update functions and logic of checking ACK
This commit is contained in:
CSSC-WORK\murmur
parent
92485d58a9
commit
93c676e1cb
194
protocol.c
194
protocol.c
@ -1,6 +1,21 @@
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#include "protocol.h"
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#include <string.h>
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#ifndef USE_ELOG
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void elog_hexdump(const char *name, uint8_t width, const void *buf, uint16_t size) {
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printf("%s: ", name);
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// 按width的宽度打印
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for(uint16_t i = 0; i < size; i++) {
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printf("%02X ", ((uint8_t*)buf)[i]);
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if((i+1)%width == 0) {
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printf("\r\n");
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}
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}
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printf("\r\n");
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}
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#endif
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DeviceStatus_t deviceStatus = {
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.sensorStatus = 1,
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.valves = {210, 120},
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@ -11,20 +26,21 @@ DeviceStatus_t deviceStatus = {
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.initStatus = 1
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};
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SystemStatus_t systemStatus = {
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.speed = {0, 0},
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.pos = {0, 0}
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.speed = {0},
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.pos = {0},
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.rst = 0
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};
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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, 100,40000},
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{"pump2", 3, 10, 100, 100,40000}
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{"pump1", 4, 60, 100, 100,40000,0},
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{"pump2", 3, 10, 100, 100,40000,0}
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},
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.valve = {
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{"valve1", 1, 10, 100, 100,47620},
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{"valve2", 2, 10, 100, 100,47620}
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{"valve1", 1, 10, 100, 100,47620,0},
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{"valve2", 2, 10, 100, 100,47620,0}
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}
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};
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@ -180,36 +196,30 @@ void updateInitStatus(InitStatus_t status) {
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* ModBUS RTU写命令
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* 通过串口发送ModBUS RTU格式的命令
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*
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* 发送完成后回读反馈结果，累加到systemStatus.rst
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*
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* @param txBuf 发送数据缓冲区
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* @param txLen 发送数据长度
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* @return 0:成功 其他:失败
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*/
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static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
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printf("writeCMD: ");
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for(uint16_t i = 0; i < txLen; i++) {
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printf("%02X ", txBuf[i]);
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}
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printf("\r\n");
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// HAL_GPIO_WritePin(DIR2_GPIO_Port, DIR2_Pin, GPIO_PIN_SET);
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// HAL_UART_Transmit(&huart2, txBuf, txLen, 100);
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// HAL_GPIO_WritePin(DIR2_GPIO_Port, DIR2_Pin, GPIO_PIN_RESET);
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elog_hexdump("writeCMD", 16, txBuf, txLen);
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transDataToMotorValve(txBuf, txLen);
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uint8_t rxBuf[30] = {0};
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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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uint8_t hal_rst = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
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if(memcmp(rxBuf, txBuf, 2) != 0) {//正常情况下，返回的前2个字节应与发送的相同
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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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}
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printf("\r\n");
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elog_hexdump("writeCMD error", 16, rxBuf, rxLen);
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systemStatus.rst += 1;//结果计数
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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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log_i("writeCMD success!");
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systemStatus.rst += 0;//结果计数
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return 0;
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}
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}
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/**
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@ -217,11 +227,9 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
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*
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* @param txBuf 发送数据缓冲区
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* @param txLen 发送数据长度
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* @return 0:成功 其他:失败
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*/
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void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
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// 发送数据
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// HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
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transDataToHost(txBuf, txLen);
