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add ReadPumpCNT

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CSSC-WORK\murmur 2025-01-03 11:25:55 +08:00
parent 057a7706a7
commit 7cfe960bd5
2 changed files with 10 additions and 2 deletions
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11
protocol.c
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@ -597,9 +597,14 @@ static uint8_t StopPump(uint8_t index) {
* @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
*/ */
uint8_t ReadPumpHWReg(uint8_t index) { uint16_t ReadPumpHWReg(uint8_t index) {
return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_HW); 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 * 设置泵的通信波特率
* *
@ -1589,7 +1594,9 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
} }
else { 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 // 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 StopPump(index);//stop first
SetPumpStepTarget(index, step); SetPumpStepTarget(index, step);
StartPumpRelativeMove(index); StartPumpRelativeMove(index);

1
protocol.h
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@ -214,6 +214,7 @@ static const uint8_t statusInfo[16][60]={
#define RTU_PUMP_CMD_VE 0x001D // 速度 #define RTU_PUMP_CMD_VE 0x001D // 速度
#define RTU_PUMP_CMD_DI 0x001E // 目标位置 #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_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_BR 0x0094 //波特率BR，40149
#define RTU_PUMP_CMD_PR 0x0095 //通信协议PR，40150 #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 #define RTU_PUMP_CMD_SPEED 0x000A //瞬时实际速度,40011