diff --git a/protocol.c b/protocol.c index adc59bd..dbde0bc 100644 --- a/protocol.c +++ b/protocol.c @@ -2,12 +2,12 @@ #include static DeviceStatus deviceStatus = {0}; -DeviceDefaultParam dp = { +DeviceDefaultParam dp = {{ {"pump1", 1, 100, 100, 100}, {"pump2", 2, 100, 100, 100}, {"valve1", 3, 100, 100, 100}, {"valve2", 4, 100, 100, 100} -}; +}}; @@ -108,41 +108,7 @@ void updateInitStatus(InitStatus_t status) { deviceStatus.initStatus = status; } -uint8_t InitPump(void) { - // 初始化泵 - WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel); - WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel); - WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); - WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel); - WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel); - WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); - WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel); - WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel); - WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); - WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel); - WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel); - WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); -} - -// 初始化设备状态 -void InitDeviceStatus() { - // 初始化泵 - InitPump(); - - - // 更新设备状态 - updateDeviceStatus(DEVICE_ONLINE); - updateValveStatus(1, 120); - updateValveStatus(2, 210); - updatePumpStatus(1, PUMP_CLOCKWISE); - updatePumpStatus(2, PUMP_ANTICLOCKWISE); - updatePumpSpeedStatus(1, 100); - updatePumpSpeedStatus(2, 100); - updateBubbleSensor(BUBBLE_DETECTED); - updateEmergencyStop(ESTOP_NORMAL); - updateInitStatus(INIT_SUCCESS); -} //modBUS RTU 写命令 @@ -515,10 +481,6 @@ static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) { writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time); } -uint8_t updateValveStatus(uint8_t index, uint16_t status) { - // writeValve1Reg(index, RTU_VALVE_CMD_STATUS, status); -} - uint8_t ValveBackToOrigin(uint8_t index) { // 1.设置原点回归方式 // (0416h)=37;17=负限位，18=正限位 @@ -555,7 +517,7 @@ uint8_t ValveRunInit(uint8_t index) { // 2.4设置位移的减速度 (03FEh)(用户单位/s2)； SetValvePPDec(index, 40000); // 3.写控制字使电机使能 -// (0380h)= 0x06→0x07→ 0x0F，电机使能： +// (0380h)= 0x06→0x07→ 0x0F 电机使能： SetValveFunc(index, RTU_VALVE_CFG_PREPARE); SetValveFunc(index, RTU_VALVE_CFG_DISABLE); SetValveFunc(index, RTU_VALVE_CFG_ENABLE); @@ -597,9 +559,42 @@ void UpdatePumpStatus() { ReadPumpAlarm(1); } +uint8_t InitPump(void) { + // 初始化泵 + log_e("InitPump"); + WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel); + WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel); + WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); + WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel); + WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel); + WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed); + WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel); + WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel); + WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); + WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel); + WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel); + WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed); +} +// 初始化设备状态 +void InitDeviceStatus() { + // 初始化泵 + + + // 更新设备状态 + updateDeviceStatus(DEVICE_ONLINE); + updateValveStatus(1, 120); + updateValveStatus(2, 210); + updatePumpStatus(1, PUMP_CLOCKWISE); + updatePumpStatus(2, PUMP_ANTICLOCKWISE); + updatePumpSpeedStatus(1, 100); + updatePumpSpeedStatus(2, 100); + updateBubbleSensor(BUBBLE_DETECTED); + updateEmergencyStop(ESTOP_NORMAL); + updateInitStatus(INIT_SUCCESS); +} // 初始化处理 -static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) { +static uint8_t HandleInit(void) { // 实现初始化逻辑 InitDeviceStatus(); return 1; @@ -620,18 +615,18 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) { // 实现三通阀控制逻辑 if(len != 8) { - printf("三通阀控制错误\r\n"); + log_e("三通阀控制错误"); return 0; } uint8_t index = Buff[0]; uint8_t direction = Buff[1]; uint16_t angle = (Buff[2]<<8) | Buff[3]; if(angle > 360) { - printf("三通阀控制错误\r\n"); + log_e("三通阀控制错误"); return 1; } if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) { - printf("三通阀控制错误\r\n"); + log_e("三通阀控制错误"); return 1; } @@ -647,7 +642,7 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) { static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) { // 实现泵时长控制逻辑 - // 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 + // 使用定时器更靠谱 return 1; } @@ -656,13 +651,13 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) { static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) { // 实现泵速度设置逻辑 if(len != 4) { - printf("泵速度设置错误\r\n"); + log_e("泵速度设置错误"); return 0; } uint8_t index = Buff[0]; uint16_t speed = Buff[1]; if (speed > 100) { - printf("泵速度设置错误\r\n"); + log_e("泵速度设置错误"); return 0; } WriteJogSpeed(index, speed); @@ -670,7 +665,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) { index = Buff[2]; speed = Buff[3]; if (speed > 100) { - printf("泵速度设置错误\r\n"); + log_e("泵速度设置错误"); return 0; } WriteJogSpeed(index, speed); @@ -680,7 +675,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) { static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) { if(len != 10) { - printf("泵步进设置错误\r\n"); + log_e("泵步进设置错误"); return 0; } uint8_t index = Buff[0]; @@ -693,7 +688,7 @@ static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) { // 软急停功能处理 static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) { if(rxLen != 1) { - printf("软急停设置错误\r\n"); + log_e("软急停设置错误"); return 1; } // 实现软急停功能逻辑 @@ -767,7 +762,7 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) { error = HandlePumpStep(data, dataLen); break; case CMD_SYSTEM_INIT: - error = HandleInit(data, dataLen); + error = HandleInit(); break; default: error = CMD_FRAME_CMD_ERROR; @@ -775,4 +770,4 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) { } return error; -} \ No newline at end of file +} diff --git a/protocol.h b/protocol.h index f710d9f..2fa63b1 100644 --- a/protocol.h +++ b/protocol.h @@ -2,6 +2,8 @@ #define PROTOCOL_H #include +#define LOG_TAG "motor" +#include // 帧头帧尾定义 #define FRAME_HEADER 0xA55A5AA5