add ReadPumpCNT

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);

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