From 7cfe960bd5f3e45d179f3785933d066805080234 Mon Sep 17 00:00:00 2001
From: "CSSC-WORK\\murmur" <work@hhilp>
Date: Fri, 3 Jan 2025 11:25:55 +0800
Subject: [PATCH] add ReadPumpCNT

---
 protocol.c | 11 +++++++++--
 protocol.h |  1 +
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/protocol.c b/protocol.c
index 73a9b40..6923bc8 100644
--- a/protocol.c
+++ b/protocol.c
@@ -597,9 +597,14 @@ static uint8_t StopPump(uint8_t index) {
  * @param index 泵索引
  * @return 0:成功 其他:失败
  */
-uint8_t ReadPumpHWReg(uint8_t index) {
+uint16_t ReadPumpHWReg(uint8_t index) {
     return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_HW);
 }
+
+uint16_t ReadPumpCNT(uint8_t index) {
+    return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CNT);
+}
+
 /**
  * 设置泵的通信波特率
  * 
@@ -1589,7 +1594,9 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
         }
         else {
             // 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*systemStatus.pumpsSpeed[index]*PUMP_SPEED_RPS;
+            uint16_t cnt = ReadPumpCNT(index);//8000
+            log_d("cnt=%d",cnt);
+            int32_t step = direction*time*systemStatus.pumpsSpeed[index]*cnt;
             StopPump(index);//stop first
             SetPumpStepTarget(index, step);
             StartPumpRelativeMove(index);
diff --git a/protocol.h b/protocol.h
index 45c43ed..a2abbf6 100644
--- a/protocol.h
+++ b/protocol.h
@@ -214,6 +214,7 @@ static const uint8_t statusInfo[16][60]={
 #define RTU_PUMP_CMD_VE      0x001D  // 速度
 #define RTU_PUMP_CMD_DI      0x001E  // 目标位置
 #define RTU_PUMP_CMD_HW      0x006C  // 硬件版本40109
+#define RTU_PUMP_CMD_CNT     0X0034  //每转所需脉冲数
 #define RTU_PUMP_CMD_BR      0x0094  //波特率BR，40149
 #define RTU_PUMP_CMD_PR      0x0095  //通信协议PR，40150
 #define RTU_PUMP_CMD_SPEED   0x000A  //瞬时实际速度,40011