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add functions

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CSSC-WORK\murmur 2024-12-12 16:38:51 +08:00
parent 10ea569b03
commit 551328506b
2 changed files with 104 additions and 28 deletions
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97
protocol.c
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@ -2,6 +2,14 @@
#include <string.h>
static DeviceStatus deviceStatus = {0};
DeviceDefaultParam dp = {
{"pump1", 1, 100, 100, 100},
{"pump2", 2, 100, 100, 100},
{"valve1", 3, 100, 100, 100},
{"valve2", 4, 100, 100, 100}
};
// CRC16 查表法实现
static const uint16_t crcTable[] = {
@ -100,17 +108,27 @@ void updateInitStatus(InitStatus_t status) {
deviceStatus.initStatus = status;
}
uint8_t InitPump(void) {
// 初始化泵
WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
}
// 初始化设备状态
void InitDeviceStatus() {
// 初始化泵
WriteJogAcc(1, 100);
WriteJogDec(1, 100);
WriteJogSpeed(1, 10);
WriteStepAcc(1, 100);
WriteStepDec(1, 100);
WriteStepSpeed(1, 10);
InitPump();
// 更新设备状态
@ -179,11 +197,11 @@ static void FillBigEndian16(uint8_t *data, uint16_t value) {
+----------+--------+------------+------------+------------+
*/
// pump 读寄存器
uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
uint8_t ReadPump1Reg(uint8_t index, uint16_t reg) {
uint8_t data[8] = {0};
data[0] = index;
data[1] = RTU_PUMP_FUNC_READ_REG;
data[1] = RTU_FUNC_READ_HOLD_REG;
FillBigEndian16(&data[2], reg);
FillBigEndian16(&data[4], 1);
@ -191,6 +209,19 @@ uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
// 小端序填充
memcpy(&data[6], &crc, 2);
writeCMD(data, 8);
}
uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
uint8_t data[8] = {0};
data[0] = index;
data[1] = RTU_FUNC_READ_HOLD_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);
}
@ -207,7 +238,7 @@ uint8_t WritePump1Reg(uint8_t index, uint16_t reg, uint16_t value) {
// 写一个寄存器不需要指定寄存器长度
uint8_t data[8] = {0};
data[0] = index;
data[1] = RTU_PUMP_FUNC_WRITE_REG;
data[1] = RTU_FUNC_WRITE_REG;
FillBigEndian16(&data[2], reg);
FillBigEndian16(&data[4], value);
uint16_t crc = CalculateCRC16(data, 6);
@ -229,7 +260,7 @@ uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_t value) {
// 写2个寄存器需要指定寄存器长度
uint8_t data[13] = {0};
data[0] = index;
data[1] = RTU_PUMP_FUNC_WRITE_MULTI_REG;
data[1] = RTU_FUNC_WRITE_MULTI_REG;
FillBigEndian16(&data[2], reg);
FillBigEndian16(&data[4], 2);
data[6] = 8;
@ -298,6 +329,8 @@ static uint8_t WriteStepDec(uint8_t index, uint16_t dec) {
WritePump1Reg(index, RTU_PUMP_CMD_DE, dec);
}
static uint8_t WriteStepSpeed(uint8_t index, uint16_t speed) {
// 目标速度转换为实际速度
speed = (uint16_t)(speed * dp.pump[index].maxSpeed / 100);
WritePump1Reg(index, RTU_PUMP_CMD_VE, speed);
}
static uint8_t WriteStepTarget(uint8_t index, uint32_t target) {
@ -435,6 +468,8 @@ void DecodePumpStatusMsg(uint16_t reg4002) {
// 与pump通用
void (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2Reg;
void (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg;
void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode);
@ -502,9 +537,9 @@ uint8_t ValveBackToOrigin(uint8_t index) {
SetValveHomeAcc(index, 200000);
// 6.写控制字
// (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
SetValveFunc(index, RTU_VALVE_CFG_RUN);
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
}
@ -513,26 +548,44 @@ uint8_t ValveRunInit(uint8_t index) {
