更新测试函数，修正默认参数
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murmur
parent
c7be59a71d
commit
92485d58a9
37
protocol.c
37
protocol.c
@ -19,12 +19,12 @@ uint8_t isValveMovingBackToOrigin[2] = {0,0};
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DeviceParam_t dp = {
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.pump = {
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{"pump1", 4, 60, 100, 100},
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{"pump2", 3, 10, 100, 100}
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{"pump1", 4, 60, 100, 100,40000},
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{"pump2", 3, 10, 100, 100,40000}
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},
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.valve = {
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{"valve1", 1, 10, 100, 100},
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{"valve2", 2, 10, 100, 100}
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{"valve1", 1, 10, 100, 100,47620},
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{"valve2", 2, 10, 100, 100,47620}
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}
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};
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@ -198,7 +198,7 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
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uint16_t rxLen = txLen;
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uint8_t rst = HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
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if(memcmp(rxBuf, txBuf, 2) != 0) {
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log_e("writeCMD error");
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log_e("writeCMD error!");
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printf("%d readCMD: ", rst);
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for(uint16_t i = 0; i < rxLen; i++) {
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printf("%02X ", rxBuf[i]);
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@ -206,6 +206,9 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
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printf("\r\n");
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return 1;
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}
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else {
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log_d("writeCMD success!");
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}
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return 0;
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}
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@ -316,7 +319,7 @@ uint32_t ReadPump2Reg(uint8_t id, uint16_t reg) {
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/*
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+----------+--------+------------+----------+------------+
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| 从机地址 | 功能码 | 寄存器地址 | 寄存器<EFBFBD><EFBFBD><EFBFBD> | CRC校验值 |
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| 从机地址 | 功能码 | 寄存器地址 | 寄存器值 | CRC校验值 |
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+----------+--------+------------+----------+------------+
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| 1字节 | 1字节 | 2字节 | 2字节 | 2字节 |
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+----------+--------+------------+----------+------------+
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@ -901,7 +904,7 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
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* 设置阀门原点回归堵转检测力矩
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*
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* @param index 阀门索引
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* @param torque 力矩值，百分比，太低容易误判，默认为60即60%
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* @param torque 力矩值，百分比，太低容易误判，默认为30即30%
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
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@ -912,7 +915,7 @@ static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
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* 设置阀门原点回归堵转检测时间
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*
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* @param index 阀门索引
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* @param time 检测时间(ms)，太短容易误判，默认为1000ms
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* @param time 检测时间(ms)，太短容易误判，默认为5即5ms
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
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@ -968,12 +971,13 @@ static uint8_t valveCheckBTOResult(uint8_t index, uint32_t startTime)
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* 包含设置原点回归方式、堵转检测、运行模式等配置
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*
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* @param index 阀门索引
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* @param direction 方向，正数正方向堵转，负数反方向堵转
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* @return 0:成功 其他:失败
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*/
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uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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uint8_t ValveBackToOrigin(uint8_t index,int8_t direction) {
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// 1.设置原点回归方式
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// (0416h)=37;17=负限位，18=正限位
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if(direction) {
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if(direction > 0) {
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printf("back to Origin, +\r\n");
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SetValveHomeDetectMode(index, 37);//正方向堵转
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}
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@ -983,8 +987,8 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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}
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// 2.设置堵转检测力矩和堵转检测时间
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// (0170h)=300，(0172h)=50
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SetValveHomeTorque(index, 600);//60%
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SetValveHomeTime(index, 10000);//1000ms
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SetValveHomeTorque(index, 30);//30%
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SetValveHomeTime(index, 5);//50ms
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// 3.写 (00B1h)=0、运行模式 (03C2h)=0x06，使其工作在原点回归模式；
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SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
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SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
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@ -1048,7 +1052,7 @@ uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
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}
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// 其它配置不变的情况下只需要写3个控制字
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SetValvePPPos(index, (uint32_t)(angle*VALVE_PULSE_PER_ROUND/360));
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SetValvePPPos(index, (uint32_t)(angle*dp.valve[index].fullCount/360));
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// 电机以绝对位置，立即更新的方式运行
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// (电机是以控制字 6040h(0380h)的 bit4 的上升沿接收新的位置命令，
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// 所以每次执行完一次运行后需 要把此位清零。)
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@ -1066,7 +1070,7 @@ uint8_t InitValve(void) {
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printf("InitValve\n");
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ValvePPInit(0);
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ValvePPInit(1);
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// ValvePPInit(1);
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}
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/**
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@ -1476,9 +1480,8 @@ void runPumpDemo(void) {
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void runValveDemo(void) {
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printf("runValveDemo\r\n");
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InitValve();
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ValveBackToOrigin(0,1);
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ValveBackToOrigin(0,-1);
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HAL_Delay(5000);
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// 阀门1正转120度
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printf("ValveRunToAngle(0, 120)\n");
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ValvePPInit(0);
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@ -302,7 +302,7 @@ static const uint8_t statusInfo[16][60]={
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#define RTU_VALVE_CMD_SC 0x0381 // 阀门运行状态
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#define RTU_VALVE_CMD_AL 0x037F // 阀门运行告警
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#define RTU_VALVE_CMD_POS 0x03C8 // 阀门运行位置，用户单位
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#define RTU_VALVE_CMD_SPEED 0x03D5 // 阀门当前速度，用户单位/s
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#define RTU_VALVE_CMD_SPEED 0x03D5 // 阀门当前速度，用户单位/s，rpm
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#define RTU_VALVE_CMD_HOME_MODE 0x0416 // 阀门原点回归方式
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#define RTU_VALVE_CMD_HOME_SWT_SPEED 0x0417 // 阀门回归寻找开关的速度
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@ -413,6 +413,7 @@ typedef struct {
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uint32_t maxSpeed;
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uint32_t maxAccel;
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uint32_t maxDecel;
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uint16_t fullCount;//电机总步数，用于根据角度估算需要移动的步数
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} MotorDefaultParam_t;
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