x0096(CJ)，即执行启动Jog控制
static uint8_t StartPumpJog(uint8_t index) { static uint8_t StartPumpJog(uint8_t index) {
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0096); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0096);
} }
// SJ=stop jogging // SJ=stop jogging
@ -391,7 +401,7 @@ static uint8_t StartPumpJog(uint8_t index) {
// CJ与SJ一一对应，单次SJ无法停止所有全部CJ // CJ与SJ一一对应，单次SJ无法停止所有全部CJ
// 直接停止泵需要使用SK命令 // 直接停止泵需要使用SK命令
static uint8_t StopPumpJog(uint8_t index) { static uint8_t StopPumpJog(uint8_t index) {
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00D8); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00D8);
} }
/* /*
@ -415,7 +425,7 @@ static uint8_t StopPumpJog(uint8_t index) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) { static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
WritePump1Reg(index, RTU_PUMP_CMD_AC, acc*PUMP_ACCEL_RPS); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_AC, acc*PUMP_ACCEL_RPS);
} }
/** /**
* 设置泵的步进减速度 * 设置泵的步进减速度
@ -425,7 +435,7 @@ static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) { static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
WritePump1Reg(index, RTU_PUMP_CMD_DE, dec*PUMP_DECEL_RPS); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_DE, dec*PUMP_DECEL_RPS);
} }
/** /**
* 设置泵的步进速度 * 设置泵的步进速度
@ -438,8 +448,7 @@ static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) { static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
// 速度类寄存器参数设定值单位为 1/240 rps // 速度类寄存器参数设定值单位为 1/240 rps
speed = speed * PUMP_SPEED_RPS; speed = speed * PUMP_SPEED_RPS;
WritePump1Reg(index, RTU_PUMP_CMD_VE, speed); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_VE, speed);
return 0;
} }
/** /**
* 设置泵的步进目标位置 * 设置泵的步进目标位置
@ -449,7 +458,7 @@ static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) { static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) {
WritePump2Reg(dp.pump[index].id, RTU_PUMP_CMD_DI, target); return WritePump2Reg(dp.pump[index].id, RTU_PUMP_CMD_DI, target);
} }
/** /**
@ -460,7 +469,7 @@ static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t StartPumpRelativeMove(uint8_t index) { static uint8_t StartPumpRelativeMove(uint8_t index) {
WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0066); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0066);
} }
/** /**
@ -471,7 +480,7 @@ static uint8_t StartPumpRelativeMove(uint8_t index) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t StartPumpAbsoluteMove(uint8_t index) { static uint8_t StartPumpAbsoluteMove(uint8_t index) {
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0067);
} }
/** /**
@ -482,7 +491,7 @@ static uint8_t StartPumpAbsoluteMove(uint8_t index) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t StopPump(uint8_t index) { static uint8_t StopPump(uint8_t index) {
WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00E1); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00E1);
} }
/** /**
@ -492,7 +501,7 @@ static uint8_t StopPump(uint8_t index) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
uint8_t ReadPumpHWReg(uint8_t index) { uint8_t ReadPumpHWReg(uint8_t index) {
ReadPump1Reg(index, RTU_PUMP_CMD_HW); return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_HW);
} }
/** /**
* 设置泵的通信波特率 * 设置泵的通信波特率
@ -502,7 +511,7 @@ uint8_t ReadPumpHWReg(uint8_t index) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
uint8_t SetPumpBR(uint8_t index, uint16_t br) { uint8_t SetPumpBR(uint8_t index, uint16_t br) {
WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_BR, br); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_BR, br);
} }
/** /**
* 设置泵的通信协议 * 设置泵的通信协议
@ -512,7 +521,7 @@ uint8_t SetPumpBR(uint8_t index, uint16_t br) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
uint8_t SetPumpPR(uint8_t index, uint16_t pr) { uint8_t SetPumpPR(uint8_t index, uint16_t pr) {
WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_PR, pr); return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_PR, pr);
} }
/** /**
@ -618,19 +627,20 @@ void UpdatePumpStatus() {
uint8_t InitPump(void) { uint8_t InitPump(void) {
// 初始化泵 // 初始化泵
log_e("InitPump"); log_e("InitPump");
SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel); uint8_t rst = 0;
SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel); rst |= SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); rst |= SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel); rst |= SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel); rst |= SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); rst |= SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
rst |= SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel); rst |= SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel); rst |= SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); rst |= SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel); rst |= SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel); rst |= SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); rst |= SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
uint16_t reg4001 = ReadPumpAlarm(0); uint16_t reg4001 = ReadPumpAlarm(0);
DecodePumpAlarmMsg(reg4001); DecodePumpAlarmMsg(reg4001);
@ -641,6 +651,8 @@ uint8_t InitPump(void) {
DecodePumpAlarmMsg(reg4001); DecodePumpAlarmMsg(reg4001);
reg4002 = ReadPumpStatus(1); reg4002 = ReadPumpStatus(1);
DecodePumpStatusMsg(reg4002); DecodePumpStatusMsg(reg4002);
return rst;
} }
@ -684,6 +696,60 @@ void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2
void (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg; void (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg;
void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg; void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
/**
* 读取阀门1个输入寄存器
*
* @param index 阀门索引
* @param reg 寄存器地址
* @return 寄存器值
*/
uint16_t ReadValve1InputReg(uint8_t index, uint16_t reg)
{
uint8_t data[8] = {0};
data[0] = index;
data[1] = RTU_FUNC_READ_INPUT_REG;
FillBigEndian16(&data[2], reg);
FillBigEndian16(&data[4], 1);
uint16_t crc = CalculateCRC16(data, 6);
// 小端序填充
memcpy(&data[6], &crc, 2);
writeCMD(data, 8);
uint8_t rxBuf[30] = {0};
uint16_t rxLen = 8;
uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
return rxBuf[3]<<8|rxBuf[4];
}
/**
* 读取阀门2个输入寄存器
*
* @param index 阀门索引
* @param reg 寄存器地址
* @return 寄存器值
*/
uint32_t ReadValve2InputReg(uint8_t index, uint16_t reg)
{
uint8_t data[8] = {0};
data[0] = index;
data[1] = RTU_FUNC_READ_INPUT_REG;
FillBigEndian16(&data[2], reg);
FillBigEndian16(&data[4], 2);
uint16_t crc = CalculateCRC16(data, 6);
// 小端序填充
memcpy(&data[6], &crc, 2);
writeCMD(data, 8);
uint8_t rxBuf[30] = {0};
uint16_t rxLen = 9;
uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
return rxBuf[3]<<24|rxBuf[4]<<16|rxBuf[5]<<8|rxBuf[6];
}
/** /**
* 设置阀门通信模式 * 设置阀门通信模式
* *
@ -692,7 +758,7 @@ void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) { static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode); return WriteValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode);
} }
/** /**
@ -703,7 +769,7 @@ static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) { static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode); return WriteValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode);
} }
// PP=轮廓位置模式 // PP=轮廓位置模式
@ -715,7 +781,7 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) { static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos);
} }
/** /**
@ -726,7 +792,7 @@ static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) { static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed);
} }
/** /**
@ -737,7 +803,7 @@ static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) { static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc);
} }
/** /**
@ -748,7 +814,7 @@ static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) { static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec);
} }
// HM=原点回归模式 // HM=原点回归模式
@ -760,7 +826,7 @@ static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) { static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode); return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode);
} }
/** /**
@ -771,7 +837,7 @@ static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) { static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
} }
/** /**
@ -782,7 +848,7 @@ static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) { static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
} }
/** /**
@ -793,7 +859,7 @@ static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) { static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc); return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc);
} }
/** /**
@ -804,7 +870,7 @@ static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveFunc(uint8_t index, uint16_t func) { static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func); return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func);
} }
/** /**
@ -815,7 +881,7 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) { static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10); return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
} }
/** /**
@ -826,9 +892,54 @@ static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) { static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10); return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10);
} }
/**
* 读取阀门位置
*
* @param index 阀门索引
* @return 位置值(用户单位)
*/
static uint32_t ReadValvePos(uint8_t index) {
return ReadValve2InputReg(index, RTU_VALVE_CMD_POS);
}
/**
* 检查原点回归结果
* @return 0:成功 1:运动中 2:失败
*/
static uint8_t valveCheckBTOResult(uint8_t index, uint32_t startTime)
{
static uint32_t ts = HAL_GetTick();
if (HAL_GetTick() - startTime > 1000*20) {
// 超时=失败
return 2;
}
uint16_t rst = ReadValve1InputReg(index,RTU_VALVE_CMD_SC);
// 如果原点回归完成，状态字第12位会从0变为1，
// 如果原点回归失败，状态字第13位会从0变为1。
// 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 & 0x0001<<12) {
// 成功
uint32_t pos = ReadValvePos(index);
if(pos > 200 || pos < (VALVE_PULSE_PER_ROUND-200)) {
// 位置超出范围
return 2;
}
return 0;
}
if(rst & 0x0001<<13) {
// 失败
return 2;
}
// 运动中，未超时
return 1;
}
/** /**
* 阀门回归原点控制 * 阀门回归原点控制
* 包含设置原点回归方式、堵转检测、运行模式等配置 * 包含设置原点回归方式、堵转检测、运行模式等配置
@ -874,7 +985,7 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
* @param index 阀门索引 * @param index 阀门索引
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
uint8_t ValveRunInit(uint8_t index) { uint8_t ValvePPInit(uint8_t index) {
printf("set mode to PP\r\n"); printf("set mode to PP\r\n");
// 1.配置模式： // 1.配置模式：
// 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式； // 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
@ -955,9 +1066,49 @@ void InitDeviceStatus() {
updateInitStatus(INIT_SUCCESS); updateInitStatus(INIT_SUCCESS);
} }
void updateValveStatus(uint8_t index)
{
// 检查是否回归成功
static uint32_t st = HAL_GetTick();
if (isValveMovingBackToOrigin)
{
uint8_t rst = valveCheckBTOResult(index,st);
switch (rst)
{
case 0:
log_i("BTO success!");
updateInitStatus(INIT_SUCCESS);
break;
case 1:
log_d("BTO moving...");
updateInitStatus(INIT_IN_PROGRESS);
break;
case 2:
log_e("BTO failure!!!");
updateInitStatus(INIT_FAILED);
default:
break;
}
}
else
{
st = HAL_GetTick();
}
// 获取实时角度
// 获取运动状态
}
// 初始化处理 // 初始化处理
static uint8_t HandleInit(void) { static uint8_t HandleInit(void) {
// 实现初始化逻辑 // 实现初始化逻辑
// 1.更新状态为“初始化中”
// 2.执行初始化流程，按协议要求执行，不含默认的初始化内容
// 3.检查初始化结果，更新状态“成功”或“失败”
InitDeviceStatus(); InitDeviceStatus();
return 1; return 1;
} }
@ -1287,6 +1438,6 @@ void runValveDemo(void) {
// 阀门1正转120度 // 阀门1正转120度
printf("ValveRunToAngle(0, 120)\n"); printf("ValveRunToAngle(0, 120)\n");
ValveRunInit(0); ValvePPInit(0);
ValveRunToAngle(0, 120); ValveRunToAngle(0, 120);
} }

2
protocol.h
View File

@ -18,6 +18,7 @@
// 帧头帧尾定义 // 帧头帧尾定义
#define FRAME_HEADER 0xA55A5AA5 #define FRAME_HEADER 0xA55A5AA5
#define FRAME_TAIL 0x5AA5A55A #define FRAME_TAIL 0x5AA5A55A
#define READ_ACK_TIMEOUT 50
// 功能码定义 // 功能码定义
#define HOST_CMD_STATUS_QUERY 0x0001 // 状态查询 #define HOST_CMD_STATUS_QUERY 0x0001 // 状态查询
@ -300,6 +301,7 @@ static const uint8_t statusInfo[16][60]={
#define RTU_VALVE_CMD_SC 0x0381 // 阀门运行状态 #define RTU_VALVE_CMD_SC 0x0381 // 阀门运行状态
#define RTU_VALVE_CMD_AL 0x037F // 阀门运行告警 #define RTU_VALVE_CMD_AL 0x037F // 阀门运行告警
#define RTU_VALVE_CMD_POS 0x03C8 // 阀门运行位置，用户单位 #define RTU_VALVE_CMD_POS 0x03C8 // 阀门运行位置，用户单位
#define RTU_VALVE_CMD_SPEED 0x03D0 // 阀门当前速度，用户单位/s
#define RTU_VALVE_CMD_HOME_MODE 0x0416 // 阀门原点回归方式 #define RTU_VALVE_CMD_HOME_MODE 0x0416 // 阀门原点回归方式
#define RTU_VALVE_CMD_HOME_SWT_SPEED 0x0417 // 阀门回归寻找开关的速度 #define RTU_VALVE_CMD_HOME_SWT_SPEED 0x0417 // 阀门回归寻找开关的速度