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}
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@ -562,7 +570,7 @@ uint16_t ReadPumpAlarm(uint8_t index) {
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}
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/**
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* 解<EFBFBD><EFBFBD>泵的告警信息
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* 解码泵的告警信息
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*
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* @param reg4001 告警寄存器值
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*/
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@ -653,21 +661,32 @@ void UpdatePumpStatus() {
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*/
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uint8_t InitPump(void) {
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// 初始化泵
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log_e("InitPump");
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uint8_t rst = 0;
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rst |= SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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rst |= SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
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rst |= SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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rst |= SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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rst |= SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
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rst |= SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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log_i("InitPump");
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uint8_t rst = systemStatus.rst;
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rst |= SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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rst |= SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
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rst |= SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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rst |= SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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rst |= SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
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rst |= SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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SetPumpJogAcc(0, dp.pump[0].maxAccel);
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SetPumpJogDec(0, dp.pump[0].maxDecel);
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SetPumpJogSpeed(0, dp.pump[0].maxSpeed);
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SetPumpStepAcc(0, dp.pump[0].maxAccel);
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SetPumpStepDec(0, dp.pump[0].maxDecel);
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SetPumpStepSpeed(0, dp.pump[0].maxSpeed);
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if (rst != systemStatus.rst)
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{
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log_e("InitPump[0] failed!");
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systemStatus.ds.initStatus = INIT_FAILED;
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}
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SetPumpJogAcc(1, dp.pump[1].maxAccel);
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SetPumpJogDec(1, dp.pump[1].maxDecel);
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SetPumpJogSpeed(1, dp.pump[1].maxSpeed);
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SetPumpStepAcc(1, dp.pump[1].maxAccel);
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SetPumpStepDec(1, dp.pump[1].maxDecel);
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SetPumpStepSpeed(1, dp.pump[1].maxSpeed);
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if (rst != systemStatus.rst)
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{
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log_e("InitPump[1] failed!");
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systemStatus.ds.initStatus = INIT_FAILED;
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}
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uint16_t reg4001 = ReadPumpAlarm(0);
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DecodePumpAlarmMsg(reg4001);
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@ -970,19 +989,21 @@ static uint8_t valveCheckBTOResult(uint8_t index, uint32_t startTime)
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* 阀门回归原点控制
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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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* 回归需要时间，回归结果在轮询中检查
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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,int8_t direction) {
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void ValveBackToOrigin(uint8_t index,int8_t direction) {
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uint8_t rst = systemStatus.rst;
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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 > 0) {
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printf("back to Origin, +\r\n");
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log_i("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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else {
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printf("back to Origin, -\r\n");
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log_i("back to Origin, -\r\n");
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SetValveHomeDetectMode(index, 38);//反方向堵转
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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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@ -1004,6 +1025,11 @@ uint8_t ValveBackToOrigin(uint8_t index,int8_t direction) {
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SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
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SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
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if(rst != systemStatus.rst) {
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log_e("ValveBackToOrigin[%d] failed!",index);
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systemStatus.ds.initStatus = INIT_FAILED;
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}
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// 2,3,4,5设置过后可不再设置
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// 1,6为必须
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// 堵转点即为原点，读位置应为0，或小于200
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@ -1018,7 +1044,8 @@ uint8_t ValveBackToOrigin(uint8_t index,int8_t direction) {
