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bug fix

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This commit is contained in:
murmur 2024-12-13 17:56:20 +08:00
parent 7831469c66
commit 72fd77581d
1 changed files with 25 additions and 18 deletions
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43
protocol.c
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@ -421,24 +421,24 @@ static uint8_t SetPumpStepTarget(uint8_t index, uint32_t target) {
} }
/** /**
* 执行相对位置控制，目前仅用到相对移动 * 执行相对位置移动，目前协议仅用到相对移动
* 写入FL(feed length)命令到操作码寄存器 * 写入FL(feed length)命令到操作码寄存器
* *
* @param index 泵索引 * @param index 泵索引
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t PumpRelativePositionControl(uint8_t index) { static uint8_t StartPumpRelativeMove(uint8_t index) {
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066); WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066);
} }
/** /**
* 执行绝对位置控制，目前无使用 * 执行绝对位置移动，目前无使用
* 写入FP(feed position)命令到操作码寄存器 * 写入FP(feed position)命令到操作码寄存器
* *
* @param index 泵索引 * @param index 泵索引
* @return 0:成功 其他:失败 * @return 0:成功 其他:失败
*/ */
static uint8_t PumpAbsolutePositionControl(uint8_t index) { static uint8_t StartPumpAbsoluteMove(uint8_t index) {
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067); WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067);
} }
@ -585,19 +585,19 @@ void UpdatePumpStatus() {
uint8_t InitPump(void) { uint8_t InitPump(void) {
// 初始化泵 // 初始化泵
log_e("InitPump"); log_e("InitPump");
WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel); SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel); SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel); SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel); SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel); SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel); SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel); SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel); SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
} }
@ -996,6 +996,9 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
return 0; return 0;
} }
SetPumpJogSpeed(index, speed); SetPumpJogSpeed(index, speed);
SetPumpStepSpeed(index, speed);
updatePumpSpeedStatus(index, speed);
dp.pump[index].maxSpeed = speed;
index = Buff[2]; index = Buff[2];
speed = Buff[3]; speed = Buff[3];
@ -1004,6 +1007,9 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
return 0; return 0;
} }
SetPumpJogSpeed(index, speed); SetPumpJogSpeed(index, speed);
SetPumpStepSpeed(index, speed);
updatePumpSpeedStatus(index, speed);
dp.pump[index].maxSpeed = speed;
return 1; return 1;
} }
@ -1024,6 +1030,7 @@ static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
uint8_t index = Buff[0]; uint8_t index = Buff[0];
int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4]; int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4];
SetPumpStepTarget(index, step); SetPumpStepTarget(index, step);
StartPumpRelativeMove(index);
return 0; return 0;
} }
@ -1049,8 +1056,8 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
// 急停状态 // 急停状态
StopPump(0); StopPump(0);
StopPump(1); StopPump(1);
StopPumpJog(0); // StopPumpJog(0);
StopPumpJog(1); // StopPumpJog(1);
updateEmergencyStop(ESTOP_PRESSED); updateEmergencyStop(ESTOP_PRESSED);
} }
return 0; return 0;