From 551328506b14c75a1d6284243415103a871fcf90 Mon Sep 17 00:00:00 2001 From: "CSSC-WORK\\murmur" Date: Thu, 12 Dec 2024 16:38:51 +0800 Subject: [PATCH] add functions --- protocol.c | 97 +++++++++++++++++++++++++++++++++++++++++------------- protocol.h | 35 ++++++++++++++++---- 2 files changed, 104 insertions(+), 28 deletions(-) diff --git a/protocol.c b/protocol.c index 319032b..1fa9286 100644 --- a/protocol.c +++ b/protocol.c @@ -2,6 +2,14 @@ #include 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 diff --git a/protocol.h b/protocol.h index 8bdcbd0..f710d9f 100644 --- a/protocol.h +++ b/protocol.h @@ -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);