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* @return 0:成功 其他:失败
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*/
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uint8_t ValvePPInit(uint8_t index) {
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printf("set mode to PP\r\n");
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uint8_t rst = systemStatus.rst;
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log_i("set mode to PP\r\n");
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// 1.配置模式：
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// 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
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SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
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@ -1034,6 +1061,12 @@ uint8_t ValvePPInit(uint8_t index) {
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SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
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SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
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SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
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if (rst != systemStatus.rst)
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{
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log_e("ValvePPInit[%d] failed!",index);
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systemStatus.ds.initStatus = INIT_FAILED;
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}
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}
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/**
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@ -1044,7 +1077,8 @@ uint8_t ValvePPInit(uint8_t index) {
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* @return 0:成功 其他:失败
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*/
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uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
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printf("set angel to %d\r\n",angle);
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uint8_t rst = systemStatus.rst;
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log_i("set angel to %d\r\n",angle);
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// 限制角度的逻辑不在这里，此处只执行控制逻辑
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if(angle > 360) {
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log_e("阀门角度设置错误");
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@ -1052,17 +1086,22 @@ 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*dp.valve[index].fullCount/360));
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SetValvePPPos(index, (uint32_t)(angle*dp.valve[index].fullCount/360+dp.valve[index].offsetPos));
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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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SetValveFunc(index, 0x2F);
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SetValveFunc(index, 0x3F);
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if(rst != systemStatus.rst) {
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log_e("ValveRunToAngle[%d] failed!",index);
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systemStatus.ds.initStatus = INIT_FAILED;
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}
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}
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/**
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* 初始化阀门参数
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* 设置最大速度、加速度和减速度
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* 设置最大速度、加速度和减速度，默认模式为轮廓位置模式PP
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*
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* @return 0:成功 其他:失败
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*/
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@ -1154,21 +1193,43 @@ void updateSystemStatus(void)
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}
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/**
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* 初始化系统
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* 初始化系统，初始化阀门和泵的默认参数，
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* 有别于 HOST_CMD_SYSTEM_INIT=0x0007 指令对应的初始化功能
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*/
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void initSystem(void)
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void initCTLSystem(void)
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{
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systemStatus.ds = deviceStatus;
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systemStatus.ds.initStatus = INIT_IN_PROGRESS;
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systemStatus.rst = 0;
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InitValve();
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InitPump();
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}
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// 初始化处理
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static uint8_t HandleInit(void) {
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// 实现初始化逻辑
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// 1.更新状态为“初始化中”
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// 2.执行初始化流程，按协议要求执行，不含默认的初始化内容
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// 3.检查初始化结果，更新状态“成功”或“失败”
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InitDeviceStatus();
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return 1;
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// 2.执行默认的初始化内容，此步骤系统上电后会自动执行
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// 3.执行协议初始化流程
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// 4.检查初始化结果，更新状态“成功”或“失败”
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// 3.协议要求内容为：2个三通阀步进电机堵转找原点，重复至少2次，然后各自转至120°。
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systemStatus.ds.initStatus = INIT_IN_PROGRESS;
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systemStatus.rst = 0;
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initCTLSystem();
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ValveBackToOrigin(0,-1);
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ValveRunToAngle(0,60);
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ValveBackToOrigin(0,-1);
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ValveRunToAngle(0,120);
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ValveBackToOrigin(1,-1);
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ValveRunToAngle(1,60);
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ValveBackToOrigin(1,-1);
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ValveRunToAngle(1,120);
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return systemStatus.rst;
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}
