update MotorDefaultParam_t HandleValveControl

protocol.c

@@ -465,7 +465,7 @@ static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
  * @return 实际速度值
  */
 uint16_t transSpeedPercentToSpeed(uint8_t index, uint8_t speedPercent) {
-    return speedPercent * dp.pump[index].speed / 100;
+    return speedPercent * dp.pump[index].fullSpeed / 100;
 }
 
 /**
@@ -476,7 +476,7 @@ uint16_t transSpeedPercentToSpeed(uint8_t index, uint8_t speedPercent) {
  * @return 百分比速度
  */
 uint8_t transSpeedToSpeedPercent(uint8_t index, uint32_t speed) {
-    return speed * 100 / dp.pump[index].speed;
+    return speed * 100 / dp.pump[index].fullSpeed;
 }
 
 /**
@@ -661,7 +661,7 @@ void ReadPumpSpeedPos(void)
 
         uint16_t speed =  ReadPump2Reg(dp.pump[index].id,RTU_PUMP_CMD_SPEED);
         systemStatus.pumpsSpeed[index] = speed;
-        systemStatus.pumpsSpeedPercent[index] = (uint8_t)(speed * 100 / dp.pump[index].speed);
+        systemStatus.pumpsSpeedPercent[index] = (uint8_t)(speed * 100 / dp.pump[index].fullSpeed);
         log_d("%s speed = %d",dp.pump[index].name,speed);
 
         //判断正转、反转
@@ -706,10 +706,10 @@ uint8_t InitPump(void) {
 
         SetPumpJogAcc(index, dp.pump[index].accel);
         SetPumpJogDec(index, dp.pump[index].decel);
-        SetPumpJogSpeed(index, dp.pump[index].speed*dp.pump[index].speedPercent/100);
+        SetPumpJogSpeed(index, dp.pump[index].fullSpeed*dp.pump[index].speedPercent/100);
         SetPumpStepAcc(index, dp.pump[index].accel);
         SetPumpStepDec(index, dp.pump[index].decel);
-        SetPumpStepSpeed(index, dp.pump[index].speed*dp.pump[index].speedPercent/100);
+        SetPumpStepSpeed(index, dp.pump[index].fullSpeed*dp.pump[index].speedPercent/100);
         if (rst != systemStatus.rst)
         {
             log_e("InitPump %s failed!", dp.pump[index].name);
@@ -1399,19 +1399,22 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
         log_e("三通阀控制错误");
         return 1;
     }
-    // for
+    uint8_t rst = systemStatus.rst;
-    uint8_t index = Buff[0];
+    for(uint8_t index = 0; index < len; index++) {
-    uint8_t direction = Buff[1];//此状态位无效，目前三通阀有硬件限位，且指定角度必须为120或210
+
-    uint16_t angle = (Buff[2]<<8) | Buff[3];
+        if(memcmp(Buff+index*2, "\xFF\xFF", 2) == 0) {
-    if (angle > 360 || angle != VALVE_ANGLE_120 || angle != VALVE_ANGLE_210) {
+            continue;
-        log_e("三通阀控制错误");
+        }
-        return 1;
+        uint16_t angle = (Buff[index*2]<<8) | Buff[index*2+1];
+        ValveRunToAngle(index,angle);
+
+        if(rst != systemStatus.rst) {
+            log_e("泵角度控制错误");
+            return ACK_FAILED;
+        }
     }
     
-    // 具体实现
+    return ACK_OK;
-    ValveRunToAngle(index,angle);
-
-    return 0;
 }
 
 // 泵时长控制处理
@@ -1443,11 +1446,12 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
         uint16_t time = (Buff[index*3+1]<<8) | Buff[index*3+2];
         if(time == 0) {
             // 方向控制办法待确定
+            SetPumpJogSpeed(index,-1*dp.pump[index].fullSpeed*dp.pump[index].speedPercent);
             StartPumpJog(index);
             continue;
         }
         // 使用步数方式更靠谱，通过时间和速度计算步数，结束时不用发送停止命令
-        int32_t step = direction*time*dp.pump[index].speed*dp.pump[index].speedPercent/100;
+        int32_t step = direction*time*dp.pump[index].fullSpeed*dp.pump[index].speedPercent/100;
         SetPumpStepTarget(index, step);
         StartPumpRelativeMove(index);
 
@@ -1484,8 +1488,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
             log_e("泵速度设置错误");
             return ACK_FAILED;
         }
-        //更新参数
+        
-        systemStatus.ds.pumps.speed[index] = speedPercent;
 
         // 写入指令
         uint16_t speed = transSpeedPercentToSpeed(index, speedPercent);
@@ -1496,6 +1499,9 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
             log_e("泵速度设置错误");
             return ACK_FAILED;
         }
+
+        //更新参数
+        systemStatus.ds.pumps.speed[index] = speedPercent;
     }
     
     return ACK_OK;

protocol.h

@@ -377,7 +377,7 @@ typedef enum {
 
 // 三通阀结构体
 typedef struct {
-    uint16_t angle[2];        // 阀门角度 (120/210)
+    uint16_t angle[2];        // 阀门实时角度
 } ValveStatus_t;
 
 // 泵结构体
@@ -392,7 +392,7 @@ typedef struct {
     ValveStatus_t valves;     // 两个三通阀状态
     PumpStatus_t pumps;       // 两个泵状态
     uint8_t bubbleStatus;      // 气泡状态
-    uint16_t activityMeter;    // 活度计mCi
+    float activityMeter;    // 活度计uCi
     uint8_t estopStatus;       // 急停状态
     uint8_t errorCode;         // 错误码
     uint8_t initStatus;        // 初始化状态
@@ -417,7 +417,7 @@ typedef struct
 typedef struct {
     uint8_t name[20];
     uint8_t id;
-    uint32_t speed;//满速
+    uint32_t fullSpeed;//满速
     uint32_t accel;
     uint32_t decel;
     uint16_t fullCount;//电机总步数，用于根据角度估算需要移动的步数