fix bugs
This commit is contained in:
CSSC-WORK\murmur
parent
7995848f05
commit
9fbe044705
101
protocol.c
101
protocol.c
@ -2,12 +2,12 @@
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#include <string.h>
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static DeviceStatus deviceStatus = {0};
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DeviceDefaultParam dp = {
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DeviceDefaultParam dp = {{
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{"pump1", 1, 100, 100, 100},
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{"pump2", 2, 100, 100, 100},
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{"valve1", 3, 100, 100, 100},
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{"valve2", 4, 100, 100, 100}
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};
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}};
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@ -108,41 +108,7 @@ void updateInitStatus(InitStatus_t status) {
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deviceStatus.initStatus = status;
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}
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uint8_t InitPump(void) {
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// 初始化泵
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WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
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WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
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WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
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WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
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WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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}
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// 初始化设备状态
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void InitDeviceStatus() {
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// 初始化泵
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InitPump();
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// 更新设备状态
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updateDeviceStatus(DEVICE_ONLINE);
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updateValveStatus(1, 120);
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updateValveStatus(2, 210);
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updatePumpStatus(1, PUMP_CLOCKWISE);
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updatePumpStatus(2, PUMP_ANTICLOCKWISE);
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updatePumpSpeedStatus(1, 100);
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updatePumpSpeedStatus(2, 100);
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updateBubbleSensor(BUBBLE_DETECTED);
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updateEmergencyStop(ESTOP_NORMAL);
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updateInitStatus(INIT_SUCCESS);
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}
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//modBUS RTU 写命令
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@ -515,10 +481,6 @@ static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
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writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
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}
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uint8_t updateValveStatus(uint8_t index, uint16_t status) {
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// writeValve1Reg(index, RTU_VALVE_CMD_STATUS, status);
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}
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uint8_t ValveBackToOrigin(uint8_t index) {
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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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@ -555,7 +517,7 @@ uint8_t ValveRunInit(uint8_t index) {
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// 2.4设置位移的减速度 (03FEh)(用户单位/s2)；
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SetValvePPDec(index, 40000);
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// 3.写控制字使电机使能
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// (0380h)= 0x06→0x07→ 0x0F，电机使能：
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// (0380h)= 0x06→0x07→ 0x0F 电机使能：
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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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@ -597,9 +559,42 @@ void UpdatePumpStatus() {
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ReadPumpAlarm(1);
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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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WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
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WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
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WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
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WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
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WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
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WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
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WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
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WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
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}
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// 初始化设备状态
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void InitDeviceStatus() {
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// 初始化泵
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// 更新设备状态
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updateDeviceStatus(DEVICE_ONLINE);
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updateValveStatus(1, 120);
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updateValveStatus(2, 210);
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updatePumpStatus(1, PUMP_CLOCKWISE);
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updatePumpStatus(2, PUMP_ANTICLOCKWISE);
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updatePumpSpeedStatus(1, 100);
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updatePumpSpeedStatus(2, 100);
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updateBubbleSensor(BUBBLE_DETECTED);
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updateEmergencyStop(ESTOP_NORMAL);
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updateInitStatus(INIT_SUCCESS);
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}
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// 初始化处理
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static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
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static uint8_t HandleInit(void) {
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// 实现初始化逻辑
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InitDeviceStatus();
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return 1;
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@ -620,18 +615,18 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
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// 实现三通阀控制逻辑
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if(len != 8) {
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printf("三通阀控制错误\r\n");
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log_e("三通阀控制错误");
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return 0;
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}
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uint8_t index = Buff[0];
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uint8_t direction = Buff[1];
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uint16_t angle = (Buff[2]<<8) | Buff[3];
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if(angle > 360) {
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printf("三通阀控制错误\r\n");
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log_e("三通阀控制错误");
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return 1;
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}
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if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) {
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printf("三通阀控制错误\r\n");
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log_e("三通阀控制错误");
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return 1;
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}
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@ -647,7 +642,7 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
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static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
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// 实现泵时长控制逻辑
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// 暂未知控制方法，是直接设置泵运行时间，还是设置泵运行步数
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// 使用定时器更靠谱
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return 1;
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}
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@ -656,13 +651,13 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
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static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
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// 实现泵速度设置逻辑
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if(len != 4) {
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printf("泵速度设置错误\r\n");
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log_e("泵速度设置错误");
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return 0;
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}
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uint8_t index = Buff[0];
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uint16_t speed = Buff[1];
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if (speed > 100) {
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printf("泵速度设置错误\r\n");
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log_e("泵速度设置错误");
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return 0;
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}
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WriteJogSpeed(index, speed);
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@ -670,7 +665,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
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index = Buff[2];
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speed = Buff[3];
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if (speed > 100) {
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printf("泵速度设置错误\r\n");
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log_e("泵速度设置错误");
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return 0;
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}
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WriteJogSpeed(index, speed);
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@ -680,7 +675,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
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static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
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if(len != 10) {
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printf("泵步进设置错误\r\n");
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log_e("泵步进设置错误");
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return 0;
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}
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uint8_t index = Buff[0];
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@ -693,7 +688,7 @@ static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
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// 软急停功能处理
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static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
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if(rxLen != 1) {
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printf("软急停设置错误\r\n");
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log_e("软急停设置错误");
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return 1;
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}
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// 实现软急停功能逻辑
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@ -767,7 +762,7 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
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error = HandlePumpStep(data, dataLen);
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break;
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case CMD_SYSTEM_INIT:
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error = HandleInit(data, dataLen);
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error = HandleInit();
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break;
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default:
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error = CMD_FRAME_CMD_ERROR;
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@ -775,4 +770,4 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
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}
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return error;
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}
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}
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@ -2,6 +2,8 @@
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#define PROTOCOL_H
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#include <stdint.h>
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#define LOG_TAG "motor"
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#include <elog.h>
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// 帧头帧尾定义
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#define FRAME_HEADER 0xA55A5AA5
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