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@ -1328,7 +1389,7 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
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* 帧格式:帧头+功能码(2Byte)+数据长度(1Byte)+具体数据(NByte)+CRC16校验位+帧尾
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*
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* @param funcCode 功能码
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* @param isOK 执行结果
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* @param isOK 执行结果，1成功，0失败
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*/
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void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
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// 实现打包消息到上位机逻辑
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@ -1387,19 +1448,19 @@ CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint8_t rxLen) {
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if(memcmp(rxBuf, header, sizeof(FRAME_HEADER)) != 0)
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{
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printf("CMD_FRAME_HEADER_ERROR\r\n");
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log_e("CMD_FRAME_HEADER_ERROR\r\n");
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return CMD_FRAME_HEADER_ERROR;
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}
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if (memcmp(rxBuf + rxLen - sizeof(FRAME_TAIL), tail, sizeof(FRAME_TAIL)) != 0)
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{
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printf("CMD_FRAME_TAIL_ERROR\r\n");
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log_e("CMD_FRAME_TAIL_ERROR\r\n");
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return CMD_FRAME_TAIL_ERROR;
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}
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uint16_t crc = CalculateCRC16(rxBuf+sizeof(FRAME_HEADER), rxLen - sizeof(FRAME_HEADER)-sizeof(FRAME_TAIL)-2); // 计算crc，不包含帧头和帧尾和crc自身
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if (((rxBuf[rxLen-sizeof(FRAME_TAIL)-2]<<8) | rxBuf[rxLen-sizeof(FRAME_TAIL)-1]) != crc)
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{
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printf("CMD_FRAME_CHECK_ERROR\r\n");
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log_e("CMD_FRAME_CHECK_ERROR\r\n");
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return CMD_FRAME_CHECK_ERROR;
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}
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return CMD_FRAME_OK;
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@ -1414,13 +1475,14 @@ CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint8_t rxLen) {
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* @param rxLen 接收到的数据长度
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* @return 命令帧错误码
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*/
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CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
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void ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
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CmdFrameError_t error = checkHostCmd(rxBuf, rxLen);
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if (error != CMD_FRAME_OK)
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if (checkHostCmd(rxBuf, rxLen) != CMD_FRAME_OK)
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{
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return error;
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log_e("命令错误");
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return;
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}
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uint8_t error = 0;
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uint16_t cmdCode = (rxBuf[sizeof(FRAME_HEADER)] << 8) | rxBuf[sizeof(FRAME_HEADER)+1];//提取命令码
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uint8_t dataLen = rxBuf[sizeof(FRAME_HEADER)+2];//提取数据长度
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@ -1447,6 +1509,14 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
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break;
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case HOST_CMD_SYSTEM_INIT:
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error = HandleInit();
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if(error != 0) {
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log_e("系统初始化失败");
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packMsgToHost(HOST_CMD_SYSTEM_INIT, ACK_OK);
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}
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else {
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packMsgToHost(HOST_CMD_SYSTEM_INIT, ACK_FAILED);
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}
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break;
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default:
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error = CMD_FRAME_CMD_ERROR;
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19
protocol.h
19
protocol.h
@ -19,6 +19,9 @@
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#define FRAME_HEADER 0xA55A5AA5
|
||||
#define FRAME_TAIL 0x5AA5A55A
|
||||
#define READ_ACK_TIMEOUT 50
|
||||
#define ACK_OK 0x0001
|
||||
#define ACK_FAILED 0x0000
|
||||
#define ACK_OTHER 0x0002
|
||||
|
||||
// 功能码定义
|
||||
#define HOST_CMD_STATUS_QUERY 0x0001 // 状态查询
|
||||
@ -401,8 +404,9 @@ typedef struct {
|
||||
typedef struct
|
||||
{
|
||||
DeviceStatus_t ds;
|
||||
uint32_t speed[2];//实时速度
|
||||
uint32_t pos[2];//实时位置
|
||||
uint32_t speed[4];//实时速度
|
||||
uint32_t pos[4];//实时位置
|
||||
uint16_t rst;//RTU命令执行结果
|
||||
|
||||
} SystemStatus_t;
|
||||
|
||||
@ -414,10 +418,11 @@ typedef struct {
|
||||
uint32_t maxAccel;
|
||||
uint32_t maxDecel;
|
||||
uint16_t fullCount;//电机总步数，用于根据角度估算需要移动的步数
|
||||
int16_t offsetPos;//电机偏移位置，用于补偿电机移动误差
|
||||
} MotorDefaultParam_t;
|
||||
|
||||
|
||||
// 定义设备<EFBFBD><EFBFBD>认参数
|
||||
// 定义设备默认参数
|
||||
typedef struct {
|
||||
MotorDefaultParam_t pump[2];
|
||||
MotorDefaultParam_t valve[2];
|
||||
@ -428,17 +433,13 @@ extern DeviceParam_t dp;
|
||||
extern DeviceStatus_t deviceStatus;
|
||||
|
||||
// 函数声明
|
||||
CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen);
|
||||
// uint16_t CalculateCRC16(uint8_t *data, uint16_t length);
|
||||
void InitDeviceStatus();
|
||||
void ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen);
|
||||
void DecodePumpAlarmMsg(uint16_t reg4001);
|
||||
void DecodePumpStatusMsg(uint16_t reg4002);
|
||||
void UpdatePumpStatus();
|
||||
void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
|
||||
void runPumpDemo(void);
|
||||
void runVavleDemo(void);
|
||||
void updateSystemStatus(void);
|
||||
void initSystem(void);
|
||||
void initCTLSystem(void);
|
||||
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user