// 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
// 2.参数配置：
// 2.1写目标位置 （03E7h）（用户单位）；
// SetValvePPPos(index, 0);
// 2.2写当前段位移指令匀速运行速度 （03F8h） (用户单位/s)；
SetValvePPSpeed(index, 1000);
SetValvePPSpeed(index, 10000);
// 2.3设置位移的加速度 （03FCh）(用户单位/s2)
SetValvePPAcc(index, 10000);
SetValvePPAcc(index, 40000);
// 2.4设置位移的减速度 （03FEh）(用户单位/s2)；
SetValvePPDec(index, 10000);
SetValvePPDec(index, 40000);
// 3.写控制字使电机使能
// （0380h）= 0x06→0x07→ 0x0F，电机使能：
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
SetValveFunc(index, RTU_VALVE_CFG_RUN);
// 4.使电机运行
// （0380h）= 0x2F→0x3F，电机运行
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
}
uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
// 限制角度为0,120,210
if(angle != 0 && angle != 120 && angle != 210) {
printf("阀门角度设置错误\r\n");
return 1;
}
// 其它配置不变的情况下只需要写3个控制字
SetValvePPPos(index, (uint32_t)(angle*VALVE_PULSE_PER_ROUND/360));
// 电机以绝对位置，立即更新的方式运行
// （电机是以控制字 6040h（0380h）的 bit4 的上升沿接收新的位置命令，
// 所以每次执行完一次运行后需 要把此位清零。）
SetValveFunc(index, 0x2F);
SetValveFunc(index, 0x3F);
}
uint8_t InitValve(void) {
SetValvePPSpeed(dp.valve[0].id, dp.valve[0].maxSpeed);
SetValvePPAcc(dp.valve[0].id, dp.valve[0].maxAccel);
SetValvePPDec(dp.valve[0].id, dp.valve[0].maxDecel);
SetValvePPSpeed(dp.valve[1].id, dp.valve[1].maxSpeed);
SetValvePPAcc(dp.valve[1].id, dp.valve[1].maxAccel);
SetValvePPDec(dp.valve[1].id, dp.valve[1].maxDecel);
}
// 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

35
protocol.h
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@ -31,10 +31,11 @@ typedef enum {
// 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
// 0x10：写多个寄存器
#define RTU_FUNC_READ_HOLD_REG 0x03 // 读取保持寄存器
#define RTU_FUNC_READ_INPUT_REG 0x04 // 读取输入寄存器
#define RTU_FUNC_WRITE_REG 0x06 // 写单个寄存器
#define RTU_FUNC_WRITE_MULTI_REG 0x10 // 写多个寄存器
/*寄存器4001告警代码
报警代码用来表示驱动器当前的报警信息，用户可以通过查询报警代码寄存器了解具体的报警信息。报
@ -269,6 +270,8 @@ const uint8_t statusInfo[16][32]={
| 使电机运行原点回归 | 0380h |
+------------------------------------+------------+
*/
#define VALVE_PULSE_PER_ROUND 10000 //阀门一圈的脉冲数
#define RTU_VALVE_CMD_CTL_MODE 0x00B1 // 阀门控制模式
#define RTU_VALVE_CMD_RUN_MODE 0x03C2 // 阀门运行模式
@ -276,6 +279,9 @@ const uint8_t statusInfo[16][32]={
#define RTU_VALVE_CMD_PP_SPEED 0x03F8 // 阀门轮廓速度
#define RTU_VALVE_CMD_PP_ACCEL 0x03FC // 阀门轮廓加速度
#define RTU_VALVE_CMD_PP_DECEL 0x03FE // 阀门轮廓减速度
#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_POS 0x03C8 // 阀门运行位置，用户单位
#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
@ -288,9 +294,9 @@ const uint8_t statusInfo[16][32]={
#define RTU_VALVE_CFG_COMM_CIA402 0x0000 // 为CIA402模式
#define RTU_VALVE_CFG_MODE_HM 0x0006 // 原点回归模式(HM)
#define RTU_VALVE_CFG_MODE_PP 0x0001 // 轮廓位置模式(PP)
#define RTU_VALVE_CFG_ENABLE 0x0006 // 准备
#define RTU_VALVE_CFG_PREPARE 0x0006 // 准备
#define RTU_VALVE_CFG_DISABLE 0x0007 // 失能
#define RTU_VALVE_CFG_RUN 0x000F // 运行
#define RTU_VALVE_CFG_ENABLE 0x000F // 使能
#define RTU_VALVE_CFG_RUN_ORIGIN 0x001F // 运行原点回归
// 错误码定义
@ -387,6 +393,23 @@ typedef struct {
// uint8_t crc[2];
} RTU_Frame;
typedef struct {
uint8_t name[10];
uint8_t id;
uint32_t maxSpeed;
uint32_t maxAccel;
uint32_t maxDecel;
} MotorDefaultParam;
// 定义设备默认参数
typedef struct {
MotorDefaultParam pump[2];
MotorDefaultParam valve[2];
} DeviceDefaultParam;
extern DeviceDefaultParam dp;
// 函数声明
CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen);